Railway yard foreign matter intrusion detection system and method based on infrared thermal imaging

Abstract

The invention relates to a railway yard foreign matter intrusion detection system and method based on infrared thermal imaging. The system comprises an intelligent scheduling system which is used for obtaining route information matched with an operation task under the condition that the railway yard has the operation task; the intelligent vehicle-mounted system is used for detecting a locomotive position matched with the route information; the foreign matter detection system is used for determining a driving front limit area of the locomotive based on the route information and the position of the locomotive and acquiring an infrared thermal imaging image corresponding to the driving front limit area; and sending alarm information to an intelligent vehicle-mounted system under the condition of determining that foreign matters exist in the driving front limit area based on the infrared thermal imaging image, so that the intelligent vehicle-mounted system controls the state of the locomotive based on the alarm information. By adopting the system provided by the invention, the foreign matter detection accuracy of the railway yard can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent detection of railway targets, and in particular to a railway station yard foreign object intrusion detection system and method based on infrared thermal imaging. BACKGROUND

[0002] With the growing demand for railway, the railway station yard has all-weather and full-range transportation organization work, and it is necessary to ensure the all-weather and full-station transportation organization safety of the railway station yard. The intelligent detection technology can not only improve the safety of the railway station yard transportation organization, but also improve the operation efficiency of the railway station yard transportation organization.

[0003] In the traditional technology, visible light monitoring can be used to detect railway foreign object intrusion. However, visible light cannot capture railway foreign object intrusion objects in low light, especially at night. People or large animals may still enter the railway clearance in poor light conditions. If their intrusion cannot be detected in time, it will have a great impact on train safety and life safety. Therefore, the scene of foreign object intrusion detection in the prior art is limited by light conditions, and the accuracy of foreign object detection is not high. SUMMARY

[0004] Therefore, it is necessary to provide a railway station yard foreign object intrusion detection system and method based on infrared thermal imaging, which can improve the accuracy of railway station yard foreign object detection and further improve the control accuracy of the locomotive.

[0005] In a first aspect, the present application provides a railway station yard foreign object intrusion detection system based on infrared thermal imaging, comprising: an intelligent dispatching system, a foreign object detection system, a data center and an intelligent vehicle-mounted system;

[0006] The intelligent dispatching system is configured to acquire route information matched with a work task when there is a work task in the railway station yard.

[0007] The intelligent vehicle-mounted system is configured to detect the position of a locomotive matched with the route information.

[0008] The foreign object detection system is configured to determine a clearance area in front of the locomotive based on the route information and the position of the locomotive, and acquire an infrared thermal imaging image corresponding to the clearance area in front of the locomotive. When it is determined based on the infrared thermal imaging image that there is a foreign object in the clearance area in front of the locomotive, the foreign object detection system sends an alarm information to the intelligent vehicle-mounted system, so that the intelligent vehicle-mounted system controls the state of the locomotive based on the alarm information.

[0009] In one embodiment, the foreign object detection system comprises a plurality of front-end device units, a decision unit and a foreign object recognition unit.

[0010] The decision unit is configured to determine a target unit in the driving front limit area from the plurality of front-end device units, and control the target unit to collect an infrared thermal imaging image corresponding to the driving front limit area.

[0011] The foreign matter identification unit is configured to analyze the infrared thermal imaging image collected by the target unit based on a preset foreign matter detection model, and determine whether there is foreign matter in the driving front limit area.

[0012] In one of the embodiments, the railway yard foreign matter intrusion detection system further comprises a data center, and the data center comprises a storage unit storing historical infrared thermal imaging images; and the alarm information comprises the infrared thermal imaging image collected by the target unit.

[0013] The storage unit is configured to store the infrared thermal imaging image collected by the target unit.

[0014] The foreign matter identification unit is further configured to update the foreign matter detection model based on the image in the storage unit.

[0015] In one of the embodiments, the decision unit is further configured to:

[0016] In the case where there is no foreign matter in the driving front limit area, the infrared thermal imaging image is sent to the data center for storage.

[0017] In one of the embodiments, the decision unit is further configured to:

[0018] Based on the vertical field of view of the front-end device unit, a detection distance of the front-end device unit is obtained.

[0019] Based on the horizontal field of view of the front-end device unit, a detection width of the front-end device unit at the detection distance is obtained.

[0020] According to the detection range represented by the detection distance and the detection width of the front-end device unit, and the yard range of the railway yard, a number of the front-end device units to be installed in the yard range is determined, so that the detection range of the plurality of front-end device units matched with the number covers the yard range.

[0021] In one of the embodiments, the front-end device unit comprises an infrared thermal imaging camera; and the decision unit is specifically configured to:

[0022] According to the focal length and the camera height of the infrared thermal imaging camera, a vertical field of view of the infrared thermal imaging camera is obtained.

[0023] According to the installation height, the installation angle and the vertical field of view angle of the infrared thermal imaging camera, a detection distance of the infrared thermal imaging camera is obtained.

[0024] In one of the embodiments, the front-end device unit includes an infrared thermal imaging camera, the detection distance includes a distance upper limit and a distance lower limit, the detection width includes a width upper limit and a width lower limit; the decision unit is specifically configured to:

[0025] According to the focal length and the camera width of the infrared thermal imaging camera, a horizontal field of view angle of the infrared thermal imaging camera is obtained.

[0026] According to the installation height, the distance upper limit and the horizontal field of view angle of the infrared thermal imaging camera, a width upper limit of the infrared thermal imaging camera at the distance upper limit is obtained.

[0027] According to the installation height, the distance lower limit and the horizontal field of view angle of the infrared thermal imaging camera, a width lower limit of the infrared thermal imaging camera at the distance lower limit is obtained.

[0028] In one of the embodiments, the railway station yard foreign object intrusion detection system further includes a ground control center.

[0029] The foreign object detection system is further configured to send alarm information to the ground control center in a case where it is determined based on the infrared thermal imaging image that there is a foreign object in the travel front boundary area; the alarm information includes a foreign object position.

[0030] The ground control center is further configured to adjust a movement authorization point of the locomotive according to the foreign object position, and send the foreign object position and the adjusted movement authorization point to the intelligent vehicle-mounted system.

[0031] The intelligent vehicle-mounted system is specifically configured to control a state of the locomotive based on the foreign object position and the adjusted movement authorization point.

[0032] In one of the embodiments, the data center includes a geographic information system unit.

[0033] The foreign object detection system is configured to send alarm information to the geographic information system unit in a case where it is determined based on the infrared thermal imaging image that there is a foreign object in the travel front boundary area; the alarm information includes a region image of the travel front boundary area.

[0034] The geographic information system unit is configured to send a first confirmation result of the alarm information to the foreign object detection system in a case where a confirmation operation for a foreign object in the region image is received.

[0035] The intelligent vehicle-mounted system is further configured to control a state of the locomotive based on the alarm information received from the foreign matter detection system in a case where the foreign matter detection system receives the first confirmation result.

[0036] In a second aspect, the application provides a railway station yard foreign matter intrusion detection method based on infrared thermal imaging, the method comprising:

[0037] In a case where there is a work task in the railway station yard, obtaining route information matched with the work task, and obtaining a locomotive position matched with the route information;

[0038] Based on the route information and the locomotive position, determining a limit area in front of the locomotive;

[0039] Obtaining an infrared thermal imaging image corresponding to the limit area in front of the locomotive, and in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the limit area in front of the locomotive, generating alarm information;

[0040] Controlling a state of the locomotive based on the alarm information.

[0041] The above railway station yard foreign matter intrusion detection system and method based on infrared thermal imaging, the intelligent dispatching system is configured to obtain route information matched with a work task in a case where there is a work task in the railway station yard; the intelligent vehicle-mounted system is configured to detect a locomotive position matched with the route information; the foreign matter detection system is configured to determine a limit area in front of the locomotive based on the route information and the locomotive position, and obtain an infrared thermal imaging image corresponding to the limit area in front of the locomotive; in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the limit area in front of the locomotive, the intelligent vehicle-mounted system is configured to send alarm information to the intelligent vehicle-mounted system, so that the intelligent vehicle-mounted system controls a state of the locomotive based on the alarm information. Thus, by using the infrared thermal imaging image corresponding to the limit area in front of the locomotive, the foreign matter intrusion detection of the locomotive in the railway station yard is realized, the influence of the environmental light of the railway station yard on the foreign matter intrusion detection can be avoided, and the foreign matter detection accuracy of the railway station yard can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the application or the related art. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0043] Figure 1 is a structural block diagram of a railway station yard foreign matter intrusion detection system based on infrared thermal imaging in an embodiment;

[0044] Figure 2 a top view of a detection range of an infrared thermal imaging camera in one embodiment;

[0045] Figure 3 a top view of a detection width of an infrared thermal imaging camera in one embodiment;

[0046] Figure 4 a structural block diagram of an infrared thermal imaging based foreign object intrusion detection system for a railway yard in another embodiment;

[0047] Figure 5 a control schematic diagram of an infrared thermal imaging based foreign object intrusion detection system for a railway yard in one embodiment;

[0048] Figure 6 a flow schematic diagram of an infrared thermal imaging based foreign object intrusion detection method for a railway yard in one embodiment;

[0049] Figure 7 an internal structure diagram of a computer device in one embodiment;

[0050] Figure 8 an internal structure diagram of a computer device in another embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the protection scope of the present application.

[0052] The embodiments of the technical scheme of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical scheme of the present application, and therefore only serve as examples, and cannot limit the protection scope of the present application.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments of the present application and are not intended to limit the present application; the terms "include" and "have" and any variations thereof in the specification and claims of the present application and the above description of drawings are intended to cover non-exclusive inclusion.

[0054] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0055] Reference to“an embodiment” herein means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase“in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily all

[0056] It is found through research that infrared thermal imaging can detect the thermal radiation distribution of objects with a temperature higher than absolute zero, and an infrared thermal imaging image can be generated by collecting the temperature distribution of the surface of an object. Infrared thermal imaging is not affected by lighting conditions and can work in dark and weak light environments, and can well represent targets at night and in dark areas. Moreover, infrared thermal imaging is not affected by adverse weather such as rain, snow, and fog, and therefore, the use of an infrared thermal imaging sensor can achieve all-weather detection of foreign object intrusion targets in a railway station yard. Considering that the entire range of a railway station yard involves train organization operations, in order to detect foreign object intrusion in the entire range, a suitable infrared thermal imaging focal length, field of view angle, and other parameters can be selected according to the size of the station yard and the installation conditions, and appropriate installation height and installation angle can be used, so that a sufficient number of infrared thermal imaging cameras can be used to achieve intelligent detection of targets in the entire range of the railway station yard.

[0057] Therefore, the foreign object detection system can work in cooperation with other transportation systems to form an infrared thermal imaging-based railway station yard foreign object intrusion detection system to achieve all-weather and full-range foreign object detection tasks in the railway station yard while ensuring the safety and efficiency of transportation work in the railway station yard.

[0058] As shown in Figure 1 The present application provides an infrared thermal imaging-based railway station yard foreign object intrusion detection system, wherein the railway station yard foreign object intrusion detection system 10 includes an intelligent dispatching system 102, an intelligent vehicle-mounted system 104, and a foreign object detection system 106. The intelligent dispatching system 102 is configured to acquire route information matched with a work task when there is a work task in the railway station yard. The intelligent vehicle-mounted system 104 is configured to detect the location of a locomotive matched with the route information. The foreign object detection system 106 is configured to determine a limit area in front of the locomotive based on the route information and the location of the locomotive, and acquire an infrared thermal imaging image corresponding to the limit area in front of the locomotive. When it is determined based on the infrared thermal imaging image that there is a foreign object in the limit area in front of the locomotive, an alarm information is sent to the intelligent vehicle-mounted system 104 to control the state of the locomotive based on the alarm information. Thus, the use of the infrared thermal imaging image corresponding to the limit area in front of the locomotive can achieve foreign object intrusion detection of the locomotive in the railway station yard, which can avoid the influence of environmental light on foreign object intrusion detection and improve the accuracy of foreign object detection in the railway station yard.

[0059] Wherein, the job task is used to represent the operation related to railway transportation that is being carried out or planned to be carried out in the railway station yard. The locomotive position pointer is the position matched with the route information detected in real time by the locomotive, and the route information is related to the driving path of the locomotive in the railway station yard, including but not limited to: route number, route type, starting point and ending point, path topology and switch state, etc. The route type is used to represent the arrival route, the departure route, the passing route, the continuation route, etc. The starting point can be represented by the starting signal, and the ending point can be represented by the target stopping point or the next signal of the starting signal.

[0060] In some embodiments, the intelligent dispatching system is also used to automatically compile the stage plan and automatically handle the route. Wherein, the stage plan is used to represent the execution scheme of the locomotive, including the locomotive operation sequence, the shunting task allocation, the equipment occupation time, etc. The route is used to represent the safe driving path of the locomotive from the starting point to the ending point, involving switch switching, track section locking and other operations. The shunting signal is used to represent the movement permission signal that authorizes the locomotive to carry out shunting operations (such as car marshalling, line switching, and hanging and removing).

[0061] In one embodiment, the railway station foreign matter intrusion detection system can also include a computer interlocking system, which is used to generate route information matched with the job task when there is a job task in the railway station yard; and send the route information to the intelligent dispatching system. Thus, the intelligent dispatching system can obtain the route information matched with the job task from the computer interlocking system.

[0062] Wherein, the front limit area refers to the area between the track lines at the front end of the locomotive driving direction.

[0063] In one embodiment, the foreign matter detection system includes a plurality of front-end device units, a decision unit and a foreign matter identification unit. Illustratively, the decision unit is used to determine a target unit in the front limit area of driving from a plurality of front-end device units; control the target unit to collect infrared thermal imaging images corresponding to the front limit area of driving; and the foreign matter identification unit is used to analyze the infrared thermal imaging images collected by the target unit based on a preset foreign matter detection model to determine whether there is a foreign matter in the front limit area of driving.

[0064] Wherein, the plurality of front-end device units are always in the on state, so that when the target unit is controlled, the target unit can timely collect infrared thermal imaging images corresponding to the front limit area of driving.

[0065] The front-end device unit refers to a device for collecting an infrared thermal imaging image of a collection area. For example, the front-end device unit can include an infrared thermal imaging sensor and an infrared thermal imaging camera, an infrared camera, etc. The front-end device unit can be installed on a lamp bridge or a fulcrum of a signal machine of a railway station yard.

[0066] In an embodiment, the front-end device unit includes an infrared camera. The decision unit can periodically send an infrared camera state message to the foreign matter identification unit. The infrared camera state message can include, but is not limited to, a currently monitored track, a camera number, a camera monitoring range number, a monitoring range maximum position, a monitoring range minimum position, and a camera state, etc.

[0067] In an embodiment, when there is a work task in the railway station yard, the decision unit can control the infrared camera (i.e., the target unit) at the corresponding position to start the image collection process based on the route information and the locomotive position sent by the ground control center, so as to detect the foreign matter intrusion in the limit area in front of the locomotive based on the infrared thermal imaging image collected by the infrared camera. When there is no work in the railway station yard, the decision unit sends a detection task closing message to the foreign matter identification unit to close the detection operation of the corresponding infrared camera, so that the corresponding infrared camera is in a trimming state. The detection task message can include a camera number, and the foreign matter identification unit can close the detection operation of the corresponding infrared camera based on the camera number.

[0068] It can be understood that the front-end device unit is easily affected by the complex environment and the resolution of the device itself, and the imaging quality is affected to a certain extent. The resolution of the infrared thermal imaging image is lower than that of the visible light image, and the collected infrared thermal imaging image needs to be preprocessed.

[0069] In an embodiment, the infrared thermal imaging image collected by the target unit is analyzed based on a preset foreign matter detection model to determine whether there is foreign matter in the limit area in front of the locomotive. In the case that the infrared thermal imaging image collected by the target unit is preprocessed using an infrared thermal imaging correction process, the preprocessed infrared thermal imaging image is analyzed using the preset foreign matter detection model to determine whether there is foreign matter in the limit area in front of the locomotive. Thus, by using the infrared thermal imaging correction process, the resolution and contrast of the infrared thermal imaging image collected by the target unit can be enhanced. Furthermore, when the preprocessed image is analyzed using the preset foreign matter detection model, the accuracy of foreign matter detection can be improved.

[0070] For example, the infrared thermal imaging correction process can include a non-uniformity correction process, a median filter process, a contrast enhancement process, etc.

[0071] The preset foreign matter detection model can be obtained by training a deep model using a deep learning algorithm, and a training data set includes historical infrared thermal imaging images with labeled foreign matters. The labeling method can include manual labeling, automatic labeling, and semi-automatic labeling. For example, manual labeling can use labeling software such as LabelImg to label images one by one; automatic labeling can use a pre-trained target detection model (such as YOLO3) to detect foreign matters in the historical infrared thermal imaging images, and the detected foreign matter positions are used as the labeling information of the infrared thermal imaging images; semi-automatic labeling can use a part of manually labeled railway scene sample library to train the YOLO3 model, and the trained YOLO3 model is used to detect foreign matters in the historical infrared thermal imaging images, and the detected foreign matter positions are used as semi-automatic labeling information. When there is sufficient manpower, the detected foreign matter positions by the trained YOLO3 can be further adjusted.

[0072] For example, the deep learning algorithm can use a detection algorithm such as YOLO series, for example, YOLO series includes YOLOV5, YOLOV8, YOLOV11, etc. The detection algorithm of YOLO series is very suitable for real-time scene detection tasks due to its single-stage end-to-end training, efficient training efficiency and inference speed, and with the continuous iteration and evolution of YOLO series, the detection accuracy and speed reach a good balance.

[0073] It can be understood that during the railway operation, the detection of the target foreign matter needs to meet the requirements of real-time and accuracy, and the use of the deep learning algorithm to train the foreign matter detection model has good performance in real-time and accuracy.

[0074] In one embodiment, the data center can include a storage unit storing historical infrared thermal imaging images, and the alarm information includes infrared thermal imaging images collected by the target unit. For example, the storage unit is used to store the infrared thermal imaging images collected by the target unit, and the foreign matter recognition unit is further used to update the foreign matter detection model based on the images in the storage unit. Therefore, the foreign matter images of the infrared thermal imaging stored in the storage unit will become samples of the training data set, providing sufficient data for the training of the recognition model, and realizing the iterative upgrade of the foreign matter recognition model.

[0075] The focal length, field of view angle, and other parameters of the infrared thermal imaging camera can be selected according to the size and installation conditions of the railway station yard to determine the installation height, installation angle, and installation number of the front-end device unit, so that the detection range of the front-end device unit deployed in the railway station yard covers the whole railway station yard.

[0076] In an embodiment, the decision unit is further configured to: obtain a detection distance of the front-end device unit based on a vertical field of view angle of the front-end device unit; obtain a detection width of the front-end device unit at the detection distance based on a horizontal field of view angle of the front-end device unit; and determine a number of front-end device units that should be installed in the station yard range based on a detection range represented by the detection distance and the detection width of the front-end device unit and the station yard range of the railway station yard, so that the detection range of the number of front-end device units covers the station yard range. Thus, by determining the number of front-end device units that should be installed in the station yard range, the on-site personnel can determine the installation position of each front-end device unit in combination with the corresponding detection range of the front-end device unit, thereby avoiding blind installation and repeated installation and improving work efficiency.

[0077] The implementation manner of obtaining the detection distance of the front-end device unit based on the vertical field of view angle of the front-end device unit is not limited, and examples are described below in combination with possible implementation manners.

[0078] In an implementation manner, the preset vertical field of view angle can be determined as the vertical field of view angle of the front-end device unit; and the preset detection distance matched with the vertical field of view angle of the front-end device unit is determined as the detection distance of the front-end device unit based on a mapping relationship between the preset vertical field of view angle and the preset detection distance.

[0079] In another implementation manner, the front-end device unit includes an infrared thermal imaging camera; and the decision unit is specifically configured to: obtain the vertical field of view angle of the infrared thermal imaging camera according to a focal length and a camera height of the infrared thermal imaging camera; and obtain the detection distance of the infrared thermal imaging camera according to an installation height, an installation angle and the vertical field of view angle of the infrared thermal imaging camera.

[0080] For example, the vertical field of view angle of the infrared thermal imaging camera satisfies:

[0081]

[0082] wherein, the vertical field of view angle of the infrared thermal imaging camera is represented by θ, the camera height of the infrared thermal imaging camera is represented by h, and the unit is millimeter; the focal length of the infrared thermal imaging camera is represented by f.

[0083] For example, the detection distance includes a lower limit and an upper limit, the lower limit is used to represent a near-end distance that can be monitored by the infrared thermal imaging camera, and the upper limit is used to represent a far-end distance that can be monitored by the infrared thermal imaging camera, and the following conditions are satisfied:

[0084]

[0085]

[0086] wherein, represents a distance lower limit, represents a distance upper limit, H represents an installation height of the infrared thermal imaging camera, represents an installation angle of the infrared thermal imaging camera.

[0087] As Figure 2 shown, a top view schematic diagram of a detection range of an infrared thermal imaging camera is provided, wherein an infrared thermal imaging camera installation position is a point, an intersection perpendicular to the ground is a point, a horizontal field of view angle of the infrared thermal imaging camera is a horizontal field of view angle, an intersection of a midline of the horizontal field of view angle and the ground is a point, an installation height is H, and an installation angle is , a near-end distance that can be monitored by the infrared thermal imaging camera is obtained as , and a far-end distance that can be monitored by the infrared thermal imaging camera is obtained as .

[0088] wherein, based on the horizontal field of view angle of the front-end device unit, an implementation manner of obtaining a detection width of the front-end device unit at the detection distance is not limited, and the following is exemplarily described in combination with possible implementation manners.

[0089] In one implementation manner, the preset horizontal field of view angle can be determined as the horizontal field of view angle of the front-end device unit; based on a mapping relationship between the preset horizontal field of view angle and the preset detection width, the preset detection width matched with the horizontal field of view angle of the front-end device unit is determined as the detection width of the front-end device unit.

[0090] In one implementation manner, the front-end device unit includes an infrared thermal imaging camera, the detection distance includes a distance upper limit and a distance lower limit, the detection width includes a width upper limit and a width lower limit, and the decision unit is specifically configured to: obtain a horizontal field of view angle of the infrared thermal imaging camera according to a focal length and a camera width of the infrared thermal imaging camera; obtain a width upper limit of the infrared thermal imaging camera at the distance upper limit according to an installation height, the distance upper limit and the horizontal field of view angle of the infrared thermal imaging camera; and obtain a width lower limit of the infrared thermal imaging camera at the distance lower limit according to the installation height, the distance lower limit and the horizontal field of view angle of the infrared thermal imaging camera.

[0091] Exemplarily, the horizontal field of view angle of the infrared thermal imaging camera satisfies:

[0092]

[0093] wherein, represents a horizontal field of view angle of the infrared thermal imaging camera, represents a camera width of the infrared thermal imaging camera, and the unit is millimeter; ​​​​represents the focal length of the infrared thermal imaging camera.

[0094] By way of example, the lower width limit is used to characterize the width that the infrared thermal imaging camera can monitor at the lower distance limit, the lower width limit satisfies:

[0095]

[0096] By way of example, the upper width limit is used to characterize the width that the infrared thermal imaging camera can monitor at the upper distance limit, the upper width limit satisfies:

[0097]

[0098] As shown in Figure 3 , a top view schematic diagram of the detection width of an infrared thermal imaging camera is provided, wherein the installation position of the infrared thermal imaging camera is , the intersection perpendicular to the ground is , the horizontal field of view angle of the infrared thermal imaging camera is , the installation height is H, and the installation angle is , then the near-end distance at which the infrared thermal imaging camera monitors the width , and the far-end distance at which the infrared thermal imaging camera monitors the width can be determined.

[0099] In an embodiment, the data center comprises a geographic information system (GIS) unit. The GIS unit can confirm or cancel the alarm information sent by the foreign matter detection system and feed back the information to the foreign matter detection system. Specifically, the foreign matter detection system is configured to send alarm information to the geographic information system unit in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the limit area in front of the running track, the alarm information comprising a region image of the limit area in front of the running track; the geographic information system unit is configured to send a first confirmation result of the alarm information to the foreign matter detection system in a case where it receives a confirmation operation for the foreign matter in the region image; and the intelligent vehicle system is further configured to control the state of the locomotive based on the alarm information received from the foreign matter detection system in a case where the foreign matter detection system receives the first confirmation result. That is, when the monitoring personnel find that there is foreign matter in the region image based on the geographic information system unit, the confirmation operation for the foreign matter in the region image can be triggered, so that the geographic information system unit sends the first confirmation result of the alarm information to the foreign matter detection system, and the foreign matter detection system sends the alarm information to the intelligent vehicle system in a case where it receives the first confirmation result, so that the intelligent vehicle system can control the state of the locomotive based on the alarm information, thereby improving the accuracy of foreign matter determination through further confirmation of the foreign matter in the region.

[0100] In an embodiment, the data center further comprises a plurality of terminals, and the geographic information system unit is further configured to send the alarm information to the plurality of terminals in a case where it receives the confirmation operation for the foreign matter in the region image. Thus, the plurality of terminals receive the alarm information confirmed by the GIS unit, and the on-site personnel corresponding to the plurality of terminals can immediately understand the situation of the intruding foreign matter, thereby ensuring that the on-site personnel respond in a timely manner.

[0101] In one embodiment, the data center comprises a geographic information system unit and a plurality of terminals, the alarm information comprises a region image of the foreign object position and the limit region in front of the locomotive, and the plurality of terminals comprises a target terminal, a distance between a terminal position of the target terminal and the foreign object position is less than or equal to a preset distance. Specifically, the foreign object detection system is configured to send the region image of the limit region in front of the locomotive to the geographic information system unit in a case where it is determined based on the infrared thermal imaging image that the foreign object exists in the limit region in front of the locomotive. The geographic information system unit is configured to send indication information to the target terminal in a case where a confirmation operation for the foreign object in the region image is received, the indication information being used to instruct a staff corresponding to the target terminal to confirm the foreign object in the limit region in front of the locomotive, and send a first confirmation result for the alarm information to the foreign object detection system in a case where a second confirmation result fed back by the target terminal for the indication information is received. The intelligent vehicle system is further configured to control a state of the locomotive based on the alarm information received from the foreign object detection system in a case where the first confirmation result is received by the foreign object detection system. Thus, in a case where a foreign object confirmation is performed once based on the geographic information system unit, a secondary artificial confirmation is performed based on the target terminal, which can improve the accuracy of the foreign object confirmation. Moreover, since the target terminal is close to the foreign object position, the staff can perform the artificial confirmation in a timely manner, which improves the efficiency of the foreign object confirmation.

[0102] For example, the foreign object detection system comprises a decision unit, the decision unit is configured to send the alarm information to the geographic information system unit in a case where it is determined based on the infrared thermal imaging image that the foreign object exists in the limit region in front of the locomotive. The alarm information can comprise a foreign object number, a foreign object type, a track number, a track equipment type, a foreign object position, and the like.

[0103] For example, the decision unit is further configured to send the infrared thermal imaging image to the data center in a case where the foreign object does not exist in the limit region in front of the locomotive, and store the infrared thermal imaging image, so that the data center can perform data tracing on the railway station based on a storage unit of the data center. That is, in a case where the foreign object does not exist in the limit region in front of the locomotive, the foreign object detection system can terminate the alarm linkage operation, that is, the foreign object detection system does not perform data interaction with the ground control center and the intelligent vehicle system, and then the intelligent vehicle system can continue to control the locomotive based on preset running information corresponding to the route information.

[0104] Exemplarily, the decision unit is further configured to acquire a new infrared thermal image of the limit area in front of the running track collected by the target unit, and in a case where it is determined based on the new infrared thermal image that there is no foreign matter in the limit area in front of the running track, send foreign matter removal information to the intelligent vehicle system through the ground control center to prompt the intelligent vehicle system that the foreign matter has been removed, so that the intelligent vehicle system controls the state of the locomotive based on the route information. That is, by detecting the foreign matter in the limit area in front of the running track in advance and removing the foreign matter in time, the locomotive can run according to the route information without stopping.

[0105] In an embodiment, the data center can include a storage unit, and the alarm information can further include a monitoring video, a region picture, a foreign matter position, and a foreign matter type of the limit area in front of the running track. The storage unit can store at least one of the monitoring video, the region picture, the foreign matter position, and the foreign matter type of the limit area in front of the running track, the first confirmation information, and the second confirmation information, so that the storage unit based on the data center can trace the data of the railway station.

[0106] Exemplarily, the alarm information includes the foreign matter position, and the intelligent vehicle system can control the state of the locomotive based on the foreign matter position. For example, the intelligent vehicle system can control the locomotive to stop at a target position, and the target position refers to a position spaced apart from the foreign matter position by a set distance. That is, by controlling the locomotive to stop at the target position, the locomotive can be prevented from contacting the foreign matter, and the safety of the locomotive can be improved.

[0107] In an embodiment, the railway station foreign matter intrusion detection system further includes a ground control center. Specifically, the foreign matter detection system is further configured to send alarm information to the ground control center in a case where it is determined based on the infrared thermal image that there is foreign matter in the limit area in front of the running track. The alarm information includes the foreign matter position. The ground control center is further configured to adjust the movement authorization point of the locomotive according to the foreign matter position, and send the foreign matter position and the adjusted movement authorization point to the intelligent vehicle system. The intelligent vehicle system is specifically configured to control the state of the locomotive based on the foreign matter position and the adjusted movement authorization point.

[0108] It should be understood that when there is foreign matter in the limit area in front of the running track, it can be indicated that the foreign matter will affect the running of the locomotive, and therefore, the movement authorization point of the locomotive needs to be adjusted.

[0109] The moving authorization point of the locomotive refers to the end position allowing the locomotive to safely travel, so as to ensure that the locomotive does not collide with other locomotives or obstacles when traveling within the authorized range. For example, a position spaced apart from the foreign object position by a preset distance in the travel direction of the locomotive can be determined as the updated moving authorization point, that is, the locomotive passes the updated moving authorization point and the foreign object position in turn. Therefore, by controlling the locomotive to stop at the updated moving authorization point, contact with the foreign object at the foreign object position can be avoided.

[0110] For example, the foreign object detection system is further configured to periodically send alarm information to the ground control center when it is determined based on the infrared thermal image that there is a foreign object in the limited area in front of the travel.

[0111] In some embodiments, the intelligent dispatching system is further configured to send route information to the foreign object detection system through the ground control center, and the intelligent on-board system is further configured to send the locomotive position to the foreign object detection system through the ground control center. Thus, based on the ground control center, the data interaction process between the intelligent dispatching system, the intelligent on-board system, and the foreign object detection system can be realized.

[0112] In one embodiment, the foreign object detection system can further include a communication unit for realizing communication between internal units of the foreign object detection system and external communication requirements of the foreign object detection system with the ground control center and the data center. Specifically, the communication unit is configured to obtain route information from the intelligent dispatching system through the ground control center, and to obtain the locomotive position matching the route information from the intelligent on-board system through the ground control center.

[0113] For example, the data interaction between each unit in the foreign object detection system and between the foreign object detection system and the ground control center can be in the MQTT mode, and the data interaction between the foreign object detection system and the data center can be in the KAFKA mode, or other types of interaction modes can be set.

[0114] In combination with the above, in one embodiment, as shown in Figure 4 , a railway station foreign object intrusion detection system based on infrared thermal imaging is provided, wherein the railway station foreign object intrusion detection system 10 includes an intelligent dispatching system 102, an intelligent on-board system 104, a foreign object detection system 106, a data center 108, and a ground control center 110. Based on Figure 4 , as shown in Figure 5 , a control diagram of a railway station foreign object intrusion detection system based on infrared thermal imaging is provided, wherein:

[0115] The intelligent dispatching system 102 can automatically compile a stage plan and automatically handle a route according to a plan and a current vehicle condition. Specifically, in the embodiment, the intelligent dispatching system 102 is configured to acquire route information matched with a work task when there is a work task in a railway station yard. The intelligent vehicle-mounted system 104 is configured to detect a position of a locomotive matched with the route information. The intelligent dispatching system 102 and the intelligent vehicle-mounted system 104 can respectively send the position of the locomotive and the route information to the foreign matter detection system 106 through the ground control center 110. The foreign matter detection system 106 is configured to determine a limit area in front of a travel of the locomotive based on the route information and the position of the locomotive, and acquire an infrared thermal imaging image corresponding to the limit area in front of the travel. When it is determined based on the infrared thermal imaging image that there is foreign matter in the limit area in front of the travel, the foreign matter detection system 106 sends alarm information to the ground control center 110, the alarm information including a position of the foreign matter. The ground control center 110 is configured to adjust a movement authorization point of the locomotive according to the position of the foreign matter, and send the position of the foreign matter and the adjusted movement authorization point to the intelligent vehicle-mounted system 104. The intelligent vehicle-mounted system 104 controls a state of the locomotive based on the position of the foreign matter and the adjusted movement authorization point.

[0116] For example, the intelligent vehicle-mounted system 104 can include a position detection device for measuring the position of the locomotive. For example, the position detection device can include at least one of a Global Positioning System (GPS), a position sensor, or a radar.

[0117] In combination with the above, the railway station yard foreign matter intrusion detection system based on infrared thermal imaging provided in the present application belongs to the application field of the combination of computer vision technology and railway foreign matter intrusion detection, and has the advantage that infrared thermal imaging is less affected by light conditions and can detect targets in the night, fog, glare, rain, snow, and other environments. By using infrared thermal imaging information, foreign matter targets in a railway scene can be detected all day long. In addition, the present application can deploy front-end device units according to the size and installation conditions of a railway station yard to implement foreign matter target detection in the entire range of the railway station yard. Moreover, the present application can realize real-time foreign matter detection in a limit area in front of a travel of a locomotive in a railway station yard operation process through linkage and cooperation between the foreign matter detection system and the intelligent dispatching system, the intelligent vehicle-mounted system, the ground control center, and the data center, which can improve the safety and reliability of locomotive operation.

[0118] In combination with the above, as shown in Figure 6 The present application provides a railway station yard foreign matter intrusion detection method based on infrared thermal imaging. The method is applied to a railway station yard foreign matter intrusion detection system based on infrared thermal imaging, and includes the following steps:

[0119] S602, in the case that there is a work task in the railway station yard, acquiring route information matched with the work task, and acquiring a locomotive position matched with the route information.

[0120] The work task is used to represent that the railway station yard is performing or planning to perform an operation related to railway transportation. The locomotive position refers to a position matched with the route information detected in real time for the locomotive. The route information refers to information related to a travel path of the locomotive in the railway station yard, including but not limited to: route number, route type, start point and end point, path topology, and switch state. The route type is used to represent a receiving route, a departure route, a passing route, a continuation route, etc. The start point can be represented by a starting signal, and the end point can be represented by a target stopping point or a next signal of the starting signal.

[0121] S604, determining a travel front limit area of the locomotive based on the route information and the locomotive position.

[0122] For example, based on the route information, a travel path and a travel direction of the locomotive are determined; and based on the travel path and the travel direction of the locomotive, a travel front limit area in front of the locomotive position is determined.

[0123] S606, acquiring an infrared thermal imaging image corresponding to the travel front limit area, and generating an alarm information in the case that it is determined based on the infrared thermal imaging image that there is a foreign object in the travel front limit area.

[0124] The travel front limit area refers to a dynamic safety range in front and laterally of the travel direction of the locomotive. For example, the travel front limit area can include a brake distance in front of the locomotive, a lateral swing margin, a safety gap of the overhead catenary, etc.

[0125] For example, the infrared thermal imaging image collected by the target unit is analyzed based on a preset foreign object detection model to determine whether there is a foreign object in the travel front limit area.

[0126] S608, controlling a state of the locomotive based on the alarm information.

[0127] The alarm information can include a foreign object number, a foreign object type, a track number, a track equipment type, and a foreign object position.

[0128] For example, the alarm information includes the foreign object position, and in the case that a first confirmation result for the alarm information is received, the state of the locomotive is controlled based on the foreign object position and an updated movement authority point.

[0129] The content of S602-S608 can be referred to the foregoing content for adaptation description, which will not be described herein.

[0130] Based on Figure 6According to the content shown, in the case of having a work task in the railway station yard, the approach information matched with the work task is obtained, the locomotive position matched with the approach information is obtained, the driving front limit area of the locomotive is determined based on the approach information and the locomotive position, the infrared thermal imaging image corresponding to the driving front limit area is obtained, in the case of determining that there is a foreign matter in the driving front limit area based on the infrared thermal imaging image, the alarm information is generated, and the state of the locomotive is controlled based on the alarm information. Thus, the foreign matter intrusion detection of the railway station yard can be realized by using the infrared thermal imaging image corresponding to the driving front limit area of the locomotive, the influence of the environmental light of the railway station yard on the foreign matter intrusion detection can be avoided, and the foreign matter detection accuracy of the railway station yard can be improved.

[0131] It should be understood that, although each step in the flowchart involved in each embodiment as described above is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the order of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0132] In an exemplary embodiment, a computer device, which can be an infrared thermal imaging-based railway station yard foreign matter intrusion detection system, can have an internal structure diagram as shown. Figure 7 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store approach information and other data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with the terminal outside through network connection. The computer program is executed by the processor to implement an infrared thermal imaging-based railway station yard foreign matter intrusion detection method.

[0133] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 8 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a geographic information system (GIS) unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, GIS unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a method for detecting foreign object intrusion in railway stations based on infrared thermal imaging. The GIS unit is used to generate a visually visible image, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0134] Those skilled in the art will understand that Figure 7 or Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0135] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0136] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0137] In an embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the steps of any of the above method embodiments.

[0138] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0139] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0140] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features described above are described, but it is understood that any combination of the technical features is within the scope of the present application as long as the combination does not result in a contradiction.

[0141] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these are within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A system for detecting intrusions of foreign objects into a railway yard based on infrared thermography, characterized in that, The railway station foreign matter intrusion detection system comprises an intelligent dispatching system, a foreign matter detection system and an intelligent vehicle-mounted system; The intelligent dispatching system is configured to, in the case that there is a work task in the railway station, acquire route information matched with the work task; The intelligent vehicle-mounted system is configured to detect a locomotive position matched with the route information; The foreign matter detection system is configured to determine a limit area in front of a locomotive based on the route information and the locomotive position, and acquire an infrared thermal imaging image corresponding to the limit area in front of the locomotive; in the case that it is determined based on the infrared thermal imaging image that there is foreign matter in the limit area in front of the locomotive, send alarm information to the intelligent vehicle-mounted system, so that the intelligent vehicle-mounted system controls a state of the locomotive based on the alarm information.

2. The railway yard foreign object intrusion detection system of claim 1, wherein, The foreign matter detection system comprises a plurality of front-end device units, a decision unit and a foreign matter identification unit; The decision unit is configured to determine, from the plurality of front-end device units, a target unit in the limit area in front of the locomotive; control the target unit to collect an infrared thermal imaging image corresponding to the limit area in front of the locomotive; The foreign matter identification unit is configured to analyze the infrared thermal imaging image collected by the target unit based on a preset foreign matter detection model, and determine whether there is foreign matter in the limit area in front of the locomotive.

3. The railway yard foreign object intrusion detection system of claim 2, wherein, The railway station foreign matter intrusion detection system further comprises a data center, and the data center comprises a storage unit storing historical infrared thermal imaging images; the alarm information comprises the infrared thermal imaging image collected by the target unit; The storage unit is configured to store the infrared thermal imaging image collected by the target unit; The foreign matter identification unit is further configured to update the foreign matter detection model based on the image in the storage unit.

4. The railway yard foreign object intrusion detection system of claim 2, wherein, The railway station foreign matter intrusion detection system further comprises a data center; The decision unit is further configured to: in the case that there is no foreign matter in the limit area in front of the locomotive, send the infrared thermal imaging image to the data center to store the infrared thermal imaging image.

5. The railway yard foreign object intrusion detection system of claim 2, wherein, The decision unit is further configured to: obtain a detection distance of the front-end device unit based on a vertical field of view angle of the front-end device unit; obtain a detection width of the front-end device unit at the detection distance based on a horizontal field of view angle of the front-end device unit; determine, according to a detection range represented by the detection distance and the detection width of the front-end device unit and a station range of the railway station, a number of the front-end device units that should be installed in the station range, so that a detection range of the plurality of front-end device units matched with the number covers the station range.

6. The railway yard foreign object intrusion detection system of claim 5, wherein, The front-end device unit comprises an infrared thermal imaging camera; and the decision unit is specifically configured to: obtain a vertical field of view angle of the infrared thermal imaging camera according to a focal length and a camera height of the infrared thermal imaging camera; obtain a detection distance of the infrared thermal imaging camera according to an installation height, an installation angle and the vertical field of view angle of the infrared thermal imaging camera.

7. The railway yard intruder detection system of claim 5 wherein, The front-end device unit includes an infrared thermal imaging camera, the detection distance includes an upper limit of distance and a lower limit of distance, and the detection width includes an upper limit of width and a lower limit of width; the decision unit is specifically used for: According to the focal length and the camera width of the infrared thermal imaging camera, a horizontal field of view of the infrared thermal imaging camera is obtained; According to the installation height of the infrared thermal imaging camera, the upper limit of distance and the horizontal field of view, an upper limit of width of the infrared thermal imaging camera at the upper limit of distance is obtained; According to the installation height of the infrared thermal imaging camera, the lower limit of distance and the horizontal field of view, a lower limit of width of the infrared thermal imaging camera at the lower limit of distance is obtained.

8. The railway yard intruder detection system of claim 1, wherein, The railway station foreign matter intrusion detection system further includes a ground control center; The foreign matter detection system is further used for sending alarm information to the ground control center in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the driving front boundary area; the alarm information includes a foreign matter position; The ground control center is further used for adjusting a movement authorization point of the locomotive according to the foreign matter position, and sending the foreign matter position and the adjusted movement authorization point to the intelligent vehicle-mounted system; The intelligent vehicle-mounted system is specifically used for controlling a state of the locomotive based on the foreign matter position and the adjusted movement authorization point.

9. The railway yard intruder detection system of claim 4 wherein, The data center includes a geographic information system unit; The foreign matter detection system is used for sending alarm information to the geographic information system unit in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the driving front boundary area; the alarm information includes a regional image of the driving front boundary area; The geographic information system unit is used for sending a first confirmation result of the alarm information to the foreign matter detection system in a case where a confirmation operation for foreign matter in the regional image is received; The intelligent vehicle-mounted system is further used for controlling a state of the locomotive based on the alarm information received from the foreign matter detection system in a case where the first confirmation result is received by the foreign matter detection system.

10. A method for detecting foreign object intrusion in a railway yard based on infrared thermography, characterized in that, The method includes: In a case where there is a work task in a railway station, route information matched with the work task is acquired, and a locomotive position matched with the route information is acquired; A driving front boundary area of the locomotive is determined based on the route information and the locomotive position; An infrared thermal imaging image corresponding to the driving front boundary area is acquired, and alarm information is generated in a case where it is determined based on the infrared thermal imaging image that there is foreign matter in the driving front boundary area; A state of the locomotive is controlled based on the alarm information.

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