Early warning system for detecting approaching object

Abstract

The invention provides an early warning system for detecting approaching objects, which is arranged in a control area of a railway and / or road intersection and mainly comprises a plurality of detection units, a storage unit and an operation processing unit. A detection unit detects an action path of an approaching object driving to a control area along a road and converts the action path into a detection signal to be output, a storage unit stores early warning information including a warning path and a confirmation condition, and an operation processing unit receives the detection signal to obtain a real-time action path of the approaching object. When the operation processing unit judges that the action path is in the warning path and meets the confirmation condition, the operation processing unit outputs a warning signal so as to accurately judge that the approaching object coming from the control area is in a dangerous state, and then a warning is given out.

Description

[0001] This invention is a divisional application of the invention patent application number 202010818464.9 entitled "Early Warning System for Detecting Approaching Objects", with the parent application date being August 14, 2020. Technical Field

[0002] This invention relates to an early warning system for detecting approaching objects, particularly an early warning system installed in a controlled area at a railway and / or road intersection to detect approaching objects and provide a warning. Background Technology

[0003] At the intersection of railways and roads, a restricted area is usually designated. When a train approaches, an emergency siren sounds to clear the area for vehicles and personnel. If a train encounters a breakdown or obstruction while passing through the restricted area, an emergency stop button located next to the restricted area can be pressed by the driver or a bystander to warn the train to slow down and stop immediately. However, often drivers forget to press the emergency stop button due to excessive panic. Without assistance, the train cannot receive a warning and thus cannot slow down or stop, potentially leading to a serious accident within the restricted area. This is the problem with the emergency stop button requiring manual operation.

[0004] To address the shortcomings of emergency buttons in restricted areas that fail to prevent accidents in a timely manner, existing image detection systems (such as thermal imaging) automatically detect whether vehicles or personnel are lingering around the restricted area when a train is about to pass through, and issue warnings to drive them away as quickly as possible, thus achieving the effect of automatic obstacle detection. However, existing image detection systems are prone to misjudgment in poor visibility conditions, and even if there are no vehicles or personnel lingering in the restricted area, if there are vehicles, personnel, or objects such as cats or dogs approaching the restricted area from the intersecting road, existing image detection systems cannot detect and issue warnings, failing to prevent the train from entering the restricted area in time, and serious accidents still occur. This is the main problem that this invention aims to solve. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides an early warning system for detecting approaching objects, which automatically detects approaching objects in controlled areas at railway and / or road intersections and issues timely warnings.

[0006] One embodiment of the present invention provides an early warning system for detecting approaching objects, which is installed in a controlled area at the intersection of a railway and / or road. The system includes multiple detection units, a storage unit, and a processing unit. The multiple detection units have two or more transmission frequencies to detect the movement path of an approaching object along the road towards the controlled area and convert it into a detection signal output. The storage unit stores early warning information, including a warning path and a confirmation condition, which confirms that the approaching object is continuously traveling along the warning path. The processing unit is electrically connected to the multiple detection units and the storage unit. The processing unit receives the detection signal to obtain the real-time movement path of the approaching object. When the processing unit determines that the movement path is within the warning path and meets the confirmation condition, the processing unit outputs an early warning signal.

[0007] Preferably, the multiple detection units include multiple horizontal scanning radars, which are arranged opposite each other at diagonal points of the controlled area. The detection range of each horizontal scanning radar scans in a horizontal direction to detect the movement path of the approaching object.

[0008] Preferably, the warning path includes a warning zone and a buffer zone, the warning zone extending with a predetermined width detectable by the horizontal scanning radar, and the buffer zone expanding relative to the warning zone.

[0009] Preferably, the confirmation condition is a default count value. When the approaching object enters the buffer, an actual count value is started. If the actual count value has reached the default count value, the processing unit determines that the action path is in the warning area and meets the confirmation condition. Otherwise, if the actual count value has not reached the default count value, the processing unit determines that the action path is in the warning area and does not meet the confirmation condition.

[0010] Preferably, the warning zone is a straight warning zone that extends in a straight line in the same direction with a predetermined width, and the buffer zone expands on both sides of the straight warning zone and is symmetrically spaced. The actual count value begins to be counted when the approaching object enters the buffer zone.

[0011] Preferably, the warning zone is a curved warning zone, which is a triangular area formed by connecting the two endpoints of a predetermined width and a point where the approaching object is located. As the approaching object moves away from the curved warning zone and meets a moving-away condition, the curved warning zone is redefined by connecting the point where the approaching object meets the moving-away condition and the two endpoints. This process continues until a confirmation condition is met and the processing unit outputs a warning signal, or the approaching object passes the detection unit and moves away.

[0012] Preferably, the distance-away condition is that when the approaching object moves away from the curve warning area as described above, multiple path points are successively captured, and the calculation and processing unit compares the first path point to the last path point among the multiple path points. If the movement from the first path point to the last path point is gradually moving away from the curve warning area, it is considered to meet the distance-away condition; otherwise, if the movement from the first path point to the last path point among the multiple path points is not gradually moving away from the curve warning area, it is considered not to meet the distance-away condition.

[0013] Preferably, it also includes a curved warning zone, which is a triangular area formed by connecting the two endpoints of a predetermined width and a point where the approaching object is located. As the approaching object moves away from the curved warning zone and meets a moving-away condition, the curved warning zone is redefined by connecting the point where the approaching object meets the moving-away condition and the two endpoints. This process continues until a confirmation condition is met and the processing unit outputs a warning signal, or the approaching object moves away from the detection unit.

[0014] Preferably, the distance-away condition is that when the approaching object moves away from the curve warning area as described above, multiple path points are successively captured, and the calculation and processing unit compares the first path point to the last path point among the multiple path points. If the movement from the first path point to the last path point is gradually moving away from the curve warning area, it is considered to meet the distance-away condition; otherwise, if the movement from the first path point to the last path point among the multiple path points is not gradually moving away from the curve warning area, it is considered not to meet the distance-away condition.

[0015] Preferably, the detection unit detects a relative distance of the approaching object within a detection area to obtain a collision time, and the warning information includes a default collision time. The processing unit receives the detection signal to obtain the real-time collision time of the approaching object. When the action path is within the warning area and meets the confirmation conditions, and it is determined that the collision time is equal to or less than the default collision time, the processing unit outputs a warning signal.

[0016] Preferably, the multiple detection units also include multiple vertical scanning radars, which are arranged facing each other on both sides of the road adjacent to the controlled area. The detection range of each vertical scanning radar is achieved by scanning in the vertical direction to detect approaching objects that intend to enter the controlled area.

[0017] Preferably, the multiple detection units also include multiple blocking scanning radars, which are positioned on both sides of the railway adjacent to the road intersection to detect trains entering and leaving the controlled area.

[0018] Preferably, the horizontal scanning radar and the vertical scanning radar operate at a frequency of approximately 79 GHz; the blocking scanning radar operates at a frequency of approximately 77 GHz.

[0019] Preferably, the operating frequencies of the plurality of horizontal scanning radars are different.

[0020] Therefore, when the detected movement path of an approaching object is within the warning path and meets the confirmation conditions, it can be confirmed that the approaching object is indeed moving within the warning path and continuously heading towards the controlled area. The processing unit can output a warning signal to warn the train that is about to enter the controlled area to slow down and stop as soon as possible, so as to prevent the approaching object from colliding with the train in the controlled area and thus avoid serious accidents in the controlled area. Attached Figure Description

[0021] Figure 1 A top view schematic diagram of an embodiment of the present invention showing the installation of an early warning system in a controlled area where railways and roads intersect; Figure 2 A side view schematic diagram of an embodiment of the present invention showing the installation of an early warning system in a controlled area where railways and roads intersect; Figure 3 This is a block diagram of the early warning system of the present invention; Figure 4 This is a flowchart of the judgment process of the early warning system of the present invention in linear mode; Figure 5 This is a schematic diagram of the early warning system of the present invention detecting an approaching object and reaching a warning state in straight-line mode. The diagram only shows the detection of a road in the controlled area by a horizontal scanning radar. The detection method of another horizontal scanning radar is the same, so it is not shown in the diagram. Figure 6 This is a schematic diagram of the early warning system of the present invention detecting an approaching object in straight-line mode but not reaching a warning state. The diagram only shows the detection of a road in the controlled area by a horizontal scanning radar. The detection method of another horizontal scanning radar is the same, so it is not shown in the diagram. Figure 7 This is a flowchart of the judgment process of the early warning system of the present invention in curve mode; Figure 8 This is a schematic diagram of the early warning system of the present invention detecting an approaching object in curve mode but not reaching the warning state. The diagram only shows the detection of a road in the controlled area by a horizontal scanning radar. The detection method of another horizontal scanning radar is the same, so it is not shown in the diagram. Figure 9 This is a schematic diagram of the early warning system of the present invention detecting an approaching object in curve mode and reaching a warning state. The diagram only shows the detection of a road in the controlled area by a horizontal scanning radar. The detection method of another horizontal scanning radar is the same, so it is not shown in the diagram.

[0022] Explanation of reference numerals in the attached figures 100: Early warning system; 10: Detection unit; 11: Horizontal scanning radar; 12: Vertical scanning radar; 13: Interception scanning radar; 20: Storage unit; 30: Processing unit; A, B, C, D: Waypoints; CA: Control zone; L: Warning path; P: Action path; P1, P2: Endpoints; P3, P4: Location; R1: Railway; R2: Road; T: Train; V: Approaching object; W: Predetermined width; Z1: Straight line warning zone; Z2: Buffer zone; Z3, Z4: Curve warning zone; Z5, Z6: Buffer zone. Detailed Implementation

[0023] To facilitate the explanation of the central idea of ​​the invention as stated in the above-described description of the invention, specific embodiments are now presented. Various objects in the embodiments are depicted according to a scale, size, deformation, or displacement suitable for illustration, rather than being drawn to the scale of actual components, as will be stated prior.

[0024] Please see Figures 1 to 9 As shown, the present invention provides an early warning system 100 for detecting approaching objects, which is located in a control area (CA) at the intersection of railway R1 and road R2, including multiple detection units 10, a storage unit 20, and a processing unit 30. For ease of explanation, the control area CA in the following embodiments is represented as a rectangular block at the intersection of railway R1 and road R2, but the control area CA is not limited to this rectangular block. In the following embodiments, the approaching object V detected by the early warning system 100 can be a moving vehicle, but it is not limited thereto. In fact, any approaching object can be used as a detection target, for example, it can also be applied to the detection of approaching objects such as pedestrians, animals (e.g., cats, dogs), etc.

[0025] The plurality of detection units 10 include a plurality of horizontal scanning radars 11, i.e., each detection unit 10 has one or more horizontal scanning radars 11, preferably two or more. The plurality of horizontal scanning radars 11 are arranged facing each other at opposite corners of the controlled area CA, and the detection range of each horizontal scanning radar 11 scans horizontally to detect the movement path P of the approaching object V. In this embodiment, the plurality of detection units 10 also include a plurality of vertical scanning radars 12 arranged facing each other on the road R2, and positioned adjacent to both sides of the controlled area CA. The detection range of each vertical scanning radar 12 scans vertically to detect that the height of the approaching object V intending to enter the controlled area CA may be higher than the detection range of the horizontal scanning radars 11. Preferably, the plurality of detection units 10 also include a plurality of blocking scanning radars 13 arranged on the railway R1, and positioned adjacent to both sides of the intersection of the roads R2, to detect the train T entering and leaving the controlled area CA (e.g., Figure 2(As shown). Among them, the radar operating frequency of the horizontal scanning radar 11 and the vertical scanning radar 12 is about 79 GHz, while the operating frequency of the blocking scanning radar 13 is about 77 GHz.

[0026] In a preferred embodiment, the warning system 100 is set up in an environment where the controlled area CA is less than 15 meters on both sides of the road R2. In this embodiment, there are two detection units 10, each detection unit 10 having a horizontal scanning radar 11. The two horizontal scanning radars 11 are set up diagonally opposite each other in the controlled area CA (both set at a 45-degree angle in the figure), and the horizontal scanning ranges of the two horizontal scanning radars 11 are at a 45-degree angle and do not overlap. At this time, the horizontal scanning ranges of the two horizontal scanning radars 11 cover the controlled area CA, and the horizontal scanning ranges of each horizontal scanning radar 11 extend to the road R2 it faces. The number of horizontal scanning radars 11 and the horizontal scanning range of the 45-degree angle described in this embodiment are only examples. In different implementation states, for example, if the control zone CA is more than 15 meters on both sides of the road R2, then horizontal scanning radars 11 (not shown in the figure) can be set at the four corners of the control zone CA, and they can also be set diagonally opposite each other. In addition, the horizontal scanning radars 11 can use different angles of horizontal scanning range, such as 60 to 120 degrees.

[0027] Preferably, each detection unit 10 also has two vertical scanning radars 12 and two interruption scanning radars 13. The vertical scanning radars 12 are arranged facing each other on both sides of the road R2. They use vertical scanning as the detection range to detect approaching objects V that are about to enter the controlled area CA. The height of the object V may be higher than the detection range of the horizontal scanning radar 11. For example, a crane with a boom (not shown in the figure) is about to pass through the controlled area CA. The horizontal scanning radar 11 can detect the tires and the vehicle body from the bottom of the crane. However, the boom is suspended above the front of the crane and protrudes, which may be beyond the detection range of the horizontal scanning radar 11. In this case, the vertical scanning radar 12 can still detect the crane and its protruding boom by performing a vertical scan. By using vertical auxiliary detection, the approaching object V can be detected comprehensively when it is about to enter the controlled area CA. The interruption scanning radars 13 detect the train T entering and leaving the controlled area CA. Here, the interruption scanning radars 13 mainly replace the existing method of using an axle counter to detect the train T entering and leaving the controlled area CA.

[0028] In summary, the multiple detection units 10 have two or more transmission frequencies. Taking two horizontal scanning radars 11 as an example, if their operating frequency range is approximately 79 GHz, the operating frequencies of the two horizontal scanning radars 11 can be divided and staggered. For example, one horizontal scanning radar 11 operates at 79.3 GHz, while the other horizontal scanning radar 11 operates at 79.6 GHz, to avoid mutual interference caused by the radar waves of the two horizontal scanning radars 11 operating at the same frequency. Simply put, the operating frequencies of each horizontal scanning radar 11 are different. The two vertical scanning radars 12 and the two blocking scanning radars 13 of each detection unit 10 also have a mechanism to divide their operating frequencies to avoid mutual interference. In addition, the frequency division method can also achieve the purpose of rapid system warning. Assuming there are 12 horizontal scanning radars 11 installed in the controlled area CA, and taking four operating frequency bands as an example, that is, three horizontal scanning radars 11 in each operating frequency band operate at the same frequency, and taking the reaction time of each horizontal scanning radar 11 as 50ms as an example, in order to avoid mutual interference between the horizontal scanning radars 11 due to the same operating frequency, the scanning time of the three horizontal scanning radars 11 in each operating frequency band is staggered, and the confirmation is performed five times at a single location (to avoid the loss of scanning signal, thereby improving the reliability of signal feedback). Under the condition that the horizontal scanning radars 11 in different operating frequency bands can scan simultaneously, the 12 horizontal scanning radars 11 can complete the scan in 150ms, so that the processing unit 30 can make the first determination of the approaching object V. If the 12 horizontal scanning radars 11 do not use the aforementioned frequency division method, but instead use the time-division polling method (i.e., each horizontal scanning radar 11 scans separately with a reaction time of 50ms), then the 12 radars must take 600ms to complete the acquisition and enable the processing unit 30 to make the first judgment of the approaching object V. Therefore, the frequency division method can react faster and improve the collision warning effect.

[0029] According to the above embodiment, a horizontal scanning radar 11 of multiple detection units 10 detects an approaching object V traveling along the road R2 towards the controlled area CA along a path P, and converts it into a detection signal output; a storage unit 20 is used to store a warning message, which includes a warning path L and a confirmation condition. The warning path L is set within the detection area, and the confirmation condition is to confirm that the approaching object V continues to travel along the warning path L; a processing unit 30 is electrically connected to the detection units 10 and the storage unit 20 respectively, and is used to receive the aforementioned detection signal output by the detection units 10 to obtain the real-time path P of the approaching object V.

[0030] In this embodiment, the confirmation condition is a default count value. When an approaching object V enters the warning path L, an actual count value is started. If the actual count value has reached the default count value, the processing unit 30 determines that the movement path P of the approaching object V within the warning path L meets the confirmation condition. Conversely, if the actual count value has not reached the default count value, the processing unit 30 determines that the movement path P of the approaching object V within the warning path L does not meet the confirmation condition.

[0031] In this embodiment, the default count value is 5, and the actual count value is between 0 and 5. The counting process is as follows: when the approaching object V is outside the warning path L, no counting is performed, and the actual count value is equal to 0; when the approaching object V enters the warning path L, counting begins until the actual count value equals 5, at which point the actual count value reaches the default count value. The default count value and the actual count value can be adjusted as needed and are not limited to the above embodiment.

[0032] In this embodiment, the horizontal scanning radar 11 further detects a relative distance to an approaching object V within the detection area to obtain a time to collision (TC). The TTC is obtained by differentiating the relative distance measured by the horizontal scanning radar 11 to obtain a relative velocity of the approaching object V, and then dividing the relative distance by the relative velocity. In this embodiment, the warning information includes a default value for the TTC, which is approximately 3.5 seconds. In this embodiment, if the movement path P of the approaching object V is detected to be within the warning path L and meets the aforementioned confirmation conditions, and the aforementioned TTC is determined to be equal to or less than the aforementioned default TTC, the processing unit 30 outputs a warning signal.

[0033] As stated above, the conditions under which the arithmetic processing unit 30 outputs the warning signal are not limited to determining that the collision time is equal to or less than the default collision time. That is, when the motion path P of the approaching object V is detected to be within the warning path L and meets the aforementioned confirmation conditions, the arithmetic processing unit 30 can output the warning signal. However, in this embodiment, the arithmetic processing unit 30 further determines that the collision time is equal to or less than the default collision time before issuing the warning signal. This is only one embodiment, and the present invention is not limited to this example.

[0034] The warning system for detecting approaching objects, as described in this embodiment, includes a "straight-line mode" and a "curved-line mode." In the aforementioned "straight-line mode," the warning path L includes a straight warning area Z1 and a buffer zone Z2 (e.g., ...). Figure 5 , 6As shown), the buffer zone Z2 extends outside the straight warning zone Z1, which extends with a predetermined width W that can be detected by the horizontal scanning radar 11. In this embodiment, the straight warning zone Z1 extends in a straight line in the same direction with a predetermined width W, while the buffer zone Z2 expands on both sides of the straight warning zone Z1 and is symmetrically spaced.

[0035] like Figure 4 The diagram shows the process for detecting approaching objects in the "straight line mode," along with... Figure 5 As shown, when the approaching object V does not enter the buffer zone Z2, no count is performed, indicating that the approaching object V has not entered the warning path L. At this time, the warning system 100 is in standby mode. When the approaching object V enters the buffer zone Z2, the calculation and judgment of the confirmation condition are initiated. In this embodiment, the actual count value starts from 0 and counts upwards to 5. If the approaching object V leaves the buffer zone Z2 during the process, the count drops to the actual count value of 0. During the process of counting the actual count value from 0 to 5, regardless of whether the approaching object V is in the buffer zone Z2 or enters the straight warning zone Z1 from the buffer zone Z2, when the count reaches 5, because the actual count value reaches the default count value, the calculation and processing unit 30 determines that the movement path P of the approaching object V is in the warning path L and meets the confirmation condition.

[0036] In summary, if the processing unit 30 has determined that the movement path P of the approaching object V is within the straight warning zone Z1, and the movement path P of the approaching object V also meets the confirmation conditions, in this embodiment, the processing unit 30 further determines whether the collision time measured by the approaching object V is equal to or less than the aforementioned default collision time of 3.5 seconds, that is, whether the collision time measured by the approaching object V is within the aforementioned default collision time of 3.5 seconds. In other words, when the processing unit 30 determines that the collision time measured by the approaching object V is greater than the aforementioned default collision time of 3.5 seconds, the warning system 100 is in a no-warning state; while when the processing unit 30 determines that the collision time measured by the approaching object V is equal to or less than the aforementioned default collision time of 3.5 seconds, it determines that the approaching object V is in a dangerous state and is a dangerous vehicle. At this time, the warning signal is output to issue a warning (e.g., a buzzer or flashing light) so that the train T and vehicles and personnel next to the controlled area CA can be notified in time that a dangerous vehicle is approaching and take action as soon as possible.

[0037] In addition Figure 4As shown, if the processing unit 30 also determines that the movement path P of the approaching object V is within the straight warning zone Z1, and the movement path P of the approaching object V also meets the confirmation conditions, but the collision time measured by the approaching object V reaches the aforementioned default collision time of 3.5 seconds before it has already left the straight warning zone Z1, then even if the collision time measured by the approaching object V reaches the aforementioned default collision time of 3.5 seconds, since the approaching object V has already left the straight warning zone Z1, it will not pose a danger to the controlled area CA. The processing unit 30 will not output the warning signal and will not issue a warning to avoid fear or panic among personnel located in the controlled area CA.

[0038] In this embodiment, under the aforementioned "curve mode", the triangular area formed by connecting the two endpoints P1 and P2 of the predetermined width W and a point P3 near the object V is designated as the curve warning area Z3 and Z4, with buffer zones Z5 and Z6 expanding on both sides of the curve warning area Z3 and Z4 (e.g., ...). Figure 8 , 9 As shown). Figure 7 The diagram shows the process for detecting approaching objects in the "curve mode," along with... Figure 8 As shown, when the approaching object V does not enter the buffer zones Z5 and Z6, no count is made, indicating that the approaching object V has not entered the warning path L. At this time, the warning system 100 is in standby mode. When the approaching object V enters the buffer zone Z5, the count begins, and the actual count value starts from 0 and goes up to 5. If the approaching object V enters the curve warning zone Z3 and then leaves, the count goes down to the actual count value of 0.

[0039] like Figure 8 , 9 As shown, the movement path P of the approaching object V changes. For example, if the movement path P of the approaching object V leaves the curve warning area Z3 and meets a moving-away condition, such as in this embodiment, the moving-away condition is that the movement path P of the approaching object V moving away from the curve warning area Z3 as described above successively captures four path points A, B, C, and D (e.g., ...). Figure 8 As shown), the processing unit 30 compares the path points A, B, C, and D, from the first path point A to the last path point D, which are gradually moving away from the curve warning zone Z3. At this time, the curve warning zone Z4 is redefined by the triangular area formed by the line connecting the point P4 where the object V meets the moving-away condition and the two endpoints P1 and P2, as well as the buffer zone Z6 (as shown). Figure 9 (As shown), and so on, until the confirmation conditions are met and the processing unit 30 outputs the warning signal, or the approaching object V moves away from the horizontal scanning radar 11. Conversely, if the path from the first path point A to the last path point D in path points A, B, C, and D does not gradually move away from the curved warning area Z3, it is considered that the moving-away condition is not met, and the curved warning area Z3 is maintained and not redefined.

[0040] In "curve mode", when an approaching object V enters buffer Z5 or buffer Z6, the actual count value starts from 0 and counts up to 5. The approaching object V enters the curve warning area Z3 from buffer Z5 or enters the curve warning area Z4 from buffer Z6. When the count reaches 5, the actual count value reaches the default count value, and the arithmetic processing unit 30 determines that the action path P of the approaching object V meets the confirmation condition in the warning path L.

[0041] In summary, if the processing unit 30 has determined that the movement path P of the approaching object V is within the curve warning zone Z3 or the curve warning zone Z4, and the movement path P of the approaching object V also meets the confirmation conditions, then in this embodiment, the processing unit 30 also determines whether the collision time measured by the approaching object V is equal to or less than the aforementioned default collision time of 3.5 seconds. In other words, when the processing unit 30 determines that the collision time measured by the approaching object V is greater than the aforementioned default collision time of 3.5 seconds, the warning system 100 is in a no-warning state; while when the processing unit 30 determines that the collision time measured by the approaching object V is equal to or less than the aforementioned default collision time of 3.5 seconds (e.g., ... Figure 9 As shown in the figure, the system determines that the approaching object V is a dangerous vehicle. At this point, it outputs the warning signal to warn the train T and vehicles and personnel near the controlled area CA, allowing them to be promptly informed of the approaching danger and take appropriate action. If the approaching object V moves outside the curve warning area Z4 (not shown in the figure), even if the measured collision time of the approaching object V is within the aforementioned default collision time of 3.5 seconds, it will not pose a danger to personnel in the controlled area CA. Therefore, the processing unit 30 does not output the warning signal and does not issue a warning.

[0042] The above explains the straight line mode and the curve mode respectively. In actual use, the straight line mode or the curve mode can be used alone to detect the approaching object V, or the straight line mode and the curve mode can be used in parallel. For example, the straight line mode and the curve mode can be used simultaneously to detect the approaching object V, or the straight line mode and the curve mode can be used alternately to detect the approaching object V, so that the mode of detecting the approaching object V can be used more flexibly to reduce the occurrence of misjudgment.

[0043] The features of this invention are readily apparent from the above description, and mainly lie in: 1. The early warning system 100 for detecting approaching objects provided by the present invention is characterized by the fact that the movement path P of the approaching object V is within the warning path L, and under the confirmed conditions, it can be confirmed that the approaching object V is indeed moving within the warning path L and continuously moving towards the controlled area CA, thereby confirming that the approaching object V is in a dangerous state. The processing unit 30 outputs a warning signal to issue a warning, thereby promptly notifying the train T that is about to enter the controlled area CA to brake, preventing the approaching object V from colliding with the train T within the controlled area CA, thereby achieving the effect of automatic warning and avoiding serious accidents within the controlled area CA.

[0044] 2. The early warning system 100 for detecting approaching objects provided by the present invention, in addition to providing a horizontal scanning radar 11 to scan and detect the movement path P of the approaching object V in a horizontal direction, further includes a vertical scanning radar 12 arranged facing each other on the road R2, with vertical scanning as the detection range. When the height of the approaching object V may be higher than the detection range of the horizontal scanning radar 11 (such as the aforementioned crane), it can still be fully detected without any omissions when it attempts to enter the controlled area CA. The present invention further includes a blocking scanning radar 13 to detect the train T entering and leaving the controlled area CA, so as to solve the problem of possible detection errors when existing axle counters detect the train T entering and leaving the controlled area CA, thereby improving the detection accuracy.

[0045] 3. The early warning system 100 for detecting approaching objects provided by the present invention further determines that the collision time detected by the detection unit 10 for the approaching object V is within the warning path L and meets the aforementioned confirmation conditions, and is determined by the calculation and processing unit 30 to be within the default value of the collision time before confirming that the approaching object V is in a dangerous state, and then outputting the aforementioned warning signal to issue a warning, thereby using the collision time to assist in determining the correctness of the approaching object V being in a dangerous state.

[0046] 4. The early warning system 100 for detecting approaching objects provided by the present invention can achieve good detection and early warning effects in curve mode when the movement path P of the approaching object V enters from the side. It can also adjust the range of the warning area according to the movement path P of the approaching object V (such as adjusting the aforementioned curve warning area Z3 to the curve warning area Z4), thereby further achieving the effect of accurately detecting the movement path P of the approaching object V.

[0047] Furthermore, the horizontal scanning radar 11 performs a first detection count when detecting an approaching object V traveling outside the buffer zones Z2, Z5, and Z6, and a second detection count when detecting the approaching object V traveling inside the buffer zones Z2, Z5, and Z6. The second detection count is higher than the first detection count within the same detection time. For example, when the approaching object V is traveling outside the buffer zones Z2, Z5, and Z6, the first detection count measured by the detection unit 10 is, for example, only 50 times per second, which is a slow detection mode; when the approaching object V is traveling inside the buffer zones Z2, Z5, and Z6, the second detection count measured by the horizontal scanning radar 11 is, for example, only 500 times per second, which is a fast detection mode. Therefore, by using a slow detection mode when the approaching object V is traveling outside the buffer zones Z2, Z5, and Z6, it is more energy-efficient than a fast detection mode, thereby achieving a power-saving effect when the horizontal scanning radar 11 is detecting.

[0048] Furthermore, warning signals can be output when the approaching object V is traveling in buffer zones Z2, Z5, and Z6. The warning signal processing unit 30 outputs a higher level of warning when the approaching object V is traveling in warning zones Z1, Z3, and Z4 compared to when the processing unit 30 outputs a warning signal when the approaching object V is traveling in buffer zones Z2, Z5, and Z6. In other words, the warning level is lower when the approaching object V is traveling in buffer zones Z2, Z5, and Z6 (e.g., the buzzer is quieter or the warning light flashes less frequently), allowing personnel to detect the approaching object V while it is in buffer zones Z2, Z5, and Z6. If the approaching object V travels into warning zones Z1, Z3, and Z4, the warning level increases (e.g., the buzzer is louder or the warning light flashes more frequently), assisting personnel in recognizing the urgency of the situation and quickly taking evasive action.

[0049] The embodiments described above are merely illustrative of the present invention and are not intended to limit the scope of the invention. All modifications or variations made without departing from the spirit of the present invention are within the scope of protection of the claims of the present invention.

Claims

1. A warning system for detecting approaching objects, installed in a controlled area at a railway and / or road intersection, characterized in that, include: Multiple detection units detect the movement path of an approaching object moving along the road toward the controlled area and convert it into a detection signal output; A storage unit stores a warning message, which includes a warning path and a confirmation condition confirming that the approaching object continues to travel along the warning path. as well as A processing unit, electrically connected to the plurality of detection units and the storage unit, receives the detection signal to obtain the real-time movement path of the approaching object. When the processing unit determines that the movement path falls within the warning path and meets the confirmation condition, it outputs a warning signal. The plurality of detection units include a plurality of horizontal scanning radars, a plurality of vertical scanning radars, and a plurality of blocking scanning radars. The plurality of horizontal scanning radars are arranged opposite each other at the diagonal corners of the controlled area, and the detection range of each horizontal scanning radar is horizontally scanned to detect the movement path of the approaching object. The plurality of vertical scanning radars are arranged opposite each other on both sides of the road adjacent to the controlled area, and the detection range of each vertical scanning radar is vertically scanned to detect approaching objects intending to enter the controlled area. The plurality of blocking scanning radars are arranged on both sides of the railway adjacent to the intersection of the road to detect trains entering and leaving the controlled area.

2. The early warning system for detecting approaching objects as described in claim 1, characterized in that: The warning path includes a warning zone and a buffer zone, the warning zone extending with a predetermined width detectable by the horizontal scanning radar, and the buffer zone expanding relative to the warning zone.

3. The early warning system for detecting approaching objects as described in claim 2, characterized in that: The confirmation condition is a default count value. When the approaching object enters the buffer, an actual count value is started. If the actual count value has reached the default count value, the processing unit determines that the action path meets the confirmation condition within the warning area. Otherwise, if the actual count value has not reached the default count value, the processing unit determines that the action path does not meet the confirmation condition within the warning area.

4. The early warning system for detecting approaching objects as described in claim 3, characterized in that: The warning zone is a straight warning zone that extends in a straight line in the same direction with a predetermined width. The buffer zone expands on both sides of the straight warning zone and is symmetrically spaced. The actual count value begins to be counted when the approaching object enters the buffer zone.

5. The early warning system for detecting approaching objects as described in claim 4, characterized in that: It also includes a curved warning zone, which is a triangular area formed by the two endpoints of the predetermined width and a point where the approaching object is located. When the approaching object moves away from the curved warning zone and meets a moving-away condition, the curved warning zone is redefined by the triangular area formed by the point where the approaching object meets the moving-away condition and the two endpoints. This process continues until the confirmation condition is met and the processing unit outputs the warning signal, or the approaching object moves away from the detection unit.

6. The early warning system for detecting approaching objects as described in claim 5, characterized in that: The "moving away" condition is determined by capturing multiple path points along the movement path of the approaching object as it moves away from the curve warning area. The processing unit compares these multiple path points and determines whether the object is moving away from the curve warning area gradually from the first path point to the last path point. If so, the object is considered to meet the "moving away" condition. Conversely, if the object is not moving away from the curve warning area gradually from the first path point to the last path point, the object is considered to not meet the "moving away" condition.

7. The early warning system for detecting approaching objects as described in claim 2, characterized in that: The warning zone is a curved warning zone, which is a triangular area formed by the two endpoints of the predetermined width and a point where the approaching object is located. When the approaching object moves away from the curved warning zone along its movement path and meets a moving-away condition, the curved warning zone is redefined by the triangular area formed by the point where the approaching object meets the moving-away condition and the two endpoints. This process continues until the confirmation condition is met and the processing unit outputs the warning signal, or the approaching object moves away from the detection unit.

8. The early warning system for detecting approaching objects as described in claim 7, characterized in that: The "moving away" condition is determined by capturing multiple path points along the movement path of the approaching object as it moves away from the curve warning area. The processing unit compares these multiple path points and determines whether the object is moving away from the curve warning area gradually from the first path point to the last path point. If so, the object is considered to meet the "moving away" condition. Conversely, if the object is not moving away from the curve warning area gradually from the first path point to the last path point, the object is considered to not meet the "moving away" condition.

9. The early warning system for detecting approaching objects as described in claim 2, characterized in that: The detection unit detects a relative distance of the approaching object within a detection area to obtain a collision time. The warning information includes a default collision time value. The processing unit receives the detection signal to obtain the real-time collision time of the approaching object. When the action path is within the warning area and meets the confirmation condition, and the collision time is determined to be equal to or less than the default collision time value, the processing unit outputs the warning signal.

10. The early warning system for detecting approaching objects as described in claim 1, characterized in that: The horizontal scanning radar and the vertical scanning radar operate at a frequency of 79 GHz; the blocking scanning radar operates at a frequency of 77 GHz.

11. The early warning system for detecting approaching objects as described in claim 1, characterized in that: The multiple horizontal scanning radars operate at different frequencies.

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