Track foreign body monitoring method, device, electronic equipment and medium

Abstract

The present application relates to a method, device, electronic device and medium for monitoring foreign objects on tracks, and relates to the field of foreign object monitoring on tracks. The method includes obtaining image information at the tunnel entrance and a pressure change diagram between two tracks when it is detected that the tunnel entrance area is in precipitation weather, performing feature recognition on the image information, and judging whether there is a foreign object in the area between the tracks. If there is, the height of the foreign object is determined based on the image information, and whether the foreign object is a target foreign object based on the height and the pressure change diagram. If it is a target foreign object, the lifting device is controlled to move the target foreign object out of the range between the tracks. The present application has the effect of being able to timely monitor foreign objects on the track at the tunnel entrance and remove the foreign objects, thereby ensuring the normal and punctual operation of high-speed trains.

Description

Technical Field

[0001] The present application relates to the field of track foreign object monitoring, and in particular to a track foreign object monitoring method, device, electronic equipment and medium. Background Art

[0002] With the development of high-speed rail construction, it is inevitable to encounter mountains when building high-speed rail, so tunnels need to be built to allow trains to pass. However, mountains are easily affected by precipitation weather, which may cause disasters such as gravel or mudslides at the tunnel entrance, resulting in the possibility of foreign objects such as fallen rocks on the track, which has a significant impact on the safety of train driving. At present, most of them use manual monitoring, which is likely to miss detection, labor-intensive and labor-intensive. If foreign objects appear on the track at the tunnel entrance, they cannot be removed in time, thus affecting the normal and punctual operation of high-speed trains and even causing collision accidents. Summary of the invention

[0003] In order to timely monitor foreign objects on the track at the tunnel entrance and remove the foreign objects, thereby improving the safety of rail train operation, the present application provides a track foreign object monitoring method, device, electronic equipment and medium.

[0004] In a first aspect, the present application provides a method for monitoring foreign matter on a track, which adopts the following technical solution:

[0005] A method for monitoring foreign matter on a track, comprising:

[0006] When it is detected that the tunnel entrance area is in precipitation weather, image information at the tunnel entrance and a pressure change diagram of the area between the two tracks are obtained;

[0007] Performing feature recognition on the image information to determine whether there is a foreign object between the tracks;

[0008] If present, determining the height of the foreign object based on the image information;

[0009] Based on the height and pressure change graph, determining whether the foreign object is a target foreign object, wherein the target foreign object is a foreign object that may affect the safety of train travel;

[0010] If it is the target foreign object, the lifting device is controlled to move the target foreign object out of the area between the tracks.

[0011] By adopting the above technical solution, when it is detected that the tunnel entrance area is in precipitation weather, the precipitation weather is likely to cause gravel or mud-rock flow disasters at the tunnel entrance. Therefore, the image information at the tunnel entrance and the pressure change diagram of the area between the two tracks are obtained. The image information can clearly show the foreign matter on the track. The image information is feature recognized to determine whether there is a foreign matter in the area between the tracks. If so, the height of the foreign matter is determined based on the image information. The height of the foreign matter affects whether the train can pass safely. The pressure value represents the weight of the foreign matter. Based on the height and pressure change diagram, it is determined whether the foreign matter is a target foreign matter. The target foreign matter is a foreign matter that affects the travel of the train and needs to be cleaned. If it is a target foreign matter, the lifting device is controlled to move the target foreign matter out of the area between the tracks, so that the foreign matter on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally and on time.

[0012] In another possible implementation, judging whether the foreign object is a target foreign object based on the height and pressure change graph includes:

[0013] Determine from the pressure values ​​the static pressure of the foreign object and a first number of pressure value points when the foreign object is in a static state;

[0014] determining a first score for the foreign object based on the static pressure, the height, the first number, and the respective corresponding first coefficients;

[0015] If the first score reaches a preset score threshold, the foreign object is determined to be the target foreign object.

[0016] In another possible implementation, the method further includes:

[0017] determining the volume of the foreign object based on the first number and the height;

[0018] determining a density of the foreign object based on the volume and the static pressure;

[0019] The type of the foreign matter is determined based on the density.

[0020] In another possible implementation, the lifting device includes two receiving plates arranged between the rails, the two receiving plates are hinged to each other, and the hinge axis is parallel to the rails, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the rails, one receiving plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the receiving plate, the second hydraulic cylinder is located at the hinge of the two receiving plates and is hinged to the hinge, and can also be located below any one of the two receiving plates, and the control lifting device moves the target foreign object out of the area between the rails, including:

[0021] Determine the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information;

[0022] Calculating the similarity between the contour of the target foreign object and the standard circle, and calculating the first distance from the target foreign object to the midpoint between the two tracks;

[0023] Determine the time when the target foreign body generates a pressure value and determine a second number of all the times;

[0024] determining a second score based on the similarity, the second number, and the first distance;

[0025] Determine the angle between the two receiving plates and the horizontal plane based on the second score;

[0026] The two first hydraulic cylinders and the second hydraulic cylinder are controlled to move based on the angle.

[0027] If it is detected that the target foreign object has not moved when the angle is reached, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move to increase the angle of the receiving plate where the target foreign object is located.

[0028] In another possible implementation, the controlling and lifting device moves the target foreign object out of the area between the tracks, and then further includes:

[0029] Acquire current image information of the tunnel entrance, and determine whether the target foreign object has rolled off the track based on the current image information;

[0030] If the target foreign object rolls off the track, determining a second distance from the target foreign object to the track based on the current image information;

[0031] If the second distance is less than a preset distance, determining a third distance between the target foreign object and an oncoming train;

[0032] Prompt information is output based on the third distance.

[0033] In another possible implementation, the method further includes:

[0034] The target number of personnel is determined based on the static pressure and the volume.

[0035] In another possible implementation, the method further includes:

[0036] If the second distance reaches the preset distance, determining the track gauge of the track corresponding to the target foreign object area based on the current image information, the target foreign object area being the area where the target foreign object bounces or rolls when the target foreign object falls on the area between the tracks;

[0037] Determining the difference between the track gauge and the standard track gauge;

[0038] Determine a first grayscale value of the track corresponding to the target foreign object area from the image information, and determine a second grayscale value of the track corresponding to the target foreign object area from the current image information;

[0039] Determine an abnormal region on the track based on the first grayscale value and the second grayscale value, and determine the area of ​​the abnormal region;

[0040] An abnormality score of the abnormal area is determined based on the difference, the area and the third coefficient corresponding to each other, and the abnormality score represents the risk value of the abnormal area affecting the passage of the train.

[0041] In the second aspect, the present application provides a track foreign body monitoring device, which adopts the following technical solution:

[0042] A track foreign body monitoring device, comprising:

[0043] A first acquisition module is used to acquire image information at the tunnel entrance and a pressure change diagram of the area between the two tracks when it is detected that the tunnel entrance area is in precipitation weather;

[0044] A recognition module, used to perform feature recognition on the image information to determine whether there is a foreign object in the area between the tracks;

[0045] A first determination module, configured to determine the height of the foreign object based on the image information if the foreign object exists;

[0046] A judging module, configured to judge whether the foreign object is a target foreign object based on the height and pressure change diagram, wherein the target foreign object is a foreign object that may affect the running safety of the train;

[0047] The control module is used to control the lifting device to move the target foreign object out of the area between the tracks if it is the target foreign object.

[0048] By adopting the above technical solution, when it is detected that the tunnel entrance area is in precipitation weather, the precipitation weather is likely to cause gravel or mudslide disasters at the tunnel entrance. Therefore, the first acquisition module obtains the image information at the tunnel entrance and the pressure change diagram of the area between the two tracks. The image information can clearly show the foreign matter on the track. The recognition module performs feature recognition on the image information to determine whether there is a foreign matter in the area between the tracks. If so, the first determination module determines the height of the foreign matter based on the image information. The height of the foreign matter affects whether the train can pass safely. The pressure value represents the weight of the foreign matter. The judgment module determines whether the foreign matter is a target foreign matter based on the height and pressure change diagram. The target foreign matter is a foreign matter that affects the train travel and needs to be cleaned. If it is a target foreign matter, the control module controls the lifting device to move the target foreign matter out of the area between the tracks, so that the foreign matter on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally and on time.

[0049] In another possible implementation, the judgment module, when judging whether the foreign object is a target foreign object based on the height and pressure change graph, is specifically configured to:

[0050] Determine from the pressure values ​​the static pressure of the foreign object and a first number of pressure value points when the foreign object is in a static state;

[0051] determining a first score for the foreign object based on the static pressure, the height, the first number, and the respective corresponding first coefficients;

[0052] If the first score reaches a preset score threshold, the foreign object is determined to be the target foreign object.

[0053] In another possible implementation, the device further includes:

[0054] a volume determination module, configured to determine the volume of the foreign object based on the first number and the height;

[0055] a density determination module, configured to determine the density of the foreign matter based on the volume and the static pressure;

[0056] The type determination module is used to determine the type of the foreign matter based on the density.

[0057] In another possible implementation, the lifting device includes two receiving plates arranged between the tracks, the two receiving plates are hinged to each other, and the hinge axis is parallel to the track, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the track, one receiving plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the receiving plate, the second hydraulic cylinder is located at the hinge of the two receiving plates and is hinged to the hinge, and can also be located below any one of the two receiving plates, and the control module, when controlling the lifting device to move the target foreign object out of the area between the tracks, is specifically used to:

[0058] Determine the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information;

[0059] Calculating the similarity between the contour of the target foreign object and the standard circle, and calculating the first distance from the target foreign object to the midpoint between the two tracks;

[0060] Determine the time when the target foreign body generates a pressure value and determine a second number of all the times;

[0061] determining a second score based on the similarity, the second number, and the first distance;

[0062] Determine the angle between the two receiving plates and the horizontal plane based on the second score;

[0063] The two first hydraulic cylinders and the second hydraulic cylinder are controlled to move based on the angle.

[0064] If it is detected that the target foreign object has not moved when the angle is reached, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move to increase the angle of the receiving plate where the target foreign object is located.

[0065] In another possible implementation, the device further includes:

[0066] A second acquisition module acquires current image information of the tunnel entrance, and determines whether the target foreign object has rolled off the track based on the current image information;

[0067] a second determination module, which determines a second distance from the target foreign object to the track based on the current image information if the target foreign object rolls off the track;

[0068] a third determining module, configured to determine a third distance between the target foreign object and an oncoming train if the second distance is less than a preset distance;

[0069] An output module outputs prompt information based on the third distance.

[0070] In another possible implementation, the device further includes:

[0071] The fourth determination module is used to determine the number of target personnel based on the static pressure and volume.

[0072] In another possible implementation, the device further includes:

[0073] a fifth determination module, configured to determine, if the second distance reaches a preset distance, a track gauge of a track corresponding to a target foreign object area based on the current image information, wherein the target foreign object area is an area where the target foreign object bounces or rolls when the target foreign object falls on an area between the tracks;

[0074] A sixth determination module, used to determine the difference between the track gauge and the standard track gauge;

[0075] a seventh determination module, configured to determine a first grayscale value of the track corresponding to the target foreign object region from the image information, and to determine a second grayscale value of the track corresponding to the target foreign object region from the current image information;

[0076] an eighth determination module, configured to determine an abnormal region on the track based on the first grayscale value and the second grayscale value, and determine an area of ​​the abnormal region;

[0077] The ninth determination module is used to determine the abnormality score of the abnormal area based on the difference, the area and the third coefficient corresponding to each other, and the abnormality score represents the risk value of the impact of the abnormal area on the passage of the train.

[0078] In a third aspect, the present application provides a track foreign body monitoring system, which adopts the following technical solution:

[0079] A track foreign body monitoring system, comprising:

[0080] The lifting device includes two supporting plates arranged between the tracks, the two supporting plates are hinged to each other, and the hinge axis is parallel to the tracks, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the tracks, one supporting plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the supporting plate, the second hydraulic cylinder is located at the hinge of the two supporting plates and is hinged to the hinge, and can also be located below any one of the two supporting plates.

[0081] The camera device is used to collect image information of the tunnel entrance track.

[0082] Raindrop sensor is used to collect precipitation weather in the tunnel entrance area.

[0083] The thin film pressure sensor is laid between the tracks at the tunnel entrance and is used to collect the pressure value between the tracks at the tunnel entrance.

[0084] An electronic device is used to obtain image information at the tunnel entrance and a pressure change diagram of the area between two tracks when it is detected that the tunnel entrance area is in precipitation weather; perform feature recognition on the image information to determine whether there is a foreign object in the area between the tracks; if so, determine the height of the foreign object based on the image information; determine whether the foreign object is a target foreign object based on the height and the pressure change diagram, and the target foreign object is a foreign object that will affect the safety of train travel; if it is the target foreign object, control the lifting device to move the target foreign object out of the area between the tracks.

[0085] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0086] A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute a track foreign matter monitoring method as described in any one of the first aspects.

[0087] In summary, the present application includes at least one of the following beneficial technical effects:

[0088] When it is detected that the tunnel entrance area is in precipitation weather, the precipitation weather is likely to cause gravel or mudslide disasters at the tunnel entrance. Therefore, the image information of the tunnel entrance and the pressure change diagram of the area between the two tracks are obtained. The image information can clearly show the foreign objects on the track. The features of the image information are recognized to determine whether there are foreign objects in the area between the tracks. If so, the height of the foreign object is determined based on the image information. The height of the foreign object affects whether the train can pass safely. The pressure value represents the weight of the foreign object. Based on the height and pressure change diagram, it is determined whether the foreign object is a target foreign object. The target foreign object is a foreign object that affects the train travel and needs to be cleaned. If it is a target foreign object, the lifting device is controlled to move the target foreign object out of the area between the tracks, so that the foreign objects on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally on time. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1 It is a flow chart of a method for monitoring foreign matter on a track according to an embodiment of the present application.

[0090] Figure 2 It is a schematic diagram of the structure of the lifting device in the embodiment of the present application.

[0091] Figure 3 It is a schematic diagram of a specific process of controlling the lifting device in an embodiment of the present application.

[0092] Figure 4 It is a structural schematic diagram of a track foreign body monitoring device in an embodiment of the present application.

[0093] Figure 5It is a structural schematic diagram of a track foreign object monitoring system according to an embodiment of the present application.

[0094] Figure 6 It is a structural schematic diagram of an electronic device according to an embodiment of the present application.

[0095] Attachment numerals: 2, lifting device; 21, receiving plate; 22, first hydraulic cylinder; 23, second hydraulic cylinder; 30, track foreign body monitoring device; 301, first acquisition module; 302, identification module; 303, first determination module; 304, judgment module; 305, control module; 4, camera device; 5, raindrop sensor; 6, film pressure sensor; 7, electronic device; 701, processor; 702, bus; 703, memory; 704, transceiver. DETAILED DESCRIPTION

[0096] The present application is further described in detail below in conjunction with the accompanying drawings.

[0097] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of this application.

[0098] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0099] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0100] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0101] The embodiment of the present application provides a method for monitoring foreign objects on a track, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited in the embodiment of the present application. Figure 1 As shown, the method includes step S101, step S102, step S103, step S104 and step S105, wherein:

[0102] S101, when it is detected that the tunnel entrance area is in precipitation weather, image information at the tunnel entrance and a pressure change diagram between two tracks are obtained.

[0103] For the embodiment of the present application, the mountain near the tunnel entrance area is susceptible to the influence of precipitation, resulting in loose soil, causing the falling of foreign objects such as falling rocks or broken soil. The staff installed a raindrop sensor in the tunnel entrance area in advance, and installed a thin film pressure sensor between the two tracks. The thin film pressure sensor includes multiple points, each of which can detect the pressure value, and multiple points are densely distributed in the area between the tracks. Both sensors are wirelessly connected to the electronic device. The raindrop sensor is used to collect precipitation conditions to determine whether precipitation weather occurs. When precipitation occurs, it sends a signal to the electronic device. The thin film pressure sensor is used to collect the pressure of foreign objects on the track. Therefore, when the electronic device detects that the tunnel entrance area is in precipitation weather, it means that foreign objects may appear on the track. A camera device can be installed in advance at the tunnel entrance. The camera device can be connected to the electronic device by wire or wireless. The camera device collects image information at the tunnel entrance. The electronic device obtains the image information at the tunnel entrance and the pressure change diagram between the two tracks. The pressure change diagram is a pressure change diagram of each point between the tracks over time. The image information can show the foreign object situation on the track, and the pressure change diagram shows the pressure change of the foreign object on the area between the tracks.

[0104] S102, performing feature recognition on the image information to determine whether there is a foreign object between the tracks.

[0105] For the embodiment of the present application, the electronic device inputs the image information into a trained network model for feature recognition to determine whether there are foreign objects between the tracks. The network model can be a convolutional neural network model, a recurrent neural network model, or other network models.

[0106] S103, if present, determine the height of the foreign object based on the image information.

[0107] For the embodiment of the present application, if there is a foreign object between the tracks, it means that it may affect the operation of the train. The electronic device determines the height of the foreign object based on the image information. The higher the foreign object, the more likely it is to collide with the moving train.

[0108] S104, judging whether the foreign object is the target foreign object based on the height and pressure change graph.

[0109] Among them, the target foreign objects are foreign objects that may affect the safety of train operation.

[0110] For the embodiment of the present application, the higher the height, the larger the range of collision with the train, and the greater the probability of collision with the train. The pressure change diagram can show the movement trajectory of the foreign object in the area between the tracks and the pressure caused to the ground between the tracks. The greater the pressure, the greater the mass of the foreign object, and the greater the severity and destructiveness caused to the train when colliding with the train. Therefore, the electronic device determines whether the foreign object is the target foreign object based on the height and pressure change diagram.

[0111] S105: If it is a target foreign object, control the lifting device to move the target foreign object out of the range between the tracks.

[0112] For the embodiment of the present application, if it is a target foreign object, it means that it has affected the safety of the train and needs to be processed. Then the electronic device controls the lifting device to move the target foreign object out of the area between the tracks. The image information is used to determine whether there is a foreign object and the height of the foreign object is determined. Then, the target foreign object is determined through the height and pressure change diagram, and the lifting device is controlled to move the target foreign object out of the track, so that the foreign object on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally and on time.

[0113] In a possible implementation of the embodiment of the present application, in step S104, judging whether the foreign object is a target foreign object based on the height and pressure change diagram specifically includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), and step S1043 (not shown in the figure), wherein:

[0114] S1041, determining the static pressure of the foreign object and a first number of pressure value points when the foreign object is in a static state from the pressure value.

[0115] For the embodiments of the present application, foreign objects that fall onto the track may bounce or roll, generating pressure values ​​at multiple locations on the track, and eventually stabilize and stop at a certain location. Therefore, the electronic device determines the static pressure from the pressure value and counts the first number of pressure value points when the foreign object is in a static state. The static pressure reflects the weight of the foreign object. The larger the first number, the more pressure value positions the bottom of the foreign object generates on the area between the tracks, which means that the bottom area of ​​the foreign object is larger.

[0116] S1042, determining a first score of the foreign object based on the static pressure, the height, the first number, and the first coefficients corresponding to each.

[0117] For the embodiment of the present application, the greater the static pressure, the heavier the foreign object, and the greater the kinetic energy generated during the collision; the higher the height, the larger the area that may collide with the train, and the greater the first number, the more the foreign object contacts the track when it is static, and the corresponding foreign object may be larger. The static pressure, height, and first number are all positively correlated with the size of the foreign object. Therefore, the electronic device determines the first score of the foreign object based on the static pressure, height, first number, and the first coefficients corresponding to each. For example, if the static pressure is 200N, the height is 0.3m, the first number is 4, and the first coefficients corresponding to each are 0.05, 60, and 3, then the electronic device determines the first score of the foreign object as 200×0.05+0.3×60+4×3=40.

[0118] S1043: If the first score reaches a preset score threshold, the foreign object is determined to be a target foreign object.

[0119] For the embodiment of the present application, the electronic device compares the first score with a preset score threshold. The preset score threshold can be obtained by the staff based on multiple experiments. The preset score threshold represents the dividing point of whether the foreign object can affect the train operation. If the first score reaches the preset score threshold, the electronic device determines that the foreign object is a target foreign object. If it is determined to be a target foreign object, it means that this target foreign object will affect the train operation, so that the foreign object can be monitored in time.

[0120] In a possible implementation manner of the embodiment of the present application, the method further includes step 1, step 2 and step 3, wherein step 1 may be performed after step S1043, wherein:

[0121] Step 1, determining the volume of the foreign matter based on the first quantity and the height;

[0122] For the embodiment of the present application, each point in the thin film pressure sensor is set in advance according to the preset point distance. The first number of pressure value points in the static state can represent the bottom area of ​​the foreign object. The electronic device uses the preset volume formula to approximately calculate the possible volume of the foreign object based on the first number and height. The larger the volume, the greater the impact on the train.

[0123] Step 2, determining the density of the foreign body based on the volume and static pressure;

[0124] For the embodiment of the present application, the static pressure F is the gravity G. The electronic device calculates the mass of the foreign matter using the mass formula m=G / g, where g is 9.8N / kg, and then uses the density formula ρ=m / V to determine the density of the foreign matter. The density can characterize the type of foreign matter.

[0125] Step three, determine the type of foreign matter based on density.

[0126] For the embodiment of the present application, the density is different and the types of foreign matter are different. The preset density ranges of different types of foreign matter are stored in the electronic device. For example, the preset density range corresponding to stones is [1.2, 3.5] g / cm³, and the preset density range corresponding to branches and trees is [0.2, 1.3] g / cm³. The electronic device matches the density with the preset density range to determine the corresponding type of foreign matter.

[0127] A possible implementation method of the embodiment of the present application is as follows: Figure 2 As shown, the lifting device 2 includes two receiving plates 21 arranged between the tracks, the two receiving plates 21 are hinged to each other, and the hinge axis is parallel to the track, a first hydraulic cylinder 22 and a second hydraulic cylinder 23 are arranged below the track, one receiving plate 21 corresponds to one first hydraulic cylinder 22, the first hydraulic cylinder 22 is hinged to the receiving plate 21, the second hydraulic cylinder 23 can be located at the hinge of the two receiving plates 21 and hinged to the hinge, and can also be located below any one of the two receiving plates 21. In step S105, controlling the lifting device to move the target foreign object out of the range between the tracks specifically includes steps S1, S2, S3, S4, S5, S6 and S7. Figure 3 As shown,

[0128] S1, determining the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information.

[0129] For the embodiment of the present application, the electronic device performs feature recognition based on the image information to determine the track to which the foreign object is closer. Each side of the track corresponds to a receiving plate, thereby determining the receiving plate where the target foreign object is located, and performing edge detection on the image information to obtain the outline of the target foreign object, which can reflect the shape of the target foreign object.

[0130] S2, calculating the similarity between the contour of the target foreign object and the standard circle, and calculating the first distance from the target foreign object to the midpoint between the two tracks.

[0131] For the embodiment of the present application, the electronic device determines the contour of the target foreign body through image information, and calculates the similarity between the contour and the standard circle through the cosine distance, that is, the contour of the target foreign body and the standard circle are represented as two vectors respectively, and the similarity between the two is characterized by calculating the cosine distance between the two vectors. The similarity can also be calculated through a histogram or other methods, which are not limited here. The greater the similarity, the closer the target foreign body is to the standard circle, and the smaller the similarity, the less close it is to the standard circle.

[0132] The electronic device determines the center point of the target foreign object based on the contour of the target foreign object. The target foreign object is an irregular object, and the center point must be determined first. Using the center point to characterize the position of the target foreign object is more accurate and convenient for subsequent calculations. Therefore, the electronic device calculates the first distance from the center point to the midpoint between the two tracks. The first distance characterizes the proximity of the target foreign object to the middle of the track. The larger the first distance, the angle of the receiving plate where the target foreign object is located does not need to be particularly large, that is, the initial acceleration does not need to be particularly large. The first distance compensates for the acceleration time of the target foreign object on the receiving plate, so that a higher speed can be reached. The smaller the first distance, the larger the angle of the receiving plate where the target foreign object is located, that is, a larger initial acceleration, so that the target foreign object can reach a higher speed when leaving the receiving plate.

[0133] S3, determining the time when the target foreign object generates the pressure value and determining a second number of all the time.

[0134] For the embodiment of the present application, since the target foreign object will bounce or roll after rolling to the area between the tracks, multiple pressure values ​​will be generated when it contacts the pressure sensor during the bouncing or rolling process. The electronic device determines the moment when the target foreign object generates the pressure value and determines a second number of all the moments. The more moments, the more times the target foreign object bounces or rolls, and the closer the shape of the target foreign object is to a sphere.

[0135] S4, determining a second score based on the similarity, the second quantity, and the first distance.

[0136] For the embodiment of the present application, the similarity characterizes the proximity of the target foreign object to the standard circle, the second number characterizes the number of times the target foreign object bounces or rolls, and the first distance characterizes the proximity of the target foreign object to the middle of the track. All three are closely related to the lifting angle of the receiving plate. Therefore, the electronic device determines the second score based on the similarity, the second number, the first distance and the respective second coefficients, so that the lifting control of the receiving plate is more accurate. For example, the similarity is 0.8, the first number of pressure values ​​is 4, and the first distance is 0.3. The second coefficients of the three are 80, 6, and 40 respectively. Then the electronic device determines the second score as 0.8×80+4×6+0.3×40=100.

[0137] S5, determining the angle between the two receiving plates and the horizontal plane based on the second score.

[0138] For the embodiment of the present application, the larger the second score is, the more it means that the receiving plate where the target foreign object is located does not need a particularly large angle to make the target foreign object reach a greater speed when leaving the receiving plate, and in order to prevent the target foreign object from easily stopping moving under the action of friction on the other receiving plate, the other receiving plate is also kept at a certain angle rather than being in a horizontal state. The electronic device determines the score interval where the second score is located from a plurality of preset score intervals, and each preset score interval corresponds to the angles with the horizontal plane corresponding to two receiving plates. The electronic device determines the angle corresponding to the score interval where the second score is located as the angle that the two receiving plates need to reach. When the receiving plate where the target foreign object is located reaches an angle, the optimal angle that the other receiving plate needs to reach is obtained by the staff through calculation or experiment. Each angle that one receiving plate may reach and the angle that the other receiving plate needs to reach are obtained and stored through calculation or experiment.

[0139] S6, controlling the actions of the two first hydraulic cylinders and the second hydraulic cylinder based on the angle.

[0140] For the embodiment of the present application, the electronic device controls the actions of the two first hydraulic cylinders and the second hydraulic cylinder based on the angle, so as to obtain the angle reached by the two docking plates. The action amounts required by the first hydraulic cylinder and the second hydraulic cylinder when the two docking plates reach the angle are measured or calculated in advance and stored. After the angle is determined, the action amounts of the first hydraulic cylinder and the second hydraulic cylinder corresponding to the angle are searched, and the actions of the first hydraulic cylinder and the second hydraulic cylinder are controlled according to the action amounts.

[0141] S7, if it is detected that the target foreign object has not moved after reaching the angle, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move, so as to increase the angle of the receiving plate where the target foreign object is located.

[0142] For the embodiment of the present application, when the electronic device detects the arrival angle and determines based on the image information that the target foreign object has not moved, it means that the weight of the target foreign object is too heavy or the shape of the target foreign object makes it difficult to slide on the slope formed by the receiving plate. The angle cannot loosen the target foreign object and slide it off, so it is necessary to control the vibration of the second hydraulic cylinder to make the target foreign object easier to slide off. The second hydraulic cylinder also plays the role of supporting the receiving plate, controlling the movement of the first hydraulic cylinder of the receiving plate where the target foreign object is located, thereby continuing to increase the angle to make the target foreign object easier to slide off. The second hydraulic cylinder vibrates, and under the joint influence of the increased angle, the target foreign object is easier to slide off.

[0143] In a possible implementation manner of the embodiment of the present application, the method further includes step 4, step 5, step 6 and step 7, wherein step 4 may be performed after step S7, wherein:

[0144] Step 4: Obtain current image information of the tunnel entrance, and determine whether the target foreign object has rolled off the track based on the current image information.

[0145] For the embodiment of the present application, the electronic device obtains current image information of the tunnel entrance, and the current image information shows the current location of the target foreign object.

[0146] Step 5: If the target foreign object rolls off the track, a second distance from the target foreign object to the track is determined based on the current image information.

[0147] For the embodiment of the present application, if the target foreign object rolls off the track, the electronic device determines the second distance between the target foreign object and the track based on the current image information. Specifically, the second distance can be determined based on the number of pixels between the edge of the target foreign object and the track. Although the target foreign object rolls off the track, it is still necessary to determine the second distance between the target foreign object and the track. The closer the target foreign object is to the track, the more likely the train will collide or scrape with the target foreign object.

[0148] Step six: if the second distance is less than the preset distance, determine a third distance between the target foreign object and the oncoming train.

[0149] For the embodiment of the present application, if the second distance is too close to the track, it will also affect the safety of the train's travel. A train warning system is installed on the track near the tunnel entrance. The train warning system is communicated with the electronic device. Therefore, if the second distance is less than the preset distance, the electronic device obtains the real-time distance of the upcoming train through the train warning system and determines the real-time distance as the third distance between the target foreign object and the upcoming train.

[0150] Step seven: output prompt information based on the third distance.

[0151] For the embodiment of the present application, the closer the third distance is, the faster the train arrives at the tunnel entrance, the shorter the time for the train driver to react, and the more serious the collision between the train and the target foreign object may be. Therefore, the electronic device outputs prompt information based on the third distance, and outputs the prompt information with words such as "There is a foreign object at the tunnel entrance, which affects the passage of the train. The train still has a 'third distance' to reach the tunnel entrance" to the terminal device of the upcoming train on the one hand, and to the terminal device of the nearby maintenance office on the other hand, to remind the staff that there is a foreign object at the tunnel entrance that needs to be cleared as soon as possible.

[0152] In a possible implementation manner of the embodiment of the present application, the method further includes step eight, wherein step eight may be performed after step S1043, wherein:

[0153] Step eight, determining the number of target personnel based on static pressure and volume.

[0154] For the embodiment of the present application, static pressure represents the weight of the target foreign object. The greater the static pressure or the larger the volume, the more people are needed to lift and move the target foreign object. Different fourth coefficients are set for static pressure and volume. The electronic device combines the static pressure, volume and the corresponding fourth coefficients to perform weighted calculation to obtain a score. The number of people required to transport the target foreign object is determined by the score. Specifically, the preset score interval in which the score is located can be determined from multiple preset score intervals. Each score interval corresponds to an appropriate number of people, so as to determine the appropriate number of target foreign objects to be transported. A possible implementation method of the embodiment of the present application is that the method also includes step nine, step ten, step eleven, step twelve and step thirteen, wherein step nine can be performed after step seven, wherein,

[0155] Step nine: if the second distance reaches the preset distance, determine the fourth distance between the tracks corresponding to the target foreign object area based on the current image information.

[0156] The target foreign object area is the area between the tracks where the target foreign object collides with the track when it falls on the track and bounces or rolls.

[0157] For the embodiment of the present application, if the second distance reaches the preset distance, it is also necessary to consider whether the damage to the track will also affect the train operation. When the target foreign object falls on the track, it will bounce or roll under the influence of gravity and will inevitably collide with the track. When the target foreign object is too large or too heavy, the impact force on the track is so great that the track will move outward. Therefore, the electronic device determines the fourth distance between the tracks corresponding to the target foreign object area based on the current image information.

[0158] Step 10, determining the difference between the fourth distance and the standard track moment.

[0159] For the embodiment of the present application, the electronic device determines the difference between the fourth distance and the standard track gauge, and the difference represents the degree of track deviation. The larger the difference, the greater the impact force of the target foreign object on the track, resulting in a greater degree of outward deviation of the track.

[0160] Step eleven: determine a first grayscale value of the track corresponding to the target foreign object area from the current image information, and determine a second grayscale value of the track corresponding to the target foreign object area from the preset image information.

[0161] The preset image information is the image information when there is no foreign matter on the track at the tunnel entrance.

[0162] For the embodiment of the present application, the preset image information is the image information when there is no foreign object on the track at the tunnel entrance. The target foreign object falls and collides with the track, causing wear to the track. Therefore, the electronic device determines the first grayscale value of the track corresponding to the target foreign object area from the current image information, and determines the second grayscale value of the track corresponding to the target foreign object area from the preset image information.

[0163] Step 12: determine an abnormal region on the track based on the first grayscale value and the second grayscale value, and determine the area of ​​the abnormal region.

[0164] For the embodiment of the present application, the electronic device compares the first grayscale value and the second grayscale value to determine the abnormal area on the track. The abnormal area is the area where the target foreign object causes wear on the track. The electronic device determines the area of ​​the abnormal area. The larger the area, the more serious the wear on the track and the greater the danger to subsequent passing trains.

[0165] Step thirteen: determine an abnormality score of the abnormal area based on the difference, the area and the third coefficient corresponding to each of them, where the abnormality score represents the risk value of the impact of the abnormal area on the passage of the train.

[0166] For the embodiment of the present application, the difference represents the degree of track deviation, and the area represents the size of the wear area of ​​the track. The larger the difference or the larger the area, the greater the impact on the passage of the train. The electronic device determines the abnormality score of the abnormal area based on the difference, the area and the corresponding third coefficient. The abnormality score represents the risk value of the abnormal area affecting the passage of the train. The larger the risk value, the greater the impact on the train's travel.

[0167] The above embodiment introduces a method for monitoring foreign objects on a track from the perspective of a method flow, and the following embodiment introduces a device for monitoring foreign objects on a track from the perspective of a virtual module or a virtual unit. For details, please refer to the following embodiment.

[0168] The present application embodiment provides a track foreign body monitoring device 30, such as Figure 4 As shown, the track foreign matter monitoring device 30 may specifically include:

[0169] The first acquisition module 301 is used to acquire image information at the tunnel entrance and a pressure change diagram between two tracks when it is detected that the tunnel entrance area is in precipitation weather;

[0170] The recognition module 302 is used to perform feature recognition on the image information to determine whether there is a foreign object between the tracks;

[0171] A first determination module 303 is used to determine the height of the foreign object based on the image information if it exists;

[0172] A judgment module 304 is used to judge whether the foreign object is a target foreign object based on the height and pressure change diagram. The target foreign object is a foreign object that may affect the safety of train travel;

[0173] The control module 305 is used to control the lifting device to move the target foreign object out of the range between the tracks if it is a target foreign object.

[0174] The embodiment of the present application discloses a track foreign object monitoring device 30, wherein when it is detected that the tunnel entrance area is in precipitation weather, the precipitation weather is likely to cause gravel or mud-rock flow disasters at the tunnel entrance, so the first acquisition module 301 acquires image information at the tunnel entrance and a pressure change diagram of the area between two tracks, the image information can clearly show the foreign object situation on the track, the recognition module 302 performs feature recognition on the image information to determine whether there is a foreign object in the area between the tracks, if so, the first determination module 303 determines the height of the foreign object based on the image information, the height of the foreign object affects whether the train can pass safely, the pressure value represents the weight of the foreign object, the judgment module 304 determines whether the foreign object is a target foreign object based on the height and pressure change diagram, the target foreign object is a foreign object that affects the train travel and needs to be cleaned, if it is a target foreign object, the control module 305 controls the lifting device to move the target foreign object out of the area between the tracks, so that the foreign object on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally and on time.

[0175] In a possible implementation of the embodiment of the present application, the judgment module 304, when judging whether the foreign object is a target foreign object based on the height and pressure change graph, is specifically used to:

[0176] Determine from the pressure value the static pressure of the foreign body and a first number of pressure value points when the foreign body is in a static state;

[0177] determining a first score for the foreign object based on the static pressure, the height, the first quantity, and the respective corresponding first coefficients;

[0178] If the first score reaches the preset score threshold, the foreign object is determined to be a target foreign object.

[0179] In a possible implementation of the embodiment of the present application, the device 30 further includes:

[0180] A volume determination module, configured to determine the volume of the foreign object based on the first quantity and the height;

[0181] A density determination module for determining the density of foreign matter based on volume and static pressure;

[0182] The type determination module is used to determine the type of foreign matter based on density.

[0183] In a possible implementation of the embodiment of the present application, the lifting device includes two receiving plates arranged between the tracks, the two receiving plates are hinged to each other, and the hinge axis is parallel to the track, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the track, one receiving plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the receiving plate, the second hydraulic cylinder can be located at the hinge of the two receiving plates and hinged to the hinge, and can also be located below any one of the two receiving plates, and the control module 305, when controlling the lifting device to move the target foreign object out of the range between the tracks, is specifically used to:

[0184] Determine the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information;

[0185] Calculate the similarity between the contour of the target foreign object and the standard circle, and calculate the first distance from the target foreign object to the midpoint between the two tracks;

[0186] Determine the time when the target foreign body generates the pressure value and determine the second number of all the time;

[0187] determining a score based on the similarity, the second quantity, and the first distance;

[0188] Determine the angle between the two docking plates and the horizontal plane based on the second score;

[0189] The actions of the two first hydraulic cylinders and the second hydraulic cylinder are controlled based on the angle.

[0190] If it is detected that the target foreign object has not moved after reaching the angle, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move to increase the angle of the receiving plate where the target foreign object is located.

[0191] In a possible implementation of the embodiment of the present application, the device 30 further includes:

[0192] The second acquisition module acquires the current image information of the tunnel entrance, and determines whether the target foreign object has rolled off the track based on the current image information;

[0193] a second determination module, which determines a second distance from the target foreign object to the track based on current image information if the target foreign object rolls off the track;

[0194] a third determination module, configured to determine a third distance between the target foreign object and the oncoming train if the second distance is less than a preset distance;

[0195] The output module outputs prompt information based on the third distance.

[0196] In a possible implementation of the embodiment of the present application, the device 30 further includes:

[0197] The fourth determination module is used to determine the number of target personnel based on static pressure and volume.

[0198] In a possible implementation of the embodiment of the present application, the device 30 further includes:

[0199] a fifth determination module, configured to determine, if the second distance reaches a preset distance, a fourth distance between the tracks corresponding to the target foreign object area based on the current image information, the target foreign object area being an area where the target foreign object collides with the track when it falls on the track and bounces or rolls;

[0200] a sixth determination module, configured to determine a difference between a fourth distance and a standard track gauge;

[0201] a seventh determination module, configured to determine a first grayscale value of the track corresponding to the target foreign object region from the image information, and to determine a second grayscale value of the track corresponding to the target foreign object region from the current image information;

[0202] an eighth determination module, configured to determine an abnormal region on the track based on the first grayscale value and the second grayscale value, and determine an area of ​​the abnormal region;

[0203] The ninth determination module is used to determine the abnormality score of the abnormal area based on the difference, the area and the third coefficient corresponding to each other, and the abnormality score represents the risk value of the impact of the abnormal area on the passage of the train.

[0204] The present application provides a track foreign body monitoring system. Figure 5 As shown, Figure 5 The track foreign body monitoring system shown specifically includes a lifting device 2, including two connecting plates 21 arranged between the tracks, the two connecting plates 21 are hinged to each other, and the hinge axis is parallel to the track, a first hydraulic cylinder 22 and a second hydraulic cylinder 23 are arranged below the track, one connecting plate 21 corresponds to one first hydraulic cylinder 22, the first hydraulic cylinder 22 is hinged to the connecting plate 21, the second hydraulic cylinder 23 can be located at the hinge of the two connecting plates 21 and hinged to the hinge, and can also be located below any one of the two connecting plates 21.

[0205] The camera device 4 is used to collect image information of the tunnel entrance track.

[0206] The raindrop sensor 5 is used to collect precipitation weather in the tunnel entrance area.

[0207] The thin film pressure sensor 6 is laid between the tracks at the tunnel entrance and is used to collect the pressure value between the tracks at the tunnel entrance.

[0208] The electronic device 7 is used to execute the contents disclosed in the above method embodiment. When it is detected that the tunnel entrance area is in precipitation weather, the image information at the tunnel entrance and the pressure change diagram of the area between the two tracks are obtained; the image information is feature recognized to determine whether there is a foreign object in the area between the tracks; if there is, the height of the foreign object is determined based on the image information; based on the height and the pressure change diagram, it is determined whether the foreign object is a target foreign object, and the target foreign object is a foreign object that will affect the safety of train travel; if it is a target foreign object, the lifting device 301 is controlled to move the target foreign object out of the area between the tracks.

[0209] An electronic device is provided in an embodiment of the present application, such as Figure 6 As shown, Figure 6 The electronic device 7 shown includes: a processor 701 and a memory 703. The processor 701 and the memory 703 are connected, such as through a bus 702. Optionally, the electronic device 70 may also include a transceiver 704. It should be noted that in actual applications, the transceiver 704 is not limited to one, and the structure of the electronic device 7 does not constitute a limitation on the embodiments of the present application.

[0210] Processor 701 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 701 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0211] The bus 702 may include a path to transmit information between the above components. The bus 702 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 702 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but it does not mean that there is only one bus or only one type of bus.

[0212] The memory 703 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0213] The memory 703 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 701 is used to execute the application code stored in the memory 703 to implement the contents shown in the above method embodiment.

[0214] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0215] The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run on a computer, the computer can execute the corresponding content in the above method embodiment. Compared with the related art, in the embodiment of the present application, when it is detected that the tunnel entrance area is in precipitation weather, the precipitation weather is likely to cause gravel or mudslide disasters at the tunnel entrance, so the image information at the tunnel entrance and the pressure change diagram of the area between the two tracks are obtained, the image information can clearly show the foreign matter on the track, the image information is feature-recognized, and it is determined whether there is a foreign matter in the area between the tracks. If there is, the height of the foreign matter is determined based on the image information. The height of the foreign matter affects whether the train can pass safely. The pressure value represents the weight of the foreign matter. Based on the height and pressure change diagram, it is determined whether the foreign matter is a target foreign matter. The target foreign matter is a foreign matter that affects the travel of the train and needs to be cleaned. If it is a target foreign matter, the lifting device is controlled to move the target foreign matter out of the area between the tracks, so that the foreign matter on the track at the tunnel entrance can be monitored in time and removed, thereby ensuring that the high-speed train can run normally on time.

[0216] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0217] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for monitoring foreign matter on a track, characterized in that: include: When it is detected that the tunnel entrance area is in precipitation weather, image information at the tunnel entrance and a pressure change diagram of the area between the two tracks are obtained; Performing feature recognition on the image information to determine whether there is a foreign object in the area between the tracks; If present, determining the height of the foreign object based on the image information; Based on the height and pressure change graph, determining whether the foreign object is a target foreign object, wherein the target foreign object is a foreign object that may affect the safety of train travel; If it is the target foreign object, controlling the lifting device to move the target foreign object out of the area between the tracks; The lifting device includes two receiving plates arranged between the tracks, the two receiving plates are hinged to each other, and the hinge axis is parallel to the tracks, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the tracks, one receiving plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the receiving plate, and the second hydraulic cylinder is located at the hinge of the two receiving plates and is hinged to the hinge, or is located below any one of the two receiving plates, and the control lifting device moves the target foreign object out of the range between the tracks, including: Determine the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information; calculate the similarity between the outline of the target foreign object and the standard circle, and calculate the first distance from the target foreign object to the midpoint between the two tracks; Determine the time when the target foreign body generates a pressure value and determine a second number of all the times; determining a second score based on the similarity, the second number, and the first distance; Determine the angle between the two receiving plates and the horizontal plane based on the second score; Controlling the actions of the two first hydraulic cylinders and the second hydraulic cylinder based on the angle; If it is detected that the target foreign object has not moved when the angle is reached, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move to increase the angle of the receiving plate where the target foreign object is located.

2. A method for monitoring foreign matter on a track according to claim 1, characterized in that: The determining whether the foreign object is a target foreign object based on the height and pressure change graph includes: Determine, from the pressure variation diagram, the static pressure of the foreign object and a first number of pressure value points when the foreign object is in a static state; determining a first score for the foreign object based on the static pressure, the height, the first number, and the respective corresponding first coefficients; If the first score reaches a preset score threshold, the foreign object is determined to be the target foreign object.

3. A method for monitoring foreign matter on a track according to claim 2, the method further comprising: determining the volume of the foreign object based on the first number and the height; determining a density of the foreign object based on the volume and the static pressure; The type of the foreign matter is determined based on the density.

4. A method for monitoring foreign matter on a track according to claim 1, characterized in that: The control lifting device moves the target foreign object out of the area between the tracks, and then further comprises: Acquire current image information of the tunnel entrance, and determine whether the target foreign object has rolled off the track based on the current image information; If the target foreign object rolls off the track, determining a second distance from the target foreign object to the track based on the current image information; If the second distance is less than a preset distance, determining a third distance between the target foreign object and an oncoming train; Prompt information is output based on the third distance.

5. A method for monitoring foreign matter on a track according to claim 3, characterized in that: The method further comprises: The target number of personnel is determined based on the static pressure and the volume.

6. A method for monitoring foreign matter on a track according to claim 4, characterized in that: The method further comprises: If the second distance reaches the preset distance, determining the track gauge of the track corresponding to the target foreign object area based on the current image information, the target foreign object area being the area where the target foreign object bounces or rolls when the target foreign object falls on the area between the tracks; Determining the difference between the track gauge and the standard track gauge; Determine a first grayscale value of the track corresponding to the target foreign object area from the image information, and determine a second grayscale value of the track corresponding to the target foreign object area from the current image information; Determine an abnormal region on the track based on the first grayscale value and the second grayscale value, and determine the area of ​​the abnormal region; An abnormality score of the abnormal area is determined based on the difference, the area and the third coefficient corresponding to each other, and the abnormality score represents the risk value of the abnormal area affecting the passage of the train.

7. A track foreign body monitoring system, characterized in that: include: The lifting device comprises two receiving plates arranged between the rails, the two receiving plates are hinged to each other, and the hinge axis is parallel to the rails, a first hydraulic cylinder and a second hydraulic cylinder are arranged below the rails, one receiving plate corresponds to one first hydraulic cylinder, the first hydraulic cylinder is hinged to the receiving plate, and the second hydraulic cylinder is located at the hinge of the two receiving plates and is hinged to the hinge, or is located below any one of the two receiving plates; A camera device, used to collect image information of the track at the tunnel entrance; Raindrop sensor, used to collect precipitation weather in the tunnel entrance area; The thin film pressure sensor is laid in the area between the tracks at the tunnel entrance and is used to collect the pressure value of the area between the tracks at the tunnel entrance; The electronic device is used to obtain image information at the tunnel entrance and a pressure change diagram of the area between two tracks when it is detected that the tunnel entrance area is in precipitation weather; perform feature recognition on the image information to determine whether there is a foreign object in the area between the tracks; if there is, determine the height of the foreign object based on the image information; determine whether the foreign object is a target foreign object based on the height and the pressure change diagram, and the target foreign object is a foreign object that may affect the safety of train travel; if it is the target foreign object, control the lifting device to move the target foreign object out of the area between the tracks; It includes: Determine the receiving plate where the target foreign object is located and the outline of the target foreign object based on the image information; calculate the similarity between the outline of the target foreign object and the standard circle, and calculate the first distance from the target foreign object to the midpoint between the two tracks; Determine the time when the target foreign body generates a pressure value and determine a second number of all the times; determining a second score based on the similarity, the second number, and the first distance; Determine the angle between the two receiving plates and the horizontal plane based on the second score; Controlling the actions of the two first hydraulic cylinders and the second hydraulic cylinder based on the angle; If it is detected that the target foreign object has not moved when the angle is reached, the second hydraulic cylinder is controlled to vibrate and the first hydraulic cylinder of the receiving plate where the target foreign object is located is continuously controlled to move to increase the angle of the receiving plate where the target foreign object is located.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute a track foreign matter monitoring method as claimed in any one of claims 1 to 6.

Images