Passive obstacle detection method and system for train

Abstract

The invention relates to the technical field of train obstacle detection, and discloses a train passive obstacle detection method, which comprises the following steps of: installing a train obstacle detection device at the front end of a first bogie of a train head; collecting displacement information of a train obstacle detection device; judging whether the train collides with the obstacle or not according to the displacement, and if yes, judging the collision level of the train according to the displacement; constructing a displacement variation sequence according to the displacement variation in unit time when the collision occurs, and adjusting the collision grade of the train according to the displacement variation sequence; calculating a displacement change rate according to the displacement change quantity sequence, constructing a displacement change rate sequence according to the displacement change rate, and calculating an impact strength grade of the obstacle according to the displacement change rate sequence; comprehensively evaluating the collision degree according to the collision grade and the collision strength grade, and performing final collision early warning according to the collision degree. The obstacle detection accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of train obstacle detection, and in particular to a train passive obstacle detection method and system. Background Art

[0002] With the continuous development of railway transportation systems and the increase in train speeds, collision accidents between trains and obstacles pose a major threat to train safety and the safety of passengers' lives and property. Especially in high-speed trains and complex terrain environments (such as mountainous areas, tunnels, bridges, etc.), the sudden appearance of obstacles and the unpredictability of collisions have led to an increasing demand for train collision detection and warning systems.

[0003] At present, traditional train obstacle detection methods mostly rely on vision, radar and other sensing methods. Although these methods can detect obstacles ahead to a certain extent, they still have the defects of low accuracy and being greatly affected by environmental conditions (such as weather, light, etc.).

[0004] Therefore, it is necessary to provide a train passive obstacle detection method and system to solve the problems of low accuracy and great influence of environmental conditions in traditional train obstacle detection. Summary of the invention

[0005] In view of this, the present invention proposes a train passive obstacle detection method and system, aiming to solve the problems of low accuracy and great influence of environmental conditions in traditional train obstacle detection.

[0006] On the one hand, the present invention provides a train passive obstacle detection method, comprising:

[0007] The train obstacle detection device is installed at the front end of the first bogie at the front of the train;

[0008] Collecting displacement information of the train obstacle detection device; wherein the displacement information includes the displacement amount and the displacement change per unit time;

[0009] determining whether the train collides with the obstacle according to the displacement, and if a collision is determined to occur, determining the collision level of the train according to the displacement;

[0010] constructing a displacement change sequence according to the displacement change per unit time when the collision occurs, judging whether to adjust the collision level of the train according to the displacement change sequence, and if it is judged that adjustment is required, adjusting the collision level of the train according to the displacement change sequence;

[0011] Calculating the displacement change rate according to the displacement change amount sequence, constructing a displacement change rate sequence according to the displacement change rate, and calculating the impact force level of the obstacle according to the displacement change rate sequence;

[0012] The degree of collision is comprehensively assessed based on the collision grade and impact intensity level, and the ultimate collision warning is given based on the degree of collision.

[0013] Furthermore, judging whether the train collides with an obstacle according to the displacement includes:

[0014] A displacement threshold is set, and if the displacement is greater than or equal to the displacement threshold, it is determined that the train collides with the obstacle;

[0015] If the displacement is less than the displacement threshold, it is determined that the train has not collided with the obstacle.

[0016] Furthermore, if it is determined that a collision occurs, the collision level of the train is determined according to the displacement, including:

[0017] Setting a first displacement value and a second displacement value, wherein the first displacement value is smaller than the second displacement value;

[0018] If the displacement is less than the first displacement value, the collision level of the train is level one;

[0019] If the displacement is greater than or equal to the first displacement value and less than or equal to the second displacement value, the collision level of the train is level 2;

[0020] If the displacement is greater than the second displacement value, the collision level of the train is level three;

[0021] The collision levels are level one, level two and level three from low to high.

[0022] Furthermore, the step of constructing a displacement variation sequence according to the displacement variation per unit time when the collision occurs, and determining whether to adjust the collision level of the train according to the displacement variation sequence includes:

[0023] Displacement variation sequence A=(a 1 , a 2 , a 3 , …, a n );

[0024] The displacement change average is calculated from the displacement change sequence using the following formula:

[0025]

[0026] In the above formula, represents the average value of displacement change, n represents the number of parameters in the displacement change sequence, a i represents the displacement change per unit time, i = 1, 2, 3, ..., n;

[0027] The standard deviation of displacement change is calculated from the mean displacement change using the following formula:

[0028]

[0029] In the above formula, σ represents the standard deviation of displacement change, n represents the number of parameters in the displacement change sequence, and a i represents the displacement change per unit time, i = 1, 2, 3, ..., n, Indicates the average value of displacement change;

[0030] Setting a maximum standard deviation, if the displacement change standard deviation is greater than or equal to the maximum standard deviation, determining that the collision level of the train needs to be adjusted;

[0031] If the displacement change standard deviation is less than the maximum standard deviation, it is determined that there is no need to adjust the collision level of the train.

[0032] Further, if it is determined that adjustment is needed, the collision level of the train is adjusted according to the displacement variation sequence, including:

[0033] Setting a standard deviation limit value, if the displacement change standard deviation is less than the standard deviation limit value, the collision level of the train is increased by one level;

[0034] If the displacement change standard deviation is greater than or equal to the standard deviation limit value, the collision level of the train is increased by two levels;

[0035] Among them, the highest collision level of the train is level three.

[0036] Furthermore, the calculating of the displacement change rate according to the displacement change amount sequence and the construction of the displacement change rate sequence according to the displacement change rate include:

[0037] The displacement change rate is calculated by the following formula:

[0038] v j =(a i+1 -a i ) / △t;

[0039] In the above formula, v j represents the jth displacement change rate, j = 1, 2, 3, ..., n-1, a i+1 represents the displacement change per unit time in the displacement change sequence, a i represents the displacement change per unit time in the displacement change sequence, △t represents a i+1 with a i The interval time;

[0040] According to v jConstruct the displacement change rate sequence V = (v 1 ,v 2 ,v 3 ,…,v n-1 ).

[0041] Furthermore, the calculation of the impact force level of the obstacle according to the displacement change rate sequence includes:

[0042] Calculate the first difference between the maximum and minimum values ​​in the displacement change rate sequence;

[0043] Calculate the mean displacement change rate according to the displacement change rate sequence, and calculate the second difference between the maximum value in the displacement change rate sequence and the mean displacement change rate;

[0044] The impact intensity level of the obstacle is determined according to the first difference and the second difference.

[0045] Furthermore, when calculating the impact force level of the obstacle according to the displacement change rate sequence, it also includes:

[0046] The impact force index is calculated from the first difference and the second difference by the following formula:

[0047]

[0048] In the above formula, I represents the impact intensity index, Δv1 represents the first difference, represents the mean displacement change rate, Δv2 represents the second difference;

[0049] Set the maximum and minimum values ​​of the index. If the impact intensity index is less than the minimum value of the index, the impact intensity level is level one.

[0050] If the impact intensity index is greater than or equal to the minimum index value and less than or equal to the maximum index value, the impact intensity level is level 2;

[0051] If the impact intensity index is greater than the maximum value of the index, the impact intensity level is level three;

[0052] Among them, the impact force levels are level one, level two and level three from low to high.

[0053] Furthermore, the comprehensive assessment of the collision degree according to the collision level and the impact intensity level, and the final collision warning according to the collision degree, includes:

[0054] Calculate the sum of the collision level and the impact intensity level, with level 2 and level 4 as the boundary;

[0055] If the level sum is less than or equal to level 2, the ultimate collision warning is a minor collision warning;

[0056] If the level sum is greater than level 2, and the level sum is less than or equal to level 4, the ultimate collision warning is a moderate collision warning;

[0057] If the level sum is greater than level 4, the ultimate collision warning is a severe collision warning;

[0058] Among them, the ultimate collision warning levels from low to high are minor collision warning, moderate collision warning and severe collision warning.

[0059] Compared with the prior art, the beneficial effect of the present invention is that the present invention realizes accurate detection and evaluation of the collision event between the train and the obstacle by integrating displacement information, displacement change and displacement change rate. By installing an obstacle detection device at the front end of the locomotive bogie, the relative movement between the train and the obstacle can be monitored in real time, and the degree of collision can be quickly identified. The sequence of displacement and displacement change provides accurate data support for the judgment of the collision level, and the sequence of displacement change per unit time further optimizes the dynamic adjustment of the collision level, so that the present invention has higher sensitivity and accuracy for collisions of different intensities. By calculating the displacement change rate and constructing the impact intensity level, the severity of the collision can be further evaluated, and then the impact intensity of the obstacle can be judged. This method can not only distinguish collisions of different degrees, but also realize multi-dimensional collision monitoring, providing a comprehensive early warning capability for the train safety system. By combining the collision level and the impact intensity level, it can accurately predict potential risks and issue timely ultimate warnings, thereby effectively ensuring the operation safety of the train, reducing the probability of accidents, and improving passenger safety and transportation efficiency.

[0060] On the other hand, the present application also provides a train passive obstacle detection system, comprising:

[0061] A train obstacle detection device is arranged at the front end of the first bogie at the front of the train;

[0062] A collection module is configured to collect displacement information of the train obstacle detection device; wherein the displacement information includes a displacement amount and a displacement change per unit time;

[0063] a collision level judgment module, configured to judge whether the train collides with the obstacle according to the displacement, and if a collision is judged to occur, to judge the collision level of the train according to the displacement;

[0064] A collision level adjustment module is configured to construct a displacement change sequence according to the displacement change per unit time when a collision occurs, and determine whether to adjust the collision level of the train according to the displacement change sequence; if it is determined that adjustment is required, adjust the collision level of the train according to the displacement change sequence;

[0065] an impact level determination module, configured to calculate a displacement change rate according to the displacement change amount sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate an impact force level of the obstacle according to the displacement change rate sequence;

[0066] The ultimate warning module is configured to comprehensively evaluate the degree of collision based on the collision level and the impact intensity level, and to provide an ultimate collision warning based on the degree of collision.

[0067] It can be understood that the train passive obstacle detection method and system provided in the present application have the same beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0069] Figure 1 A flow chart of a train passive obstacle detection method provided by an embodiment of the present invention;

[0070] Figure 2 This is a functional block diagram of a train passive obstacle detection system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0072] In some embodiments of the present application, see Figure 1 As shown, this embodiment provides a train passive obstacle detection method, comprising the following steps:

[0073] S100, installing a train obstacle detection device at the front end of the first bogie at the front of the train;

[0074] S200, collecting displacement information of the train obstacle detection device; wherein the displacement information includes a displacement amount and a displacement change amount per unit time;

[0075] S300, judging whether the train collides with the obstacle according to the displacement, and if it is judged that a collision occurs, judging the collision level of the train according to the displacement;

[0076] S400, constructing a displacement change sequence according to the displacement change per unit time when the collision occurs, judging whether to adjust the collision level of the train according to the displacement change sequence, and if it is judged that adjustment is required, adjusting the collision level of the train according to the displacement change sequence;

[0077] S500, calculating the displacement change rate according to the displacement change amount sequence, constructing a displacement change rate sequence according to the displacement change rate, and calculating the impact force level of the obstacle according to the displacement change rate sequence;

[0078] S600: Comprehensively assess the degree of collision based on the collision grade and impact intensity, and provide ultimate collision warning based on the degree of collision.

[0079] It can be understood that the present invention realizes accurate detection and evaluation of train-obstacle collision events by integrating displacement information, displacement change and displacement change rate. By installing an obstacle detection device at the front end of the locomotive bogie, the relative movement between the train and the obstacle can be monitored in real time, and the degree of collision can be quickly identified. The displacement and displacement change sequence provide accurate data support for the judgment of the collision level, and the sequence of displacement change per unit time further optimizes the dynamic adjustment of the collision level, so that the present invention has higher sensitivity and accuracy for collisions of different intensities. By calculating the displacement change rate and constructing the impact intensity level, the severity of the collision can be further evaluated, and then the impact intensity of the obstacle can be determined. This method can not only distinguish collisions of different degrees, but also realize multi-dimensional collision monitoring, providing a comprehensive early warning capability for the train safety system. By combining the collision level and the impact intensity level, it can accurately predict potential risks and issue timely ultimate warnings, thereby effectively ensuring the operation safety of the train, reducing the probability of accidents, and improving passenger safety and transportation efficiency.

[0080] Specifically, taking the patent with application number 202410039527.9: a detection device in a monorail train with passive obstacle detection function as an example, the train obstacle detection device includes two train obstacle detection boxes and a detection beam. The two train obstacle detection boxes are respectively installed on both sides of the train. The two train obstacle detection boxes are also located at the front end of the first bogie at the front of the train. The two train obstacle detection boxes are connected by a detection beam.

[0081] In some embodiments of the present application, judging whether a train collides with an obstacle according to the displacement includes:

[0082] Set a displacement threshold. If the displacement is greater than or equal to the displacement threshold, it is determined that the train has collided with the obstacle.

[0083] If the displacement is less than the displacement threshold, it is determined that the train has not collided with the obstacle.

[0084] It is understandable that by setting a displacement threshold to determine whether a train collides with an obstacle, the collision detection process can be effectively simplified and the response speed and accuracy can be improved. The setting of the displacement threshold can be flexibly adjusted according to the actual operating environment and safety requirements to optimize the sensitivity of collision detection. When a train collides with an obstacle, the displacement will increase significantly and exceed the preset threshold, thereby accurately identifying the occurrence of a collision event; and when the displacement is less than the threshold, it means that the collision has not occurred, which helps to avoid false alarms. This method can not only reduce the triggering of invalid alarms and improve stability, but also quickly determine the severity of a collision when it occurs, providing a reliable basis for subsequent safety response and early warning. Therefore, judging whether a collision occurs by a displacement threshold can enhance real-time performance and accuracy and improve train operation safety.

[0085] Specifically, when a train collides with an obstacle, part of the kinetic energy will be converted into the elastic potential energy of the spring through the train obstacle detection device. At the same time, the spring produces a displacement opposite to the direction of movement, which is detected by a micro switch. When the displacement exceeds the set threshold, the sensor is triggered to generate a collision signal and sent to the main engine on the train; two micro switches are configured in each obstacle detection box of the two trains. Each micro switch uses a two-circuit double-break method to effectively cut off the circuit and send 2 normally closed dry contacts and 2 normally open dry contact signals to the main engine of the train obstacle detection device. When the detection beam collides and is greater than the set displacement threshold, the micro switch signal state changes, the normally open end state changes to normally closed, and the normally closed end state changes to normally open. Once the host receives a state change in one of the micro switch signals, it is judged as a collision.

[0086] In some embodiments of the present application, if it is determined that a collision occurs, the collision level of the train is determined according to the displacement, including:

[0087] Setting a first displacement value and a second displacement value, wherein the first displacement value is smaller than the second displacement value;

[0088] If the displacement is less than the first displacement value, the collision level of the train is level one;

[0089] If the displacement is greater than or equal to the first displacement value and less than or equal to the second displacement value, the collision level of the train is level 2;

[0090] If the displacement is greater than the second displacement value, the collision level of the train is level three;

[0091] Among them, the collision levels from low to high are level one, level two and level three.

[0092] It is understandable that by setting the first displacement value and the second displacement value to judge the collision level of the train, this grading method can effectively quantify the severity of the collision and provide clear guidance for subsequent safety response measures. Dividing the collision level into three levels can quickly evaluate the intensity of the collision according to different displacement amounts, so that corresponding emergency response measures can be taken according to the collision level when a collision occurs. For example, a level 1 collision may only be a minor collision, and the train can continue to run without immediate suspension; a level 2 collision may require a reduction in speed or inspection; a level 3 collision may be a serious collision, requiring immediate suspension or other emergency measures. This graded judgment not only improves the accuracy of the collision assessment, but also dynamically adjusts the response strategy according to the severity of the collision, ensuring the safety of the train and avoiding unnecessary suspension, thereby improving operating efficiency. At the same time, graded judgment simplifies the collision detection process, reduces the risk of false alarms and missed alarms, and makes the system more intelligent and reliable.

[0093] In some embodiments of the present application, a displacement change sequence is constructed according to the displacement change per unit time when a collision occurs, and judging whether to adjust the collision level of the train according to the displacement change sequence includes:

[0094] Displacement variation sequence A=(a 1 , a 2 , a 3 , …, a n );

[0095] The displacement change average is calculated from the displacement change sequence using the following formula:

[0096]

[0097] In the above formula, represents the average value of displacement change, n represents the number of parameters in the displacement change sequence, a i represents the displacement change per unit time, i = 1, 2, 3, ..., n;

[0098] The standard deviation of displacement change is calculated from the mean displacement change using the following formula:

[0099]

[0100] In the above formula, σ represents the standard deviation of displacement change, n represents the number of parameters in the displacement change sequence, and a i represents the displacement change per unit time, i = 1, 2, 3, ..., n, Indicates the average value of displacement change;

[0101] Set the maximum value of the standard deviation. If the standard deviation of the displacement change is greater than or equal to the maximum value of the standard deviation, it is determined that the collision level of the train needs to be adjusted;

[0102] If the standard deviation of the displacement change is less than the maximum standard deviation, it is determined that there is no need to adjust the collision level of the train.

[0103] In some embodiments of the present application, if it is determined that adjustment is required, the collision level of the train is adjusted according to the displacement variation sequence, including:

[0104] Set the standard deviation limit value. If the displacement change standard deviation is less than the standard deviation limit value, the collision level of the train will be increased by one level.

[0105] If the standard deviation of the displacement change is greater than or equal to the standard deviation limit value, the collision level of the train will be increased by two levels;

[0106] Among them, the highest collision level of the train is level three.

[0107] It is understandable that by calculating the mean and standard deviation of the displacement change according to the displacement change sequence and adjusting the collision level of the train according to the standard deviation, this method can dynamically and accurately reflect the changes in the intensity of the collision. First, the displacement change sequence provides detailed data on the displacement change per unit time during the collision process, which can capture the subtle fluctuations during the collision process. By calculating the mean and standard deviation, the stability and volatility of the displacement change during the collision process can be identified, thereby judging the severity of the collision. If the standard deviation is large, it means that the displacement change is more drastic when the collision occurs, which may indicate a stronger impact force, and then the collision level of the train needs to be adjusted. This dynamic adjustment mechanism can reflect the changes in the collision in real time according to the actual situation, avoiding the misjudgment that may be caused by simple static judgment. At the same time, setting the standard deviation limit value and flexibly adjusting the collision level according to the size of the standard deviation can help to appropriately increase the alarm level when the collision is lighter, and make a more urgent response when the collision is more serious, further improving safety, and being able to respond to collisions of different intensities more intelligently to ensure the safety and efficiency of train operation.

[0108] In some embodiments of the present application, calculating the displacement change rate according to the displacement change amount sequence and constructing the displacement change rate sequence according to the displacement change rate includes:

[0109] The displacement change rate is calculated by the following formula:

[0110] v j =(a i+1 -a i ) / △t;

[0111] In the above formula, v jrepresents the jth displacement change rate, j = 1, 2, 3, ..., n-1, a i+1 represents the displacement change per unit time in the displacement change sequence, a i represents the displacement change per unit time in the displacement change sequence, △t represents a i+1 with a i The interval time;

[0112] According to v j Construct the displacement change rate sequence V = (v 1 ,v 2 ,v 3 ,…,v n-1 ).

[0113] It can be understood that by calculating the displacement change rate according to the displacement change sequence and constructing the displacement change rate sequence, the dynamic characteristics of the displacement change of the train during the collision process can be accurately described. j It is obtained by calculating the difference between adjacent displacement changes and dividing it by the time interval, which can effectively capture the acceleration change of the train during the collision. Unlike the displacement amount, which directly reflects the change in displacement, the displacement change rate can provide detailed information about the instantaneous acceleration change during the collision, which helps to judge the impact force and intensity of the collision. After constructing the displacement change rate sequence V, a comprehensive analysis of the acceleration or deceleration at each moment during the collision process can be carried out, so as to more accurately assess the severity of the collision, which not only improves the timeliness and accuracy of collision detection, but also provides a reliable basis for subsequent collision force judgment, optimizes the safety warning of the train, and reduces the risk of false alarms and missed alarms.

[0114] In some embodiments of the present application, when calculating the impact force level of an obstacle according to the displacement change rate sequence, it includes:

[0115] Calculate the first difference between the maximum and minimum values ​​in the displacement change rate sequence;

[0116] Calculate the mean displacement change rate according to the displacement change rate sequence, and calculate the second difference between the maximum value in the displacement change rate sequence and the mean displacement change rate;

[0117] The impact intensity level of the obstacle is determined according to the first difference and the second difference.

[0118] In some embodiments of the present application, when calculating the impact force level of an obstacle according to the displacement change rate sequence, it also includes:

[0119] The impact force index is calculated from the first difference and the second difference by the following formula:

[0120]

[0121] In the above formula, I represents the impact intensity index, Δv1 represents the first difference, represents the mean displacement change rate, Δv2 represents the second difference;

[0122] Set the maximum and minimum values ​​of the index. If the impact intensity index is less than the minimum value, the impact intensity level is level one.

[0123] If the impact intensity index is greater than or equal to the minimum index value and less than or equal to the maximum index value, the impact intensity level is level 2;

[0124] If the impact intensity index is greater than the maximum value of the index, the impact intensity level is level three;

[0125] Among them, the impact intensity levels from low to high are level one, level two and level three.

[0126] It can be understood that by calculating the difference between the maximum value, minimum value and mean value in the displacement change rate sequence, and then calculating the impact force index based on these differences, the impact force of the collision can be accurately evaluated. The impact force index I combines the fluctuation of the displacement change rate and reflects the severity of the acceleration change during the collision. By comparing the impact force index with the preset maximum and minimum values, the impact force can be flexibly divided into three levels, thereby finely evaluating the collision intensity. The first, second and third level impact force levels can take corresponding safety measures for different levels of collisions. This index-based impact force evaluation method improves the accuracy of collision detection.

[0127] In some embodiments of the present application, the degree of collision is comprehensively evaluated according to the collision level and the impact intensity level, and the ultimate collision warning is performed according to the collision level, including:

[0128] Calculate the sum of the collision level and the impact intensity level, with level 2 and level 4 as the boundary;

[0129] If the level sum is less than or equal to level 2, the ultimate collision warning is a minor collision warning;

[0130] If the level sum is greater than level 2, and the level sum is less than or equal to level 4, the ultimate collision warning is a moderate collision warning;

[0131] If the level sum is greater than level 4, the ultimate collision warning is a severe collision warning;

[0132] Among them, the ultimate collision warning levels from low to high are minor collision warning, moderate collision warning and severe collision warning.

[0133] It is understandable that by taking the level and intensity of the collision as the basis for evaluation and setting the ultimate collision warning according to different levels and ranges, more accurate and intelligent collision risk management can be achieved. This method can dynamically adjust the warning level according to the actual collision situation by dividing the assessment of collision intensity into three levels: slight, moderate and severe collision. If the collision level and impact intensity level are low, a slight collision warning is triggered to avoid excessive reaction; if the collision level is high, a moderate or severe collision warning will be issued to remind the operator or automatic control system to take emergency response measures, which can better balance the sensitivity and accuracy of the alarm, avoid the risk of false alarms and missed alarms, and provide more targeted safety protection for train operations. This not only improves the real-time and accuracy of train collision detection, but also more effectively ensures the safe operation of trains and minimizes potential accident risks.

[0134] On the other hand, see Figure 2 As shown, the present application also provides a train passive obstacle detection system, which is used to apply the above train passive obstacle detection method, including:

[0135] A train obstacle detection device is arranged at the front end of the first bogie at the front of the train;

[0136] A collection module is configured to collect displacement information of the train obstacle detection device; wherein the displacement information includes a displacement amount and a displacement change amount per unit time;

[0137] A collision level judgment module is configured to judge whether the train collides with the obstacle according to the displacement, and if a collision is judged to occur, judge the collision level of the train according to the displacement;

[0138] A collision level adjustment module is configured to construct a displacement change sequence according to the displacement change per unit time when the collision occurs, and determine whether to adjust the collision level of the train according to the displacement change sequence; if it is determined that adjustment is required, the collision level of the train is adjusted according to the displacement change sequence;

[0139] An impact level determination module is configured to calculate a displacement change rate according to a displacement change amount sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate an impact force level of the obstacle according to the displacement change rate sequence;

[0140] The ultimate warning module is configured to comprehensively evaluate the degree of collision based on the collision level and the impact intensity level, and to provide an ultimate collision warning based on the degree of collision.

[0141] It is understandable that the present invention can monitor the interaction between the train and the obstacle in real time and comprehensively, and automatically adjust the safety response according to the nature and intensity of the collision. By setting up a train obstacle detection device and a collection module, the system can accurately obtain the displacement information when the train contacts the obstacle, and transmit this information to the collision level judgment module and the impact level determination module. The collision level judgment module can judge whether a collision occurs according to the displacement, and dynamically adjust the collision intensity through the collision level adjustment module to ensure the accuracy of the collision assessment. The impact level determination module calculates the impact intensity level according to the displacement change rate, and further refines the intensity assessment of the collision. Finally, the ultimate warning module integrates the collision level and the impact intensity level, and issues appropriate warning information to ensure that the system can issue warning signals in time according to different collision situations, and help the train safety management system to respond quickly. This multi-level monitoring and evaluation mechanism significantly improves the safety, flexibility and accuracy of the train, and helps to achieve more efficient risk management and emergency response in complex environments.

[0142] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0143] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A train passive obstacle detection method, characterized in that: include: The train obstacle detection device is installed at the front end of the first bogie at the front of the train; Collecting displacement information of the train obstacle detection device; wherein the displacement information includes the displacement amount and the displacement change per unit time; determining whether the train collides with the obstacle according to the displacement, and if a collision is determined to occur, determining the collision level of the train according to the displacement; constructing a displacement change sequence according to the displacement change per unit time when the collision occurs, judging whether to adjust the collision level of the train according to the displacement change sequence, and if it is judged that adjustment is required, adjusting the collision level of the train according to the displacement change sequence; Calculating the displacement change rate according to the displacement change amount sequence, constructing a displacement change rate sequence according to the displacement change rate, and calculating the impact force level of the obstacle according to the displacement change rate sequence; The degree of collision is comprehensively assessed based on the collision grade and impact intensity level, and the ultimate collision warning is given based on the degree of collision.

2. The train passive obstacle detection method according to claim 1, characterized in that: The step of judging whether the train collides with an obstacle according to the displacement includes: A displacement threshold is set, and if the displacement is greater than or equal to the displacement threshold, it is determined that the train collides with the obstacle; If the displacement is less than the displacement threshold, it is determined that the train has not collided with the obstacle.

3. The train passive obstacle detection method according to claim 2, characterized in that: If it is determined that a collision occurs, determining the collision level of the train according to the displacement includes: Setting a first displacement value and a second displacement value, wherein the first displacement value is smaller than the second displacement value; If the displacement is less than the first displacement value, the collision level of the train is level one; If the displacement is greater than or equal to the first displacement value and less than or equal to the second displacement value, the collision level of the train is level 2; If the displacement is greater than the second displacement value, the collision level of the train is level three; The collision levels are level one, level two and level three from low to high.

4. The train passive obstacle detection method according to claim 3, characterized in that: The method of constructing a displacement variation sequence according to the displacement variation per unit time when the collision occurs, and judging whether to adjust the collision level of the train according to the displacement variation sequence includes: Displacement variation sequence A = (a1, a2, a3, ..., a n ); The displacement change average is calculated from the displacement change sequence using the following formula: In the above formula, represents the average value of displacement change, n represents the number of parameters in the displacement change sequence, a i represents the displacement change per unit time, i = 1, 2, 3, ..., n; The standard deviation of displacement change is calculated from the mean displacement change using the following formula: In the above formula, σ represents the standard deviation of displacement change, n represents the number of parameters in the displacement change sequence, and a i represents the displacement change per unit time, i = 1, 2, 3, ..., n, Indicates the average value of displacement change; Setting a maximum standard deviation, if the displacement change standard deviation is greater than or equal to the maximum standard deviation, determining that the collision level of the train needs to be adjusted; If the displacement change standard deviation is less than the maximum standard deviation, it is determined that there is no need to adjust the collision level of the train.

5. The train passive obstacle detection method according to claim 4, characterized in that: If it is determined that adjustment is required, adjusting the collision level of the train according to the displacement variation sequence includes: Setting a standard deviation limit value, if the displacement change standard deviation is less than the standard deviation limit value, the collision level of the train is increased by one level; If the displacement change standard deviation is greater than or equal to the standard deviation limit value, the collision level of the train is increased by two levels; Among them, the highest collision level of the train is level three.

6. The train passive obstacle detection method according to claim 5, characterized in that: The step of calculating the displacement change rate according to the displacement change amount sequence and constructing the displacement change rate sequence according to the displacement change rate comprises: The displacement change rate is calculated by the following formula: in j =(and i+1 -a i ) / △t; In the above formula, v j represents the jth displacement change rate, j = 1, 2, 3, ..., n-1, a i+1 represents the displacement change per unit time in the displacement change sequence, a i represents the displacement change per unit time in the displacement change sequence, △t represents a i+1 with a i The interval time; According to v j Construct the displacement change rate sequence V = (v1, v2, v3, ..., v n-1 ).

7. The train passive obstacle detection method according to claim 6, characterized in that: The step of calculating the impact force level of the obstacle according to the displacement change rate sequence includes: Calculate the first difference between the maximum and minimum values ​​in the displacement change rate sequence; Calculate the mean displacement change rate according to the displacement change rate sequence, and calculate the second difference between the maximum value in the displacement change rate sequence and the mean displacement change rate; The impact intensity level of the obstacle is determined according to the first difference and the second difference.

8. The train passive obstacle detection method according to claim 7, characterized in that: When calculating the impact force level of the obstacle according to the displacement change rate sequence, it also includes: The impact force index is calculated from the first difference and the second difference by the following formula: In the above formula, I represents the impact intensity index, Δv1 represents the first difference, represents the mean displacement change rate, Δv2 represents the second difference; Set the maximum and minimum values ​​of the index. If the impact intensity index is less than the minimum value of the index, the impact intensity level is level one. If the impact intensity index is greater than or equal to the minimum index value and less than or equal to the maximum index value, the impact intensity level is level 2; If the impact intensity index is greater than the maximum value of the index, the impact intensity level is level three; Among them, the impact force levels are level one, level two and level three from low to high.

9. The train passive obstacle detection method according to claim 8, characterized in that: The comprehensive assessment of the collision degree based on the collision level and the impact intensity level, and the final collision warning based on the collision degree, includes: Calculate the sum of the collision level and the impact intensity level, with level 2 and level 4 as the boundary; If the level sum is less than or equal to level 2, the ultimate collision warning is a minor collision warning; If the level sum is greater than level 2, and the level sum is less than or equal to level 4, the ultimate collision warning is a moderate collision warning; If the level sum is greater than level 4, the ultimate collision warning is a severe collision warning; Among them, the ultimate collision warning levels from low to high are minor collision warning, moderate collision warning and severe collision warning.

10. A train passive obstacle detection system, used for applying the train passive obstacle detection method according to any one of claims 1 to 9, characterized in that: include: A train obstacle detection device is arranged at the front end of the first bogie at the front of the train; A collection module is configured to collect displacement information of the train obstacle detection device; wherein the displacement information includes a displacement amount and a displacement change per unit time; a collision level judgment module, configured to judge whether the train collides with the obstacle according to the displacement, and if a collision is judged to occur, to judge the collision level of the train according to the displacement; A collision level adjustment module is configured to construct a displacement change sequence according to the displacement change per unit time when a collision occurs, and determine whether to adjust the collision level of the train according to the displacement change sequence; if it is determined that adjustment is required, adjust the collision level of the train according to the displacement change sequence; an impact level determination module, configured to calculate a displacement change rate according to the displacement change amount sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate an impact force level of the obstacle according to the displacement change rate sequence; The ultimate warning module is configured to comprehensively evaluate the degree of collision based on the collision level and the impact intensity level, and to provide an ultimate collision warning based on the degree of collision.

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