Trackside sensing system and method

Abstract

This invention provides a trackside sensing system and method. The system includes: multiple trackside sensing devices; each trackside sensing device is disposed on the outer side of the train track, and any two adjacent trackside sensing devices on the same side are spaced apart by a first preset distance; any two trackside sensing devices are connected by a mesh; the trackside sensing devices are used to collect sensing data within their respective areas, obtain sensing results for the area based on the sensing data, and then send the sensing results to a monitoring center server for the monitoring center server to respond based on the sensing results. The trackside sensing system and method provided by this invention can reduce the equipment and construction costs associated with trackside sensing systems, reduce the workload of subsequent maintenance work, and utilize the trackside sensing devices disposed around the track to construct a track communication mesh network, enabling vehicle-to-ground and vehicle-to-ground-vehicle communication.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a trackside sensing system and method. Background Technology

[0002] Trackside sensing systems are technological systems used to monitor the condition of tracks, abnormal or moving objects on the tracks, and the safety conditions around the tracks. Using trackside sensing systems, rail transit operators can promptly detect anomalies on the tracks and in the surrounding environment, thereby ensuring the safety and efficiency of train operations. This is of great significance for preventing accidents and ensuring the normal operation of trains.

[0003] In related technologies, a large number of cables need to be laid to provide communication and power guarantees for traditional trackside sensing systems. However, laying a large number of cables requires high equipment and construction costs, and the workload for subsequent maintenance is also substantial.

[0004] Therefore, how to reduce the equipment and construction costs of trackside sensing systems, as well as the workload of related maintenance work, are technical problems that urgently need to be solved in this field. Summary of the Invention

[0005] This invention provides a trackside sensing system and method to address the shortcomings of existing trackside sensing systems, such as high equipment and construction costs, and a large workload for maintenance. The invention aims to reduce the equipment and construction costs of trackside sensing systems and decrease the workload of related maintenance.

[0006] The present invention provides a trackside sensing system, comprising: a plurality of trackside sensing devices; each trackside sensing device is disposed on the outside of the train track, and any two adjacent trackside sensing devices on the same side are spaced apart by a first preset distance; any two trackside sensing devices are connected by a mesh; each trackside sensing device is electrically connected to a monitoring center server.

[0007] The trackside sensing device is used to collect sensing data within its area, obtain sensing results for the area based on the sensing data, and then send the sensing results for the area to the monitoring center server so that the monitoring center server can respond based on the sensing results for the area. The sensing results include at least one of track foreign object intrusion judgment results, vehicle positioning results, and obstacle identification results.

[0008] According to a trackside sensing system provided by the present invention, the trackside sensing device includes a host, a communication module, and a sensing device, wherein the host, the communication module, and the sensing device are electrically connected; and the communication modules in any two trackside sensing devices are meshed together.

[0009] The sensing devices in the trackside sensing device are used to collect sensing data within their respective areas and send the sensing data to the host computer in the trackside sensing device.

[0010] The host in the trackside sensing device is used to sense the area based on the sensing data, obtain the sensing result of the area, and then send the sensing result of the area to the monitoring center server.

[0011] According to a trackside sensing system provided by the present invention, the sensing device includes: two radar sensors and two vision sensors; the host includes two central processing units.

[0012] The radar sensor in the trackside sensing device is used to collect point cloud data within its area and send the point cloud data to the host unit in the trackside sensing device.

[0013] The visual sensor in the trackside sensing device is used to collect image data of the area it is in, and then send the image data to the host computer in the trackside sensing device.

[0014] The host in the trackside sensing device is used to receive point cloud data sent by each of the radar sensors and image data sent by each of the vision sensors, and to determine the point cloud data and the image data as the sensing data of the area. Then, based on the sensing data, the sensing result of the area is obtained under the two-out-of-two architecture.

[0015] According to a trackside sensing system provided by the present invention, each central processing unit in the host of the trackside sensing device is used to determine the point cloud data and the image data as the sensing data of the region in the current micro-cycle when receiving the point cloud data sent by each of the radar sensors and the image data sent by each of the vision sensors in the current micro-cycle, and then, based on the sensing data of the region in the current micro-cycle in a two-out-of-two architecture, obtain the sensing result of the region in the current micro-cycle.

[0016] According to a trackside sensing system provided by the present invention, each central processing unit in the host is configured to receive point cloud data sent by each radar sensor and image data sent by each vision sensor in the current microcycle after completing self-test and initialization in the current microcycle, and determine the point cloud data and the image data as sensing data of the current microcycle region, and then obtain the sensing result of the current microcycle region based on the sensing data of the current microcycle region in a two-out-of-two architecture.

[0017] According to a trackside sensing system provided by the present invention, when the train track includes an up-traffic track and a down-traffic track, and the up-traffic track and the down-traffic track are arranged parallel in the horizontal direction, each of the trackside sensing devices is respectively disposed on the right outer side of the up-traffic track and the left outer side of the down-traffic track, and the trackside sensing device located on the right outer side of the up-traffic track is disposed opposite to the trackside sensing device located on the left outer side of the down-traffic track.

[0018] According to a trackside sensing system provided by the present invention, the trackside sensing device further includes: a power board; each of the radar sensors and the host are connected to a power source through the power board.

[0019] According to a trackside sensing system provided by the present invention, it further includes: a main unit chassis, a switching module, and a communication and control processing module; each of the central processing units, the switching module, the communication module, the power supply board, and the communication and control processing module is disposed in the main unit chassis; each of the central processing units is electrically connected to the monitoring center server through the switching module and the communication and control processing module; each of the radar sensors is electrically connected to each of the central processing units through the switching module; each of the vision sensors is electrically connected to each of the central processing units through the switching module.

[0020] According to a trackside sensing system provided by the present invention, the operating states of the trackside sensing system include: working state, fault state, degraded state, initialization state, and downtime state.

[0021] The present invention also provides a trackside sensing method based on any of the trackside sensing systems described above, comprising:

[0022] Collect sensor data within the area;

[0023] Based on the sensing data within the area, the sensing results of the area are obtained, and the sensing results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle recognition results;

[0024] The sensing results within the area are sent to the monitoring center server, so that the monitoring center server can respond based on the sensing results of the area.

[0025] The trackside sensing system and method provided by this invention includes multiple trackside sensing devices, each of which is located on the outer side of the train track. Any two adjacent trackside sensing devices on the same side are spaced apart by a first preset distance, and any two trackside sensing devices are connected via a mesh. Each trackside sensing device collects sensing data within its area, obtains sensing results based on the data, and sends these results to a monitoring center server. The sensing results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle identification results. This invention reduces the equipment and construction costs associated with the trackside sensing system, decreases the workload of subsequent maintenance, and enables the construction of a track communication mesh network using the trackside sensing devices located around the track, achieving vehicle-to-ground and vehicle-to-ground-vehicle communication. The trackside sensing system provided by this invention integrates sensing computing and communication interaction. A single trackside sensing device has a higher obstacle identification accuracy and a greater ability to provide safety warnings, significantly reducing the number of trackside sensing devices required, saving electrical equipment, and protecting the environment. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the trackside sensing system provided by the present invention;

[0028] Figure 2 This is one of the structural schematic diagrams of the trackside sensing device provided by the present invention;

[0029] Figure 3 This is a schematic diagram of the layout of the trackside sensing system provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the host computer performing data processing in the trackside sensing device provided by the present invention under a two-out-of-two architecture.

[0031] Figure 5 This is a schematic diagram of the micro-cycle in the trackside sensing system provided by the present invention.

[0032] Figure 6 This is the second schematic diagram of the trackside sensing device provided by the present invention;

[0033] Figure 7 A schematic diagram illustrating the switching of the operating state of the trackside sensing system provided by the present invention;

[0034] Figure 8 This is a schematic flowchart of the trackside sensing method provided by the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this 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.

[0036] In the description of the invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] In the description of this application, the terms "first," "second," etc., are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, without limiting the number of objects; for example, a first object can be one or more. Furthermore, in the description of this application, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects have an "or" relationship.

[0038] It should be noted that traditional trackside sensing systems in related technologies have limited functionality. The positioning subsystem, monitoring subsystem, and communication subsystem of the trackside sensing system are all deployed independently, and corresponding cables and power supply systems are laid out. This results in a large number of cables being laid to provide communication and power support for the traditional trackside sensing system, which leads to a lot of redundant waste of resources. The equipment and construction costs required are high, and the large number of cables laid out will result in a large workload for later maintenance.

[0039] Figure 1 This is a schematic diagram of the trackside sensing system provided by the present invention. The following is in conjunction with… Figure 1The trackside sensing system provided by this invention will be described. For example... Figure 1 As shown, the trackside sensing system 101 includes: multiple trackside sensing devices 102; each trackside sensing device 102 is disposed on the outside of the train track, and any two adjacent trackside sensing devices 102 on the same side are spaced apart by a first preset distance; any two trackside sensing devices 102 are connected by a mesh; each trackside sensing device 102 is electrically connected to the monitoring center server 103.

[0040] The trackside sensing device 102 is used to collect sensing data in the area it is in, obtain the sensing results of the area based on the sensing data, and then send the sensing results of the area to the monitoring center server 103 so that the monitoring center server 103 can respond based on the sensing results of the area. The sensing results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle recognition results.

[0041] Specifically, the trackside sensing system 101 in this embodiment of the invention includes a plurality of trackside sensing devices 102.

[0042] Each of the above-mentioned trackside sensing devices 102 can be installed on the outside of the train track, and any two adjacent trackside sensing devices 102 on the same side are spaced apart by a first preset distance.

[0043] It is understood that, in the embodiments of the present invention, the outer side of the vehicle track may include the left outer side and / or the right outer side of the vehicle track.

[0044] It should be noted that the train track in the embodiments of the present invention may include an upward train track and / or a downward train track. Where the train track includes an upward train track and a downward train track, the upward train track and the downward train track are arranged parallel to each other in the horizontal direction.

[0045] It should be noted that the first preset distance in the embodiments of the present invention can be determined based on prior knowledge and / or actual conditions. For example, the first preset distance can be determined based on the sensing range of the trackside sensing device 102. The embodiments of the present invention do not specifically limit the first preset distance.

[0046] It should be noted that the number of trackside sensing devices 102 in the trackside sensing system 101 of this embodiment is determined based on the length of the line corresponding to the trackside sensing system 101 and the first preset distance.

[0047] As an optional embodiment, when the train track includes an up track and a down track, and the up track and the down track are arranged in parallel in the horizontal direction, each trackside sensing device 102 is respectively located on the right outer side of the up track and the left outer side of the down track, and the trackside sensing device 102 located on the right outer side of the up track is arranged opposite to the trackside sensing device 102 located on the left outer side of the down track.

[0048] Optionally, when the train track includes an upward train track or a downward train track, each trackside sensing device 102 can be located on the left or right outer side of the train track, and each track sensing device can also be located on the left and right outer sides of the train track. When each track sensing device is located on the left and right outer sides of the train track, the track sensing devices located on the left and right outer sides of the train track can be arranged opposite each other or spaced apart.

[0049] For any trackside sensing device 102, the trackside sensing device 102 can collect sensing data of the area it is in, and can sense the area based on the sensing data of the area, thereby obtaining the sensing result of the area.

[0050] It should be noted that the sensing data of the area collected by the trackside sensing device 102 in this embodiment of the invention may include point cloud data and / or image data of the area.

[0051] The trackside sensing device 102 senses the area based on the sensing data of the area it is in, including but not limited to determining whether there is a foreign object encroaching on the track in the area, determining the location information of the vehicle in the area, and identifying obstacles in the area.

[0052] Accordingly, the perception results of the area obtained by the trackside sensing device 102 may include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle identification results.

[0053] It should be noted that in a traditional Wireless Local Area Network (WLAN), if the uplink of an access point (AP) fails, all clients on that AP will be unable to access the WLAN network.

[0054] Mesh networking is a network topology based on wireless communication technology. Multiple nodes in a mesh network communicate and collaborate wirelessly to form a self-organizing, decentralized network. In a mesh network, all nodes are equal; each node can act as a data source and destination, or as a relay node to relay data from other nodes. A single frequency point supports TDD bidirectional communication, simplifying frequency management and maximizing spectrum utilization. The distributed network structure of a mesh network allows data to be transmitted through multiple paths via different nodes, improving network fault tolerance and reliability. A mesh network can quickly establish a wireless communication network anytime, anywhere, without relying on any other fixed communication network infrastructure (such as fiber optic cables or copper cables). It can automatically reorganize and adapt when new nodes join or existing nodes leave.

[0055] Therefore, this invention utilizes the self-organizing, highly flexible, decentralized, and fault-tolerant characteristics of Mesh self-organizing networks to construct a trackside sensing system 101 comprising multiple trackside sensing devices 102, with any two trackside sensing devices 102 connected by a Mesh. Each trackside sensing device 102 in the trackside sensing system 101 constitutes a wireless Mesh self-organizing network topology, thereby enabling each trackside sensing device 102 in the trackside sensing system 101 to have multiple available links, which effectively avoids single-point failure of the trackside sensing device 102.

[0056] In this embodiment of the invention, the deployment of a Mesh self-organizing network significantly reduces the operating cost of the trackside sensing system 101. The network is flexible, does not rely on dedicated base stations, and features functions such as purple network fusion, network adaptation, and intelligent routing. Utilizing the distributed network architecture of the Mesh self-organizing network, the trackside sensing system 101 in this embodiment can achieve real-time interaction of multi-channel data, images, and other multimedia information. Furthermore, the trackside sensing system 101 in this embodiment supports arbitrary network topologies. The failure of a single trackside sensing device 102 does not affect the trackside sensing system 101 link. The topology of the trackside sensing device 102 can be quickly updated without affecting the transmission of the trackside sensing system 101. The automatic relay characteristic of the trackside sensing device 102 easily achieves beyond-line-of-sight transmission. The signal can automatically select the optimal path, continuously jumping from one node to another, and ultimately reaching the target trackside sensing device 102 without direct line-of-sight. The trackside sensing system 101 is convenient to deploy, flexible to use, simple to operate, and easy to maintain.

[0057] It should be noted that the network configuration of the trackside sensing device 102 in this embodiment of the invention can be automatically allocated after joining the Mesh self-organizing network without manual intervention.

[0058] In this embodiment of the invention, each trackside sensing device 102 is electrically connected to the monitoring center server 103. After acquiring the sensing results of its local area, any trackside sensing device 102 can send the sensing results of that area to the monitoring center server 103.

[0059] It should be noted that the monitoring center server 103 in this embodiment of the invention can be used to monitor the operation status of the rail transit system in real time, to schedule and command train operation, to monitor the safety status of the rail transit system in real time, and to collect, store and analyze various types of data of the rail transit system.

[0060] It should be noted that the trackside sensing device 102 in this embodiment of the invention is also connected to the train for communication.

[0061] The trackside sensing system in this embodiment of the invention includes multiple trackside sensing devices, each of which is located on the outer side of the train track. Any two adjacent trackside sensing devices on the same side are spaced apart by a first preset distance, and are connected via a mesh network. Each trackside sensing device collects sensing data within its area, obtains sensing results based on the data, and sends these results to a monitoring center server. The sensing results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle identification results. This system reduces the cost of related equipment and construction, decreases the workload of subsequent maintenance, and enables the construction of a track communication mesh network using the trackside sensing devices located around the track, facilitating vehicle-to-ground and vehicle-to-ground-vehicle communication. The trackside sensing system provided by this invention integrates sensing computation and communication interaction. A single trackside sensing device has a higher obstacle identification accuracy and a greater ability to warn of potential hazards, significantly reducing the number of trackside sensing devices required, saving electrical equipment, and protecting the environment.

[0062] Figure 2 This is one of the structural schematic diagrams of the trackside sensing device provided by the present invention. For example... Figure 2 As shown, the trackside sensing device 102 includes a host 201, a communication module 202, and a sensing device 203. The host 201, the communication module 202, and the sensing device 203 are electrically connected; any two communication modules 202 in the trackside sensing devices 102 are connected by a mesh.

[0063] The sensing device 203 in the trackside sensing device 102 is used to collect sensing data in the area and send the sensing data to the host 201 in the trackside sensing device 102. The host 201 in the trackside sensing device 102 is used to sense the area based on the sensing data, obtain the sensing result of the area, and then send the sensing result of the area to the monitoring center server 103.

[0064] Specifically, in this embodiment of the invention, the sensing device 203 in the trackside sensing device 102 may include, but is not limited to, radar sensors and / or visual sensors.

[0065] In this embodiment of the invention, the host 201 in the trackside sensing device 102 may include two central processing units (CPUs). The CPUs may be IMX8 processors, which include two A72 cores and four A53 cores.

[0066] Based on the sensing data collected by the sensing device 203, the host 201 in the trackside sensing device 102 can determine whether there are foreign objects encroaching on the track in the above-mentioned area, determine the location information of vehicles in the above-mentioned area, and identify obstacles in the above-mentioned area through numerical calculation, mathematical statistics, and deep learning technology, thereby obtaining the sensing results of the above-mentioned area.

[0067] Optionally, in this embodiment of the invention, the host 201 in the trackside sensing device 102 can be electrically connected to the monitoring center server 103 via optical fiber, or via the communication module 202.

[0068] Accordingly, after the host 201 in the trackside sensing device 102 obtains the sensing results of the area, it can send the sensing results of the area to the monitoring center server 103 via optical fiber, or via the communication module 202.

[0069] It should be noted that, in this embodiment of the invention, the host 201 in the trackside sensing device 102 can also communicate with the train through the communication module 202.

[0070] As an alternative embodiment, such as Figure 2 As shown, the sensing device 203 includes: two radar sensors 204 and two vision sensors 205;

[0071] The host 201 includes two central processing units; the radar sensor 204 in the trackside sensing device 102 is used to collect point cloud data in its area and send the point cloud data to the host 201 in the trackside sensing device 102; the vision sensor 205 in the trackside sensing device 102 is used to collect image data in its area and send the image data to the host 201 in the trackside sensing device 102; the host 201 in the trackside sensing device 102 is used to receive the point cloud data sent by each radar sensor 204 and the image data sent by each vision sensor 205, and determine the point cloud data and image data as the sensing data of the area, and then obtain the sensing result of the area based on the sensing data in a two-by-two architecture.

[0072] Figure 3 This is a schematic diagram of the deployment of the trackside sensing system provided by the present invention. Figure 2 and Figure 3 As shown, the trackside sensing device 102 adopts a two-out-of-two architecture. The host 201 is equipped with two radar sensors 204 and two vision sensors 205. The two radar sensors 204 can be used to collect point cloud data of the area, and the two vision sensors 205 can be used to collect image data of the area.

[0073] It is understood that in any two adjacent trackside sensing devices 102 of the present invention, the acquisition range of the two radar sensors 204 and the two vision sensors 205 is continuous.

[0074] Optionally, in this embodiment of the invention, the radar sensor 204 can be a lidar sensor 204.

[0075] In this embodiment of the invention, the sensing devices in the trackside sensing device include radar sensors and visual sensors. By combining the point cloud data collected by the radar sensors and the image data collected by the visual sensors, trackside sensing can be achieved more accurately and efficiently.

[0076] As an optional embodiment, each central processing unit in the host 201 of the trackside sensing device 102 is used to determine the point cloud data and image data as the sensing data of the current micro-cycle region when receiving the point cloud data sent by each radar sensor 204 and the image data sent by each vision sensor 205 in the current micro-cycle. Then, in a two-out-of-two architecture, the sensing result of the current micro-cycle region is obtained based on the sensing data of the current micro-cycle region.

[0077] Figure 4 This is a schematic diagram illustrating data processing by the host computer in the trackside sensing device provided by the present invention, using a two-out-of-two architecture. Figure 4 As shown, in a two-out-of-two architecture, the host 201 in the trackside sensing device 102 obtains the sensing results of the area where the trackside sensing device 102 is located based on the point cloud data collected by the two radar sensors 204 and the image data collected by the two vision sensors 205 in the trackside sensing device 102. The specific steps include: after receiving the point cloud data and the image data, the CPU1 and CPU2 in the host 201 determine the point cloud data and the image data as the sensing data of the area, respectively, and add a local serial number and a message check code (used to identify the uniqueness of the message) to the sensing data, respectively, and then forward the sensing data with the added local serial number and message check code to another CPU.

[0078] When entering the input microcycle, lock 2oo2 to receive data, and CPU1 and CPU2 in host 201 exchange all the sequence numbers and check words received in this cycle with another CPU respectively;

[0079] Figure 5 This is a schematic diagram of the micro-cycle in the trackside sensing system provided by the present invention. Figure 5 As shown, CPU1 and CPU2 in host 201 determine the sensing data that can be processed in the current microcycle based on the sensing data sent by another CPU, which includes the local serial number and message check code, and discard all sensing data that cannot be processed in more than two microcycles.

[0080] After CPU1 and CPU2 in host 201 determine the sensing data that can be processed in the current microcycle, they can call the application's processing function to determine whether the application processing is successful. If the return value is a failure, the process will switch to the fault handling procedure and host 201 will crash.

[0081] The trackside sensing system in this embodiment of the invention employs a more complex 2oo2 input switching logic, which can reduce the input micro-cycle load while increasing the load of external communication and 2oo2 communication. In order to make full use of CPU performance, the front end receives data with a large communication bandwidth and performs dumping and distribution to ensure the normal operation of the data link and system performance.

[0082] As an optional embodiment, each central processing unit in the host 201 is used to receive point cloud data sent by each radar sensor 204 and image data sent by each vision sensor 205 in the current microcycle after passing the self-test and completing the initialization in the current microcycle, and to determine the point cloud data and image data as the perception data of the current microcycle region, and then, in a two-out-of-two architecture, to obtain the perception result of the current microcycle region based on the perception data of the current microcycle region.

[0083] Specifically, at the start of the current microcycle, CPU1 and CPU2 in host 201 perform self-tests respectively, and if the self-tests pass, driver initialization is performed.

[0084] The self-test items performed by CPU1 and CPU2 in host 201 may include, but are not limited to, module ID self-test, memory self-test, code segment self-test, register self-test, firmware version self-test, board power supply self-test, board temperature self-test, clock self-test, and module type self-test.

[0085] If CPU1 and / or CPU2 in host 201 fail the self-test, host 201 will enter a crash state.

[0086] After CPU1 and CPU2 in host 201 fail the self-test, CPU1 and CPU2 in host 201 can perform driver initialization (initialization of external interface registers of CPU1 and CPU2), operation initialization (initialization of operation cycle, microcycle and tolerance time, and communication protocol), and application processing function initialization (initialization of configuration data, initialization of query function, and initialization of the controlled peripheral status to a safe state).

[0087] It should be noted that the application processing function initialization is considered correct only after both the 2-out-of-2 dual-channel application initializations are successful. If the application processing function initialization fails, host 201 will crash.

[0088] After the initial application is successful, the current microcycle runs. CPU1 and CPU2 in the host 201 receive point cloud data sent by each radar sensor 204 and image data sent by each vision sensor 205 in the trackside sensing device 102 of the current microcycle, and determine the point cloud data and image data as the sensing data of the current microcycle area. After CPU1 and CPU2 in the host 201 determine the sensing data that can be processed in the current microcycle, the host and backup systems process synchronously, call the processing function of the application, and then output data, send microcycles, and perform idle microcycle processing.

[0089] During the current microcycle operation, each stage above host 201 is allocated a fixed time, and the time for input processing, calling application functions, outputting data, master-slave system synchronization processing, sending microcycles, and idle microcycles are configurable.

[0090] It should be noted that after entering the current microcycle operation, the host 201 can also detect whether its own working cycle is within the specified range, and check whether the logical order of program execution is normal.

[0091] It should be noted that the host 201 calls the input processing micro-cycle, application processing micro-cycle, output processing micro-cycle, master / slave system synchronization processing, transmission micro-cycle, and idle micro-cycle. It needs to check whether each stage function completes within the specified time and whether the logical order of program execution is correct; if the order is abnormal, the module will crash. Furthermore, the cycle monitoring requires mutual monitoring between two channels; if any channel times out, the host 201 will crash. The host 201 can perform monitoring within the allowable range of the working cycle, with a time less than 1ms.

[0092] In this embodiment of the invention, for shared resources between kernels / partitions, such as shared cache and shared memory, in the event of random hardware failure of the shared device, the trackside sensing system 101 can identify and resist the failure risk caused by code execution errors through self-testing and detection measures and by adopting a secure operating system.

[0093] Figure 6 This is the second structural schematic diagram of the trackside sensing device provided by the present invention. (See diagram below.) Figure 6 As shown, the trackside sensing device 102 also includes: a power board 601; each radar sensor 204 and the host 201 are connected to the power supply 608 through the power board 601.

[0094] It should be noted that the power board 601 in this embodiment of the invention is used to convert external power into DC power required by the device, so as to ensure that the device can work normally.

[0095] It should be noted that the output voltage of the power supply 608 in this embodiment of the invention is 220V.

[0096] As an optional embodiment, the trackside sensing system 101 further includes: a host 201 enclosure 603, a switching module 604, and a communication and control processing module 605; each central processing unit 602, switching module 604, communication module 202, power board 601, and communication and control processing module 605 are disposed within the host 201 enclosure 603; each central processing unit 602 is electrically connected to the monitoring center server 103 through the switching module 604 and the communication and control processing module 605; each radar sensor 204 is electrically connected to each central processing unit 602 through the switching module 604; each vision sensor 205 is electrically connected to each central processing unit 602 through the switching module 604.

[0097] It should be noted that the switching module 604 in this embodiment of the invention may include components such as a switching chip, a management controller, interface circuits, and external connectors. The switching module 604 can be used to implement functions such as packet forwarding, routing, and flow control.

[0098] The communication control processing module 605 in this embodiment of the invention can be used to process various communication data and execute corresponding control functions. The communication control processing module 605 may include a communication interface, a processor, a memory, and related control circuits.

[0099] like Figure 6 As shown, each central processing unit 602 is electrically connected to the monitoring center server 103 through a switching module 604, a communication control processing module 605, a switch, and a gigabit network.

[0100] As an optional embodiment, each vision sensor 205 is connected to a power supply 608 via a PoE switch 606 and a power adapter 607.

[0101] It should be noted that the PoE switch 606 in this embodiment of the invention is a network switch that supports PoE (Power over Ethernet) technology. The PoE switch 606 can provide power and data transmission functions for devices in the network. PoE technology simplifies the installation and management of network devices and improves the reliability and flexibility of the network by transmitting power signals and data signals on the same network cable.

[0102] The power adapter 607 in this embodiment of the invention can be used to convert 220VAC AC power into 48VDC DC power.

[0103] It should be noted that the PoE switch 606, power adapter 607 and power supply 608 in this embodiment of the invention are all located inside the power supply box.

[0104] In order to improve the safety of the trackside sensing system in this embodiment of the invention, the trackside sensing system adopts the principle of combined fail-safe and reactive fail-safe design to improve the safety and reliability of the system.

[0105] As an optional embodiment, the operating states of the trackside sensing system 101 include working state, fault state, degraded state, initialization state, and downtime state.

[0106] Specifically, the trackside sensing system 101 is in normal working condition when each central processing unit in the host 201 completes its self-test and initialization in the current microcycle.

[0107] When the main unit 201 of the trackside sensing system 101 is powered on, the trackside sensing system 101 is in the initialization state.

[0108] When the trackside sensing system 101 is in a fault state, the trackside sensing system 101 enters the fault-oriented safety side, performs data reception and data processing, but does not output data to the outside.

[0109] When the trackside sensing system 101 is in a degraded state, the trackside sensing system 101 has a fault but can still perform some calculations. When the trackside sensing system 101 is in a degraded state, it can only complete some calculations with limited conditions.

[0110] When the trackside sensing system 101 is in a downtime state, all inputs and outputs of the trackside sensing system 101 are set to the safety side, do not participate in logical operations, are not allowed to change state, and are prohibited from outputting data to the outside.

[0111] It should be noted that the trackside sensing system 101 will enter a shutdown state if any of the following fault states occur: failure of host 201 initialization, failure of trackside sensing system 101 initial synchronization, failure of trackside sensing system 101 power-on synchronization, failure of application processing function initialization, timeout of working cycle and micro cycle judgment, failure of application processing function return, inconsistent output data (2 take 2), failure of periodic self-test, and incorrect configuration file.

[0112] Figure 7 This is a schematic diagram illustrating the switching of the operating states of the trackside sensing system provided by the present invention. The switching relationship of the operating states of the trackside sensing system 101 is as follows: Figure 7 As shown.

[0113] The trackside sensing system 101 in this embodiment of the invention includes multiple operating states, which can more flexibly adapt to different application scenarios and has stronger universality.

[0114] Figure 8 This is a schematic flowchart of the trackside sensing method provided by the present invention. The following is in conjunction with... Figure 8 The trackside sensing method of the present invention is described. For example... Figure 8 As shown, the method includes: step 801, collecting sensing data within the area;

[0115] Step 802: Based on the perception data within the area, obtain the perception results of the area. The perception results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle recognition results.

[0116] Step 803: Send the perception results within the area to the monitoring center server 103 so that the monitoring center server 103 can respond based on the perception results of the area.

[0117] It should be noted that the trackside sensing method provided by this invention is implemented based on the trackside sensing system 101 described above. The specific implementation steps of the trackside sensing method can be found in the above embodiments, and will not be repeated in the embodiments of this invention.

[0118] This invention collects sensing data within a designated area and, based on this data, obtains sensing results for that area. These results include at least one of the following: track obstruction judgment results, vehicle positioning results, and obstacle identification results. The sensing results are then sent to a monitoring center server, which responds accordingly. This invention utilizes a mesh network composed of trackside devices within the trackside sensing system, reducing equipment and construction costs. It also reduces the workload of subsequent maintenance. Furthermore, it enables the construction of a track communication mesh network using trackside sensing devices positioned around the track, facilitating vehicle-to-ground and vehicle-to-ground-vehicle communication. The trackside sensing system provided by this invention integrates sensing computation and communication interaction. Individual trackside sensing devices exhibit higher obstacle identification accuracy and enhanced safety warning capabilities, significantly reducing the number of trackside sensing devices required, saving electrical equipment, and protecting the environment.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A trackside sensing system, characterized in that, include: Multiple trackside sensing devices; Each of the trackside sensing devices is located on the outer side of the train track, and any two adjacent trackside sensing devices on the same side are spaced apart by a first preset distance; any two trackside sensing devices are meshed together; each trackside sensing device is electrically connected to a monitoring center server; each trackside sensing device includes a host, a communication module, and sensing devices, and the host, the communication module, and the sensing devices are electrically connected; any two communication modules in the trackside sensing devices are meshed together; the sensing devices include two radar sensors and two vision sensors; the host includes two central processing units; The trackside sensing device is used to collect sensing data in the area it is in, obtain sensing results for the area based on the sensing data, and then send the sensing results for the area to the monitoring center server so that the monitoring center server can respond based on the sensing results for the area. The sensing results include at least one of track foreign object intrusion judgment results, vehicle positioning results, and obstacle recognition results. The radar sensor is used to collect point cloud data within the area, and the vision sensor is used to collect image data within the area. Each central processing unit (CPU) in the host performs a self-test at the start of the current microcycle and performs driver initialization upon successful self-test. After receiving point cloud data from the radar sensors and image data from the vision sensors, each CPU identifies the point cloud data and image data as the perception data for the area, adds a local serial number and a message checksum to the perception data, and forwards the perception data with the added local serial number and message checksum to another CPU. Upon entering an input microcycle, the CPU locks to receive data at 2oo2, and the two CPUs of the host exchange all serial numbers and checksums received in the current cycle with the other CPU. Each CPU in the host determines the perception data that can be processed in the current microcycle based on the perception data with the added local serial number and message checksum sent by the other CPU, discards all perception data that cannot be processed after more than two microcycles, and then obtains the perception result for the area based on the perception data that can be processed in the current microcycle under a 2x2 architecture.

2. The trackside sensing system according to claim 1, characterized in that, When the train track includes an up-traffic track and a down-traffic track, and the up-traffic track and the down-traffic track are arranged parallel to each other in the horizontal direction, each of the trackside sensing devices is respectively located on the right outer side of the up-traffic track and the left outer side of the down-traffic track, and the trackside sensing device located on the right outer side of the up-traffic track is arranged opposite to the trackside sensing device located on the left outer side of the down-traffic track.

3. The trackside sensing system according to claim 1, characterized in that, The trackside sensing device also includes: a power board; each of the radar sensors and the host are connected to a power source via the power board.

4. The trackside sensing system according to claim 3, characterized in that, Also includes: Main unit chassis, switching module, and communication control processing module; Each of the central processing units, the switching module, the communication module, the power supply board, and the communication and control processing module is disposed in the host chassis; each of the central processing units is electrically connected to the monitoring center server through the switching module and the communication and control processing module; each of the radar sensors is electrically connected to each of the central processing units through the switching module; each of the vision sensors is electrically connected to each of the central processing units through the switching module.

5. The trackside sensing system according to claim 1, characterized in that, The operating states of the trackside sensing system include: working state, fault state, degraded state, initialization state, and downtime state.

6. A trackside sensing method based on the trackside sensing system as described in any one of claims 1 to 5, characterized in that, include: Collect sensor data within the area; Based on the sensing data within the area, the sensing results of the area are obtained, and the sensing results include at least one of the following: track foreign object intrusion judgment results, vehicle positioning results, and obstacle recognition results; The sensing results within the area are sent to the monitoring center server, so that the monitoring center server can respond based on the sensing results of the area.

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