Method and System for Detecting Equipment Offset and Encroachment in Tunnels

Abstract

This application relates to a method and system for detecting trackside equipment deviation and encroachment in tunnels. The method includes a data acquisition step S1, a data analysis step S2, an encroachment determination step S3, and an alarm step S4. The system includes a sensing unit and a calculation unit. By establishing a sensing coordinate system to stably cover the trackside equipment, a warning is issued when the trackside equipment deviates. The deviation of the trackside equipment is calculated using the tunnel coordinate system to determine whether the trackside equipment has encroached on the limit. This reduces the maintenance workload of maintenance personnel and promptly prevents the deviated trackside equipment from further encroaching on the limit and threatening train operation safety. Through the transfer and conversion between the two coordinate systems, the technical effect of stably detecting trackside equipment deviation and accurately and quickly calculating the deviation is achieved.

Description

Technical Field

[0001] This application belongs to the field of rail transit technology, and in particular relates to a method and system for detecting the deviation and encroachment of trackside equipment in tunnels. Background Technology

[0002] In recent years, the operation and control methods of rail transit vehicles have gradually transitioned from manual (driver-driven) operation to highly automated manned (GoA3) or driverless (GoA4) systems with a high level of automation. Rail transit trains are heavy, have long braking distances, and operate on complex and diverse track conditions. To ensure operational safety, it is necessary to detect obstacles within the track area that may endanger train operation from a considerable distance. For driverless systems at the GoA4 level, there is no resident driver on board, and there is a lack of effective means to monitor the operating environment.

[0003] In the existing technology, most sensing units are installed on moving trains to detect obstacles in tunnels. For example, sensors such as cameras and radar are introduced into the train operation control to build a sensing system, continuously detect the track area, and detect obstacles in a timely manner to reduce the risk of train operation safety.

[0004] However, due to years of weathering and erosion, trackside equipment located on one side of the track inevitably deviates from its limits. Frequent maintenance of trackside equipment to determine whether its deviation exceeds the limits would consume a lot of resources. The sensing unit inevitably has blind spots during train operation, making its detection of trackside equipment deviation insufficiently stable. Furthermore, due to the train's high inertia and long braking distance, even if the sensing unit on the train detects trackside equipment deviation, train safety cannot be guaranteed. Summary of the Invention

[0005] To address the shortcomings of related technologies, this application provides a method and system for detecting trackside equipment deviation and encroachment in tunnels. By establishing a sensing coordinate system to stably cover the trackside equipment, a warning is issued when trackside equipment deviates. The deviation of the trackside equipment is calculated using the tunnel coordinate system to determine whether the trackside equipment has encroached on the limit. This reduces the maintenance workload of maintenance personnel and promptly prevents the deviated trackside equipment from further encroaching on the limit and threatening train operation safety.

[0006] In a first aspect, this application provides a method for detecting the deviation and encroachment of trackside equipment in a tunnel. A sensing unit is installed beside the tunnel track, and the sensing unit is connected to a computing unit. The detection method includes:

[0007] The data acquisition step involves the sensing unit collecting real-time train operating environment data and sending it to the computing unit.

[0008] The data analysis steps involve establishing a sensing coordinate system and a tunnel coordinate system in a plane parallel to the track surface, with at least one coordinate axis intersecting the sensing coordinate system and the tunnel coordinate system. The calculation unit analyzes the train operating environment data to obtain trackside equipment status information and train operating status structured information in the two coordinate systems. Based on the trackside equipment status information and train operating status structured information, an alarm threshold is obtained.

[0009] The encroachment determination step involves using the sensing unit to determine whether the status information of the trackside equipment has changed within the sensing coordinate system. If so, the calculation unit calculates the amount of change in the changed trackside equipment status information within the tunnel coordinate system.

[0010] The alarm procedure involves the calculation unit determining whether the change exceeds the alarm threshold and sending different alarm signals based on the different determination results.

[0011] In some embodiments, the data analysis step further includes:

[0012] The sensing coordinate system is established based on the center line of the field of view of the sensing unit. The sensing coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis, wherein the plane containing the X-axis and the Y-axis is parallel to the track surface, the Z-axis is perpendicular to the track surface, and the Y-axis coincides with the center line of the field of view of the sensing unit, so that the trackside equipment located within the field of view of the sensing unit is covered by the sensing coordinate system.

[0013] In some embodiments, the data analysis step further includes:

[0014] The tunnel coordinate system is established based on the track centerline. The tunnel coordinate system includes mutually perpendicular U-axis, V-axis and W-axis, wherein the plane containing the U-axis and the V-axis is parallel to the track surface, the W-axis is perpendicular to the track surface, the V-axis is parallel to the track centerline, and the extension of the Y-axis intersects the extension of the V-axis at an angle of θ.

[0015] In some embodiments, the infringement determination step further includes:

[0016] In the pre-judgment step, the sensing unit determines whether the trackside equipment has shifted within the sensing coordinate system based on the trackside equipment status information within the sensing coordinate system. If so, the sensing unit sends a warning signal and the changed trackside equipment status information to the calculation unit.

[0017] In some embodiments, the infringement determination step further includes:

[0018] In the offset calculation step, the calculation unit transfers the changed trackside equipment status information from the sensing coordinate system to the tunnel coordinate system based on the warning signal and the included angle θ, and calculates the change amount based on the trackside equipment status information in the tunnel coordinate system and the changed trackside equipment status information.

[0019] In some embodiments, the alarm step further includes;

[0020] In the offset alarm step, the calculation unit determines whether the change is greater than the alarm threshold. If not, the calculation unit sends an offset alarm signal to the control center.

[0021] In some embodiments, the alarm step further includes;

[0022] In the intrusion alarm step, the calculation unit determines whether the change is greater than the alarm threshold. If so, the calculation unit sends an intrusion alarm signal to the control center.

[0023] Secondly, this application also provides a trackside equipment offset and encroachment detection system in a tunnel, used to support the above-mentioned trackside equipment offset and encroachment detection method in a tunnel, the system comprising:

[0024] A sensing unit is located on one side of the tunnel track. The sensing unit is used to monitor the trackside equipment located on the other side of the tunnel track, and the sensing unit is used to collect the train operating environment data.

[0025] The calculation unit is connected to the sensing unit. The calculation unit is used to analyze the train operating environment data to obtain trackside equipment status information and train operating status structured information in the two coordinate systems. The calculation unit is also used to calculate the change in trackside equipment status information in the tunnel coordinate system, obtain an alarm threshold based on the trackside equipment status information and the train operating status structured information, and make a judgment based on the alarm threshold and the change, and send different alarm signals according to different judgment results.

[0026] Thirdly, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the above-mentioned method for detecting deviation and encroachment of trackside equipment in tunnels.

[0027] Fourthly, a computer-readable medium having processor-executable non-volatile program code is also provided, the program code causing the processor to execute the above-described method for detecting deviation and encroachment of trackside equipment in tunnels.

[0028] In summary, this application provides a method and system for detecting trackside equipment deviation and encroachment in tunnels. By establishing a sensing coordinate system to stably cover the trackside equipment, a warning is issued when deviation occurs. The deviation of the trackside equipment is calculated using the tunnel coordinate system to determine whether the trackside equipment is encroaching on the limit. This reduces the workload of maintenance personnel and promptly prevents the deviated trackside equipment from further encroaching on the limit and threatening train operation safety. Through the transfer and conversion between the two coordinate systems, the technical effect of stable detection of trackside equipment deviation and accurate and rapid calculation of the deviation is achieved.

[0029] Other features and advantages of this application will be set forth in the description which follows, and in part will be obvious from the description or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0031] Figure 1 This is a schematic diagram of the overall process for detecting the deviation and encroachment of trackside equipment in tunnels according to this application;

[0032] Figure 2 This is a schematic diagram of the data analysis steps for the method of detecting the deviation and encroachment of trackside equipment in tunnels in this application;

[0033] Figure 3 This is a schematic diagram of the encroachment determination steps in the tunnel trackside equipment offset encroachment detection method of this application;

[0034] Figure 4 This is a schematic diagram of the alarm steps for the tunnel trackside equipment offset and encroachment detection method of this application;

[0035] Figure 5 A schematic diagram showing the angular relationship between two coordinate systems used in the tunnel trackside equipment offset and encroachment detection method of this application;

[0036] Figure 6 This is a schematic diagram of the system configuration of the trackside equipment offset and intrusion detection system in the tunnel of this application. Detailed Implementation

[0037] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0038] In the description of this application, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0039] The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or more of that feature.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Specific Implementation Example 1

[0042] Reference Appendix Figures 1 to 6 , Figure 1 This is a schematic diagram of the overall process for detecting the deviation and encroachment of trackside equipment in tunnels according to this application; Figure 2 This is a schematic diagram of the data analysis steps for the method of detecting the deviation and encroachment of trackside equipment in tunnels in this application; Figure 3 This is a schematic diagram of the encroachment determination steps in the tunnel trackside equipment offset encroachment detection method of this application; Figure 4 This is a schematic diagram of the alarm steps for the tunnel trackside equipment offset and encroachment detection method of this application; Figure 5 A schematic diagram showing the angular relationship between two coordinate systems used in the tunnel trackside equipment offset and encroachment detection method of this application; Figure 6 The following is a schematic diagram of the system configuration of the trackside equipment offset and encroachment detection system in the tunnel of this application, in conjunction with the attached diagram. Figures 1 to 6 Specific embodiments of this application will be described.

[0043] Reference Appendix Figure 1 This application provides a method for detecting the deviation and encroachment of trackside equipment in a tunnel. A sensing unit is installed beside the tunnel track and connected to a computing unit located at the station. The detection method of this application includes a data acquisition step S1, a data analysis step S2, an encroachment determination step S3, and an alarm step S4.

[0044] The data acquisition step S1 involves real-time acquisition of train operating environment data by the sensing unit and transmission to the computing unit. The data analysis step S2 establishes a sensing coordinate system and a tunnel coordinate system in a plane parallel to the track surface, with at least one coordinate axis intersecting. The computing unit analyzes the train operating environment data to obtain trackside equipment status information and structured train operating status information within the two coordinate systems. An alarm threshold is then determined based on the trackside equipment status information and the structured train operating status information. The intrusion determination step S3 uses the sensing unit to determine whether the trackside equipment status information has changed within the sensing coordinate system. If so, the computing unit calculates the change in the trackside equipment status information within the tunnel coordinate system. The alarm step S4 uses the computing unit to determine whether the change exceeds the alarm threshold and sends different alarm signals based on the different determination results.

[0045] In some embodiments, the data acquisition step S1 involves collecting train operating environment data in real time through the sensing unit and sending it to the computing unit.

[0046] It should be noted that the train operating environment data includes passing trains, tracks, trackside equipment, etc.; in some embodiments, these targets are approximately 5-50 meters in front of the sensing unit, which is within the effective analysis and monitoring range of the algorithm.

[0047] Reference Appendix Figure 2 and Figure 5 In some embodiments, the data analysis step S2 involves establishing a sensing coordinate system and a tunnel coordinate system in a plane parallel to the track surface, with at least one coordinate axis intersecting between the sensing coordinate system and the tunnel coordinate system. The train operating environment data is analyzed by a computing unit to obtain trackside equipment status information and train operating status structured information in the two coordinate systems. An alarm threshold is obtained based on the trackside equipment status information and the train operating status structured information.

[0048] It should be noted that the computing unit analyzes and processes the collected train operating environment data to obtain structured information about the operating environment within the monitoring range of the sensing unit. The structured information about the operating environment includes track areas and trackside equipment target features. Based on the structured information about the operating environment, the computing unit further obtains trackside equipment status information and train operating status structured information. The trackside equipment status information includes the type, size, and distance of the trackside equipment; the train operating status structured information includes train characteristics, estimated arrival time, and train number information. The train characteristics also include train head features and train component features.

[0049] The calculation unit calculates the safe distances between each trackside device and different trains based on the type, size, and distance of the trackside equipment, as well as the characteristics of the train head and train components. Alarm thresholds are then set based on these safe distances.

[0050] Reference Appendix Figure 2 and Figure 5 In some embodiments, the data analysis step S2 further includes a sensing coordinate system establishment step S21, in which the calculation unit establishes a sensing coordinate system based on the center line of the field of view of the sensing unit. The sensing coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis, and the origin of the sensing coordinate system is point O, which is the setting position of the sensing unit.

[0051] The plane containing the X and Y axes is parallel to the track surface, the Z axis is perpendicular to the track surface, and the Y axis coincides with the center line of the field of view of the sensing unit, so that the trackside equipment located within the field of view of the sensing unit is covered by the sensing coordinate system.

[0052] Reference Appendix Figure 2 and Figure 5 In some embodiments, the data analysis step S2 further includes a tunnel coordinate system establishment step S22, in which the calculation unit establishes a tunnel coordinate system based on the track centerline. The tunnel coordinate system includes mutually perpendicular U-axis, V-axis and W-axis, and the origin of the tunnel coordinate system is point Q.

[0053] The plane containing the U-axis and V-axis is parallel to the rail surface, the W-axis is perpendicular to the rail surface, the V-axis is parallel to the center line of the rail, and the extension of the Y-axis intersects the extension of the V-axis at an angle of θ.

[0054] It should be noted that the purpose of setting the V-axis parallel to the track centerline is to make the V-axis parallel to the rail. Therefore, in the tunnel coordinate system, the degree of deviation of the trackside equipment can be detected more intuitively based on the changed trackside equipment status information, and thus quickly determine whether the trackside equipment encroaches on the limit and threatens the train running on the rail.

[0055] Reference Appendix Figure 3In some embodiments, the encroachment determination step S3 uses a sensing unit to determine whether the status information of the trackside equipment has changed in the sensing coordinate system. If so, the calculation unit calculates the change in the status information of the trackside equipment in the tunnel coordinate system; otherwise, the trackside equipment continues to be monitored.

[0056] In some embodiments, the sensing unit includes, but is not limited to, radar, camera, infrared sensor and ultrasonic sensor; in some embodiments, the camera and radar are used as sensing units to collect video images and radar point cloud data respectively, and send them to the computing unit for fusion calculation.

[0057] It should be noted that the fusion calculation of video images and radar point clouds requires the calibration of intrinsic and extrinsic parameters between the radar and the camera to enable mapping of radar point cloud data onto the image. The analysis algorithm of the computing unit detects targets such as tracks and trackside equipment from the video image data and fuses the target information detected in the radar point cloud data into the image data. The fused image data contains depth information, which is used to determine whether the monitored target has deviated or intruded into the detection limits.

[0058] It should also be noted that the extension of the Y-axis intersects the extension of the V-axis at an angle of θ, where θ is obtained through an analysis algorithm. The specific process is as follows:

[0059] First, the computational unit detects the trajectory from the fused image data using an algorithm; then, it fits the trajectory as a straight line using another algorithm; finally, in the coordinate system of the sensing unit, it calculates the angle θ between the fitted trajectory line and the center line of the sensing unit's field of view, which is the angle θ between the extension of the Y-axis and the extension of the V-axis.

[0060] Reference Appendix Figure 5 In some embodiments, the encroachment determination step S3 further includes a pre-determination step S31, in which the sensing unit determines whether the trackside equipment has shifted in the sensing coordinate system based on the trackside equipment status information in the sensing coordinate system. If so, the sensing unit sends a warning signal and the changed trackside equipment status information to the calculation unit.

[0061] It should be noted that the trackside equipment acquires initial trackside equipment status information through the sensing unit during initial installation. This initial status information includes the relative positional relationship between each feature point on the trackside equipment and the sensing unit. In some embodiments, the trackside equipment includes feature point A, which is located relative to the origin O in the sensing coordinate system. The position of feature point A is represented as (x... A y A , z A ).

[0062] After the trackside equipment deviates, the sensing unit can determine that the trackside equipment has deviated based on the initial trackside equipment status information. After determining that the trackside equipment has deviated, the sensing unit sends an early warning signal and the changed trackside equipment status information to the calculation unit.

[0063] Reference Appendix Figure 5 In some embodiments, the encroachment determination step S3 further includes an offset calculation step S32. The calculation unit transfers the changed trackside equipment status information from the sensing coordinate system to the tunnel coordinate system based on the warning signal and the included angle θ. The calculation unit calculates the change based on the trackside equipment status information in the tunnel coordinate system and the changed trackside equipment status information.

[0064] It should be noted that after receiving the warning signal, the computing unit starts the calculation, transferring the changed trackside equipment status information from the sensing coordinate system to the tunnel coordinate system, and rotating the XOY plane around the Z-axis by an angle θ until it coincides with the UQV plane, where the angle θ is known; the specific calculation process is as follows:

[0065] Take point A among the various feature points on the trackside equipment as an example;

[0066] Let the coordinates of point A in the sensor unit coordinate system be (x...). A y A , z A Its coordinates are known;

[0067] Let the coordinates of point A in the tunnel coordinate system be (u A v A w A According to the formula for a two-dimensional rotation matrix, we know that:

[0068] u A =x A cosθ-y A sinθ;

[0069] v A =y A cosθ+x A sinθ;

[0070] Because both the Z-axis and W-axis of the sensing coordinate system and the tunnel coordinate system are perpendicular to the track surface, the Z-axis and W-axis are made to coincide during coordinate system transformation, hence the expression: w A =z A ;

[0071] The relationship between point A in the two coordinate systems is as follows:

[0072] A(u A v A w A )=A(xA cosθ-y A sinθ, y A cosθ+x A sinθ, z A );

[0073] Furthermore, based on the coordinate information of points A and B in the tunnel coordinate system, the spatial distance L between the two points is calculated as follows:

[0074]

[0075] The component value of L in the U-axis direction is the change in distance offset between point A and the equipment clearance, expressed as:

[0076] (u A -u B )=(x A cosθ-y A sinθ)-(x B cosθ-y B sinθ.

[0077] In some embodiments, the alarm step S4 involves the calculation unit determining whether the change exceeds the alarm threshold and sending different alarm signals based on different determination results.

[0078] It should be noted that the calculation unit determines whether the change in distance offset is greater than the alarm threshold and sends different alarm signals based on different judgment results. That is, an alarm will be triggered when a change in distance offset occurs, and an alarm will still be triggered even if the change in distance offset is less than the alarm threshold to notify timely maintenance and prevent the trackside equipment from further offset and encroaching on the limit.

[0079] Reference Appendix Figure 4 In some embodiments, the alarm step S4 further includes an offset alarm step S41, in which the calculation unit determines whether the change is greater than the alarm threshold. If not, the calculation unit sends an offset alarm signal to the control center. The offset alarm signal is used to remind maintenance personnel to perform timely maintenance on the trackside equipment that has deviated.

[0080] Reference Appendix Figure 4 In some embodiments, alarm step S4 further includes intrusion alarm step S42, in which the calculation unit determines whether the change is greater than the alarm threshold. If so, the calculation unit sends an intrusion alarm signal to the control center. The intrusion alarm signal is used to remind the traffic flow control group of the existing intrusion risk in this section of the road. The traffic control group should further control vehicles to be prohibited from entering this section of the tunnel and notify maintenance personnel to carry out emergency repairs immediately to ensure traffic safety. Specific Implementation Example 2

[0082] This application also provides a tunnel trackside equipment offset and encroachment detection system to support the tunnel trackside equipment offset and encroachment detection method of the above-described specific embodiment 1, see attached document. Figure 6 The system includes a sensing unit and a computing unit.

[0083] The sensing unit is located on one side of the tunnel track and is used to monitor the trackside equipment located on the other side of the tunnel track. The sensing unit is also used to collect train operating environment data. The computing unit is located in the station and is connected to the sensing unit. The computing unit is used to analyze the train operating environment data to obtain trackside equipment status information and train operating status structured information in two coordinate systems. The computing unit is also used to calculate the change in trackside equipment status information in the tunnel coordinate system, obtain alarm thresholds based on trackside equipment status information and train operating status structured information, and make judgments based on alarm thresholds and changes. Different alarm signals are sent according to different judgment results.

[0084] In some embodiments, multiple sensing units are sequentially and spaced apart along the track. The sensing units are used to monitor trackside equipment located on the other side of the tunnel track. The spacing between any two sensing units is the effective detection distance of the corresponding algorithm, thereby expanding the effective detection area of ​​each sensing unit and enabling a limited number of sensing units to cover the offset and encroachment detection of trackside equipment throughout the entire tunnel section, thus saving detection costs.

[0085] In some embodiments, when the sensing unit is a camera, the sensing unit is used to acquire video images through a video sensor.

[0086] In some embodiments, when the sensing unit is a lidar, the sensing unit is used to collect radar point cloud data through the lidar.

[0087] In some embodiments, when the sensing unit is a camera and a lidar, the sensing unit is used to collect video images and radar point cloud data so that the computing unit can monitor the target device based on the visual-radar fusion analysis algorithm.

[0088] In some embodiments, the computing unit is used to receive train operating environment data collected by the sensing unit, and to analyze the data by establishing a sensing coordinate system and a tunnel coordinate system to obtain trackside equipment status information and structured train operating status information in the two coordinate systems.

[0089] In some embodiments, the computing unit is further configured to calculate the change in the trackside equipment status information within the tunnel coordinate system, obtain an alarm threshold based on the trackside equipment status information and the structured information of the train operation status, and make a judgment based on the alarm threshold and the change, and send different alarm signals according to different judgment results, so as to achieve the technical effect of the computing unit and the sensing unit jointly and stably detecting the deviation and encroachment of the trackside equipment in real time and alarming in a timely manner.

[0090] This application provides a method and system for detecting trackside equipment deviation and encroachment in tunnels. It establishes a sensor coordinate system to stably cover the trackside equipment, monitors the target equipment based on a visual-radar fusion analysis algorithm, issues an early warning when trackside equipment deviation occurs, and calculates the deviation amount using the tunnel coordinate system to determine whether the trackside equipment is encroaching on the limit. This reduces the workload of maintenance personnel and promptly prevents further encroachment by deviated trackside equipment that could threaten train safety. The system achieves both stable detection of trackside equipment deviation and accurate and rapid calculation of the deviation amount through the conversion between the two coordinate systems. By deploying sensors along the trackside to actually measure the distance from the target equipment to the encroachment limit and using this distance as the alarm threshold, it avoids relying on a pre-constructed three-dimensional space of the equipment encroachment limit, simplifying implementation and reducing the computational load required by the analysis algorithm.

[0091] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the tunnel trackside equipment offset and encroachment detection method provided in the first specific embodiment above.

[0092] This application also provides a computer-readable medium having processor-executable non-volatile program code, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the tunnel trackside equipment offset and encroachment detection method of the above-described specific embodiment 1.

[0093] The computer program product provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the preceding method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and apparatus described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0095] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0096] The above embodiments are only used to illustrate the technical solutions of this application and not to limit them; although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this application or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this application, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this application.

Claims

1. A method for detecting the offset and encroachment of trackside equipment in a tunnel, characterized in that, A sensing unit is installed beside the tunnel track, and the sensing unit is connected to a computing unit. The detection method includes: The data acquisition step involves the sensing unit collecting real-time train operating environment data and sending it to the computing unit. The data analysis steps involve establishing a sensing coordinate system and a tunnel coordinate system in a plane parallel to the track surface. The sensing coordinate system and the tunnel coordinate system intersect at least one coordinate axis. The calculation unit analyzes the train operating environment data to obtain trackside equipment status information and structured train operating status information within the two coordinate systems. An alarm threshold is then obtained based on the trackside equipment status information and the structured train operating status information. The sensing coordinate system is established based on the center line of the sensing unit's field of view. The sensing coordinate system includes mutually perpendicular X-axis, Y-axis, and Z-axis. The plane containing the X-axis and Y-axis is parallel to the track surface, the Z-axis is perpendicular to the track surface, and the Y-axis coincides with the center line of the sensing unit's field of view, ensuring that trackside equipment located within the sensing unit's field of view is covered by the sensing coordinate system. The encroachment determination step involves using the sensing unit to determine whether the status information of the trackside equipment has changed within the sensing coordinate system. If so, the calculation unit calculates the amount of change in the changed trackside equipment status information within the tunnel coordinate system. The alarm procedure involves the calculation unit determining whether the change exceeds the alarm threshold and sending different alarm signals based on the different determination results.

2. The method for detecting trackside equipment offset and encroachment in tunnels according to claim 1, characterized in that, The data analysis steps further include: The tunnel coordinate system is established based on the track centerline. The tunnel coordinate system includes mutually perpendicular U-axis, V-axis and W-axis, wherein the plane containing the U-axis and the V-axis is parallel to the track surface, the W-axis is perpendicular to the track surface, the V-axis is parallel to the track centerline, and the extension of the Y-axis intersects the extension of the V-axis at an angle of θ.

3. The method for detecting trackside equipment offset and encroachment in tunnels according to claim 2, characterized in that, The infringement limit determination step further includes: In the pre-judgment step, the sensing unit determines whether the trackside equipment has shifted within the sensing coordinate system based on the trackside equipment status information within the sensing coordinate system. If so, the sensing unit sends a warning signal and the changed trackside equipment status information to the calculation unit.

4. The method for detecting trackside equipment offset and encroachment in tunnels according to claim 3, characterized in that, The infringement limit determination step further includes: In the offset calculation step, the calculation unit transfers the changed trackside equipment status information from the sensing coordinate system to the tunnel coordinate system based on the warning signal and the included angle θ, and calculates the change amount based on the trackside equipment status information in the tunnel coordinate system and the changed trackside equipment status information.

5. The method for detecting trackside equipment offset and encroachment in tunnels according to any one of claims 1-4, characterized in that, The alarm procedure further includes; In the offset alarm step, the calculation unit determines whether the change is greater than the alarm threshold. If not, the calculation unit sends an offset alarm signal to the control center.

6. The method for detecting trackside equipment offset and encroachment in tunnels according to claim 5, characterized in that, The alarm procedure further includes; In the intrusion alarm step, the calculation unit determines whether the change is greater than the alarm threshold. If so, the calculation unit sends an intrusion alarm signal to the control center.

7. A trackside equipment offset and encroachment detection system in a tunnel, used to support the trackside equipment offset and encroachment detection method in a tunnel as described in claims 1-6, characterized in that, The system includes: A sensing unit is located on one side of the tunnel track. The sensing unit is used to monitor the trackside equipment located on the other side of the tunnel track, and the sensing unit is used to collect the train operating environment data. A computing unit is connected to the sensing unit. The computing unit is used to analyze the train operating environment data to obtain trackside equipment status information and train operating status structured information in the two coordinate systems. The calculation unit is also used to calculate the change in the trackside equipment status information within the tunnel coordinate system, obtain an alarm threshold based on the trackside equipment status information and the structured information of the train operation status, and make a judgment based on the alarm threshold and the change, and send different alarm signals according to different judgment results.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the tunnel trackside equipment offset and encroachment detection method as described in any one of claims 1 to 6.

9. A computer-readable medium having processor-executable non-volatile program code, characterized in that, The program code causes the processor to execute the tunnel trackside equipment offset and encroachment detection method as described in any one of claims 1 to 6.

Images