A method and system for passive obstacle detection of a train

Abstract

The present invention relates to the technical field of train obstacle detection, and discloses a method for detecting passive obstacles of a train. The method includes: installing a train obstacle detection device at the front end of the first bogie of the train head; collecting displacement information of the train obstacle detection device; judging whether the train collides with an obstacle according to the displacement amount. If it is judged that a collision occurs, judging the collision level of the train according to the displacement amount; constructing a displacement change amount sequence according to the displacement change amount per unit time at the time of collision, and adjusting the collision level of the train according to the displacement change amount 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; comprehensively evaluating the collision degree according to the collision level and the impact force level, and performing an ultimate collision warning according to the collision degree. The present invention improves the accuracy of obstacle detection.

Description

Technical Field

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

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

[0003] Currently, traditional train obstacle detection methods mostly rely on perception means such as vision and radar. 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 method and system for passive train obstacle detection to solve the problems of low accuracy of traditional train obstacle detection and being greatly affected by environmental conditions. Summary of the Invention

[0005] In view of this, the present invention proposes a method and system for passive train obstacle detection, aiming to solve the problems of low accuracy of traditional train obstacle detection and being greatly affected by environmental conditions.

[0006] On the one hand, the present invention proposes a method for passive train obstacle detection, including:

[0007] Install a train obstacle detection device at the front end of the first bogie of the train head;

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

[0009] Judge whether the train collides with an obstacle according to the displacement amount. If it is judged that a collision occurs, judge the collision level of the train according to the displacement amount;

[0010] Construct a displacement change amount sequence according to the displacement change amount per unit time when the collision occurs, and judge whether to adjust the collision level of the train according to the displacement change amount sequence. If it is judged that adjustment is needed, adjust the collision level of the train according to the displacement change amount sequence;

[0011] Calculate the displacement change rate according to the displacement change amount sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate the impact force level of the obstacle according to the displacement change rate sequence;

[0012] Comprehensively evaluate the collision degree according to the collision level and the impact force level, and give an ultimate collision warning according to the collision degree.

[0013] Further, when judging whether the train collides with an obstacle according to the displacement amount, it includes:

[0014] Set a displacement threshold. If the displacement amount is greater than or equal to the displacement threshold, it is judged that the train collides with an obstacle;

[0015] If the displacement amount is less than the displacement threshold, it is judged that the train does not collide with an obstacle.

[0016] Further, when judging the collision level of the train according to the displacement amount if a collision is judged, it includes:

[0017] Set a first displacement value and a second displacement value, and the first displacement value is less than the second displacement value;

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

[0019] If the displacement amount 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 two;

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

[0021] Among them, the collision levels are level one, level two, and level three in ascending order.

[0022] Further, when constructing a displacement change amount sequence according to the displacement change amount per unit time at the time of collision and judging whether to adjust the collision level of the train according to the displacement change amount sequence, it includes:

[0023] The displacement change amount sequence A = (a1, a2, a3,..., a n );

[0024] Calculate the average displacement change amount according to the displacement change amount sequence by the following formula:

[0025]

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

[0027] Calculate the displacement change standard deviation according to the average displacement change amount by 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 amount sequence, a i represents the displacement change amount at the i-th unit time, i = 1, 2, 3,..., n, represents the average value of displacement change;

[0030] Set the maximum value of the standard deviation. If the standard deviation of 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;

[0031] If the standard deviation of displacement change is less than the maximum value of the standard deviation, it is determined that the collision level of the train does not need to be adjusted.

[0032] Furthermore, if it is determined that adjustment is needed, when adjusting the collision level of the train according to the displacement change amount sequence, it includes:

[0033] Set the standard deviation limit value. If the standard deviation of displacement change is less than the standard deviation limit value, the collision level of the train is raised by one level;

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

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

[0036] Furthermore, when 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, it includes:

[0037] Calculate the displacement change rate through the following formula:

[0038] v j =(a i+1 -a i ) / △t;

[0039] In the above formula, v j represents the j-th displacement change rate, j = 1, 2, 3,..., n - 1, a i+1 represents the displacement change amount at the (i + 1)-th unit time in the displacement change amount sequence, a i represents the displacement change amount at the i-th unit time in the displacement change amount sequence, △t represents the interval time between a i+1 and a i ;

[0040] Construct the displacement change rate sequence V = (v1, v2, v3,..., v j n-1 ) according to v)

[0041] Further, when calculating the impact force level of the obstacle according to the displacement change rate sequence, it includes:

[0042] Calculating a first difference between the maximum value and the minimum value in the displacement change rate sequence;

[0043] Calculating the average value of the displacement change rate according to the displacement change rate sequence, and calculating a second difference between the maximum value in the displacement change rate sequence and the average value of the displacement change rate;

[0044] Judging the impact force level of the obstacle according to the first difference and the second difference.

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

[0046] Calculating an impact force index according to the first difference and the second difference through the following formula:

[0047]

[0048] In the above formula, I represents the impact force index, Δv1 represents the first difference, represents the average value of the displacement change rate, and Δv2 represents the second difference;

[0049] Setting an index maximum value and an index minimum value. If the impact force index is less than the index minimum value, the impact force level is grade one;

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

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

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

[0053] Further, when comprehensively evaluating the collision degree according to the collision level and the impact force level and performing the ultimate collision warning according to the collision degree, it includes:

[0054] Calculating the sum of the levels of the collision level and the impact force level, with grade two and grade four as the boundaries;

[0055] If the sum of the levels is less than or equal to grade two, the ultimate collision warning is a minor collision warning;

[0056] If the sum of the levels is greater than grade two and less than or equal to grade four, the ultimate collision warning is a moderate collision warning;

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

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

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows: By comprehensively considering displacement information, displacement change amount, and displacement change rate, the present invention realizes the precise detection and evaluation of the collision event between a train and an obstacle. By installing an obstacle detection device at the front end of the bogie of the train head, the relative movement between the train and the obstacle can be monitored in real time, and the degree of collision occurrence can be quickly identified. The sequences of displacement amount and displacement change amount provide accurate data support for the judgment of the collision level, and the sequence of displacement change amount per unit time further optimizes the dynamic adjustment of the collision level, making the present invention have higher sensitivity and accuracy for collisions of different intensities. By calculating the displacement change rate and constructing the impact force level, the severity of the collision can be further evaluated, and then the impact force of the obstacle can be judged. This method can not only distinguish collisions of different degrees but also realize multi-dimensional collision monitoring, providing comprehensive warning capabilities for the train safety system. By combining the collision level and the impact force level, potential risks can be accurately predicted and timely ultimate warnings can be issued, thereby effectively ensuring the running safety of the train, reducing the probability of accidents, and improving the safety of passengers and transportation efficiency.

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

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

[0062] An acquisition module, configured to acquire the displacement information of the train obstacle detection device; wherein, the displacement information includes displacement amount and displacement change amount per unit time;

[0063] A collision level judgment module, configured to judge whether the train collides with an obstacle according to the displacement amount, and if it is judged that a collision occurs, judge the collision level of the train according to the displacement amount;

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

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

[0066] An ultimate warning module is configured to comprehensively evaluate the collision degree based on the collision level and the impact force level, and perform an ultimate collision warning according to the collision degree.

[0067] It can be understood that a train passive obstacle detection method and system provided by this application have the same beneficial effects, which will not be elaborated here. Description of the Drawings

[0068] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

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

[0070] Figure 2 is a functional block diagram of the train passive obstacle detection system provided by an embodiment of the present invention. Detailed Embodiments

[0071] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

[0072] In some embodiments of the present application, referring to Figure 1 as shown, this embodiment provides a train passive obstacle detection method, including the following steps:

[0073] S100. Install the train obstacle detection device at the front end of the first bogie of the locomotive head;

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

[0075] S300. Determine whether the train collides with an obstacle according to the displacement amount. If it is determined that a collision occurs, determine the collision level of the train according to the displacement amount;

[0076] S400. Construct a displacement change sequence based on the displacement change per unit time at the time of collision. 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;

[0077] S500. Calculate the displacement change rate according to the displacement change sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate the impact force level of the obstacle according to the displacement change rate sequence;

[0078] S600. Comprehensively evaluate the collision degree according to the collision level and the impact force level, and issue an ultimate collision warning according to the collision degree.

[0079] It can be understood that the present invention realizes the precise detection and evaluation of the collision event between the train and the obstacle by comprehensively considering displacement information, displacement change amount, and displacement change rate. By installing an obstacle detection device at the front end of the bogie of the train head, the relative movement between the train and the obstacle can be monitored in real time, and the degree of collision occurrence can be quickly identified. The displacement amount and the 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, making the present invention have higher sensitivity and accuracy for collisions of different intensities. By calculating the displacement change rate and constructing the impact force level, the severity of the collision can be further evaluated, and then the impact force of the obstacle can be judged. This method can not only distinguish collisions of different degrees, but also realize multi-dimensional collision monitoring, providing comprehensive early warning capabilities for the train safety system. By combining the collision level and the impact force level, potential risks can be accurately predicted and timely ultimate warnings can be issued, thus effectively ensuring the safe operation of the train, reducing the probability of accidents, and improving the safety of passengers and transportation efficiency.

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

[0081] In some embodiments of the present application, when determining whether the train collides with an obstacle according to the displacement amount, it includes:

[0082] Set a displacement threshold. If the displacement amount is greater than or equal to the displacement threshold, it is determined that the train collides with an obstacle;

[0083] If the displacement amount is less than the displacement threshold, it is determined that the train does not collide with an obstacle.

[0084] It can be understood that by setting a displacement threshold to determine whether the 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, so as to optimize the sensitivity of collision detection. When the train collides with an obstacle, the displacement will increase significantly and exceed the preset threshold, thus accurately identifying the occurrence of a collision event; when the displacement is less than the threshold, it indicates that no collision has occurred, which helps to avoid false alarms. This method can not only reduce the triggering of invalid alarms and improve stability, but also quickly judge the severity of the collision when it occurs, providing a reliable basis for subsequent safety response and early warning. Therefore, judging whether there is a collision through the displacement threshold can enhance real-time performance and accuracy, and improve the safety of train operation.

[0085] Specifically, when the train collides with an obstacle, a 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 generates a displacement in the opposite direction of the movement, and the displacement is detected by a microswitch. When the displacement exceeds the set threshold, the sensor is triggered to generate a collision signal and send it to the on-board host; two microswitches are configured in each of the two train obstacle detection boxes, and each microswitch adopts a two-circuit double-break method to effectively cut off the circuit, and send two normally closed dry contact signals and two normally open dry contact signals to the host of the train obstacle detection device. When the detection crossbeam collides and is greater than the set displacement threshold, the signal state of the microswitch changes, the normally open end state becomes normally closed, and at the same time the normally closed end state becomes normally open. Once the host receives the signal state change of one of the microswitches, it is judged that a collision has occurred.

[0086] In some embodiments of the present application, when judging the collision level of the train according to the displacement amount if a collision is judged, it includes:

[0087] Set a first displacement value and a second displacement value, and the first displacement value is less than the second displacement value;

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

[0089] If the displacement amount 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 two;

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

[0091] Among them, the collision levels are level one, level two, and level three in ascending order.

[0092] It is understandable that by setting the first displacement value and the second displacement value to determine the collision level of the train, this classification 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 based on 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 shutdown; a level 2 collision may require reducing the speed or conducting inspections; a level 3 collision may be a severe collision and the train needs to stop immediately or take other emergency measures. This classification judgment not only improves the accuracy of collision assessment, but also dynamically adjusts the reaction strategy according to the severity of the collision, ensuring the safety of the train and avoiding unnecessary shutdowns, thus improving the operation efficiency. At the same time, the classification judgment simplifies the collision detection process, reduces the risks of false alarms and missed alarms, making the system more intelligent and reliable.

[0093] In some embodiments of the present application, when constructing a displacement change amount sequence according to the displacement change amount per unit time at the time of collision and determining whether to adjust the collision level of the train according to the displacement change amount sequence, it includes:

[0094] The displacement change amount sequence A = (a1, a2, a3,..., a n );

[0095] Calculate the average value of the displacement change amount according to the displacement change amount sequence through the following formula:

[0096]

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

[0098] Calculate the standard deviation of the displacement change according to the average value of the displacement change amount through the following formula:

[0099]

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

[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, adjusting the collision level of the train according to the displacement change sequence includes:

[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 train collision level is level three.

[0107] As you can see, by calculating the mean and standard deviation of displacement changes from a displacement change series and adjusting the train's collision level based on the standard deviation, this method can dynamically and accurately reflect changes in collision intensity. First, the displacement change series provides detailed data on displacement changes per unit time during the collision process, capturing subtle fluctuations during the collision. By calculating the mean and standard deviation, the stability and volatility of displacement changes during the collision process can be identified, thereby determining the severity of the collision. A large standard deviation indicates more dramatic displacement changes at the time of the collision, potentially indicating a stronger impact force, necessitating adjustment of the train's collision level. This dynamic adjustment mechanism reflects collision changes in real time based on actual conditions, avoiding the potential misjudgment caused by simple static judgments. Furthermore, by setting standard deviation thresholds and flexibly adjusting the collision level based on the size of the standard deviation, it helps to appropriately raise the alert level for minor collisions and initiate a more urgent response for more severe collisions, further improving safety and enabling more intelligent responses to collisions of varying intensities, ensuring safe and efficient train operations.

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

[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 j represents the jth displacement change rate, j = 1, 2, 3, ..., n-1, a i+1 Indicates the displacement change per unit time in the displacement change sequence, a iRepresents the displacement change amount in the \(i\)-th unit time in the displacement change amount sequence, and \(\Delta t\) represents the i+1 time interval with i a;

[0112] Based on \(v\), j construct a displacement change rate sequence \(V=(v_1, v_2, v_3, \cdots, v\) n-1 ).

[0113] It can be understood that by calculating the displacement change rate according to the displacement change amount sequence and constructing the displacement change rate sequence, the dynamic characteristics of the displacement change of the train during the collision can be accurately described. The displacement change rate \(v\) j is obtained by calculating the difference between adjacent displacement change amounts and dividing by the time interval, which can effectively capture the acceleration change of the train during the collision. Different from the displacement amount directly reflecting 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 \(V\), the acceleration or deceleration situation at each moment during the collision can be comprehensively analyzed, so as to more accurately evaluate the severity of the collision, not only improving the timeliness and accuracy of collision detection, but also providing a reliable basis for judging the collision force in the subsequent stage, optimizing the safety warning of the train, and reducing the risk of false alarms and missed alarms.

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

[0115] Calculating the first difference between the maximum value and the minimum value in the displacement change rate sequence;

[0116] Calculating the average value of the displacement change rate according to the displacement change rate sequence, and calculating the second difference between the maximum value and the average value of the displacement change rate in the displacement change rate sequence;

[0117] Judging the impact force level of the obstacle according to the first difference and the second difference.

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

[0119] Calculating the impact force index according to the first difference and the second difference through the following formula:

[0120]

[0121] In the above formula, \(I\) represents the impact force index, \(\Delta v_1\) represents the first difference, represents the average value of the displacement change rate, and \(\Delta v_2\) represents the second difference;

[0122] Set the maximum and minimum values of the exponent. If the impact force exponent is less than the minimum value of the exponent, the impact force level is level one;

[0123] If the impact force exponent is greater than or equal to the minimum value of the exponent and less than or equal to the maximum value of the exponent, the impact force level is level two;

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

[0125] Among them, the impact force levels increase from low to high as level one, level two, and level three.

[0126] It can be understood that by calculating the differences between the maximum value, the minimum value and the mean value in the displacement change rate sequence, and then calculating the impact force exponent based on these differences, the impact force of the collision can be accurately evaluated. The impact force exponent I combines the fluctuation of the displacement change rate and reflects the severity of the acceleration change during the collision process. By comparing the impact force exponent with the preset maximum and minimum values, the impact force can be flexibly divided into three levels, so as to finely evaluate the collision intensity. The impact force levels of level one, level two, and level three 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, when comprehensively evaluating the collision degree according to the collision level and the impact force level and performing the ultimate collision warning according to the collision degree, it includes:

[0128] Calculate the sum of the collision level and the impact force level, with level two and level four as the boundaries;

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

[0130] If the sum of the levels is greater than level two and less than or equal to level four, the ultimate collision warning is a moderate collision warning;

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

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

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

[0134] On the other hand, referring to Figure 2 as shown, the present application also provides a train passive obstacle detection system for applying the above-mentioned train passive obstacle detection method, including:

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

[0136] An acquisition module is configured to acquire the displacement information of the train obstacle detection device; wherein, the displacement information includes the displacement amount and the displacement change amount per unit time;

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

[0138] A collision level adjustment module is configured to construct a displacement change amount sequence according to the displacement change amount per unit time at the time of collision, judge whether to adjust the collision level of the train according to the displacement change amount sequence, and if it is judged that adjustment is required, adjust the collision level of the train according to the displacement change amount sequence;

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

[0140] An ultimate warning module is configured to comprehensively evaluate the collision degree according to the collision level and the impact force level, and perform an ultimate collision warning according to the collision degree.

[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 the train obstacle detection device and the acquisition 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 amount, 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 force level according to the displacement change rate to further refine the intensity assessment of the collision. Finally, the ultimate warning module synthesizes the collision level and the impact force level to issue an appropriate warning message, ensuring that the system can issue a warning signal in a timely manner according to different collision situations and help the train safety management system make a quick response. This multi-level monitoring and assessment mechanism significantly improves the safety, flexibility and accuracy of the train, and helps to achieve more efficient risk management and emergency response in a complex environment.

[0142] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can 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 code.

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

[0144] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for realizing the functions specified in one process Figure 1 one process or a plurality of processes and / or blocks Figure 1 or steps of functions specified in a plurality of blocks.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A method for detecting passive obstacles of a train, characterized in that, Including: Installing the train obstacle detection device at the front end of the first bogie of the train head; Collecting the displacement information of the train obstacle detection device; wherein, the displacement information includes the displacement amount and the displacement change amount per unit time; Judging whether the train collides with an obstacle according to the displacement amount, and if it is judged that a collision occurs, judging the collision level of the train according to the displacement amount; Constructing a displacement change amount sequence according to the displacement change amount per unit time when the collision occurs, and judging whether to adjust the collision level of the train according to the displacement change amount sequence, and if it is judged that adjustment is needed, adjusting the collision level of the train according to the displacement change amount sequence; Calculate the displacement change rate based on the displacement change amount sequence, construct a displacement change rate sequence based on the displacement change rate, and calculate the impact force level of the obstacle according to the displacement change rate sequence: calculate the first difference between the maximum value and the minimum value in the displacement change rate sequence; calculate the average value of the 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 average value of the displacement change rate; judge the impact force level of the obstacle according to the first difference and the second difference; calculate the impact force index according to the first difference and the second difference through the following formula: In the above formula, I represents the impact force index, Δv1 represents the first difference, represents the average value of the displacement change rate, and Δv2 represents the second difference; set the maximum value of the index and the minimum value of the index. If the impact force index is less than the minimum value of the index, the impact force level is the first level; if the impact force index is greater than or equal to the minimum value of the index and less than or equal to the maximum value of the index, the impact force level is the second level; if the impact force index is greater than the maximum value of the index, the impact force level is the third level; among them, the impact force levels are the first level, the second level and the third level from low to high in sequence; Comprehensively evaluating the collision degree according to the collision level and the impact force level, and performing an ultimate collision warning according to the collision degree.

2. The train passive obstacle detection method according to claim 1, wherein When judging whether the train collides with an obstacle according to the displacement amount, it includes: Setting a displacement threshold value, and if the displacement amount is greater than or equal to the displacement threshold value, judging that the train collides with an obstacle; If the displacement amount is less than the displacement threshold value, judging that the train does not collide with an obstacle.

3. The train passive obstacle detection method according to claim 2, wherein When, if it is judged that a collision occurs, judging the collision level of the train according to the displacement amount, it includes: Setting a first displacement value and a second displacement value, and the first displacement value is less than the second displacement value; If the displacement amount is less than the first displacement value, the collision level of the train is level one; If the displacement amount 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 two; If the displacement amount is greater than the second displacement value, the collision level of the train is level three; Wherein, the collision levels are level one, level two and level three in ascending order.

4. The train passive obstacle detection method according to claim 3, characterized in that, When constructing a displacement change amount sequence according to the displacement change amount per unit time when the collision occurs, and judging whether to adjust the collision level of the train according to the displacement change amount sequence, it includes: The displacement change amount sequence A = (a1, a2, a3, …, a n ); Calculating the average displacement change amount according to the displacement change amount sequence by 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, and a i represents the displacement change in the i-th unit time, where i = 1, 2, 3, …, n; Calculating the displacement change standard deviation according to the average displacement change amount by 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 amount sequence, and a i represents the displacement change amount at the i-th unit time, where i = 1, 2, 3, …, n, represents the average value of displacement change amounts; Setting a maximum standard deviation value, and if the displacement change standard deviation is greater than or equal to the maximum standard deviation value, judging that it is necessary to adjust the collision level of the train; If the displacement change standard deviation is less than the maximum standard deviation value, judging that it is not necessary to adjust the collision level of the train.

5. The train passive obstacle detection method according to claim 4, characterized in that, When, if it is judged that adjustment is needed, adjusting the collision level of the train according to the displacement change amount sequence, it includes: Setting a standard deviation limit value, and if the displacement change standard deviation is less than the standard deviation limit value, raising the collision level of the train by one level; If the displacement change standard deviation is greater than or equal to the standard deviation limit value, raising the collision level of the train by two levels; Wherein, the highest collision level of the train is level three.

6. The train passive obstacle detection method according to claim 5, characterized in that When calculating the displacement change rate according to the displacement change amount sequence and constructing a displacement change rate sequence according to the displacement change rate, it includes: Calculating the displacement change rate by the following formula: v j = (a i+1 - a i ) / Δt; In the above formula, v j represents the displacement change rate of the j-th one, where j = 1, 2, 3, …, n - 1, and a i+1 represents the displacement change amount of the (i + 1)-th unit time in the displacement change amount sequence, and a i represents the displacement change amount of the i-th unit time in the displacement change amount sequence, and △t represents the i+1 time interval between a i and a ; According to v j Construct a 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, When comprehensively evaluating the collision degree according to the collision level and the impact force level, and performing an ultimate collision warning according to the collision degree, it includes: Calculate the sum of the collision level and the impact force level, with level two and level four as the boundaries; If the sum of the levels is less than or equal to level two, the ultimate collision warning is a minor collision warning; If the sum of the levels is greater than level two and less than or equal to level four, the ultimate collision warning is a moderate collision warning; If the sum of the levels is greater than level four, the ultimate collision warning is a severe collision warning; Among them, the ultimate collision warning levels are, from low to high, minor collision warning, moderate collision warning, and severe collision warning.

8. A train passive obstacle detection system for applying the train passive obstacle detection method according to any one of claims 1-7, characterized in that, Including: A train obstacle detection device, arranged at the front end of the first bogie of the train head; An acquisition module, configured to acquire the displacement information of the train obstacle detection device; wherein, the displacement information includes the displacement amount and the displacement change amount per unit time; A collision level judgment module, configured to judge whether the train collides with an obstacle according to the displacement amount, and if it is judged that a collision occurs, judge the collision level of the train according to the displacement amount; A collision level adjustment module, configured to construct a displacement change amount sequence according to the displacement change amount per unit time at the time of collision, judge whether to adjust the collision level of the train according to the displacement change amount sequence, and if it is judged that adjustment is required, adjust the collision level of the train according to the displacement change amount sequence; An impact level determination module, configured to calculate the displacement change rate according to the displacement change amount sequence, construct a displacement change rate sequence according to the displacement change rate, and calculate the impact force level of the obstacle according to the displacement change rate sequence; An ultimate warning module, configured to comprehensively evaluate the collision degree according to the collision level and the impact force level, and perform an ultimate collision warning according to the collision degree.

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