Train operation environment data real-time acquisition method and device

Abstract

The invention provides a train operation environment data real-time acquisition method and device, and the device comprises a case which is internally provided with a sensor module; the sensor module comprises at least one camera assembly used for collecting optical image data in front of train operation; the radar assembly is used for collecting point cloud data in front of the running train; the infrared thermodynamic instrument assembly is used for collecting infrared thermal imaging data in front of the running train; the network communication module is connected with the camera assembly, the radar assembly and the infrared thermodynamic instrument assembly and used for collecting and transmitting collected multi-source data; and the plurality of pitch angle adjusting assemblies are respectively connected with the camera assembly, the radar assembly and the infrared thermodynamic instrument assembly, and are used for independently adjusting the pitch angles of the corresponding assemblies so as to optimize the perception visual field of the assemblies. According to the invention, the defect that the performance of a single sensor is limited in severe weather such as night, rain and fog is overcome, and the intelligent sensing breadth and depth of the train are greatly improved.

Description

Technical Field

[0001] This application relates to the field of rail transit data acquisition technology, and in particular to a method and device for real-time acquisition of train operation environment data. Background Technology

[0002] With the rapid development of rail transit, train operation is facing increasingly complex external environments and multiple challenges. First, the surrounding environment is complex and changeable, with unexpected situations such as foreign object intrusion and accidental personnel entry becoming commonplace and affecting train safety. Second, in adverse weather conditions such as nighttime, rain, fog, snow, and sandstorms, the driver's field of vision is severely limited, with the effective viewing distance significantly shortened, sometimes to less than 100 meters. This reduced visibility directly leads to delays in train signal recognition and lag in obstacle perception, drastically increasing the risk to train safety. Therefore, overcoming the visual limitations of human drivers and achieving reliable environmental perception in all weather conditions and across all ranges has become an urgent technical challenge for ensuring railway transportation safety.

[0003] To address the aforementioned problems, existing technologies attempt to equip trains with sensors to assist drivers in environmental perception. However, these solutions generally suffer from the following drawbacks:

[0004] The limitations of single-sensor performance prevent all-weather adaptability: Current traditional solutions used on trains largely rely on a single type of sensor (such as cameras alone). While these sensors may function under good lighting conditions, their performance deteriorates drastically or even fails completely in low-visibility scenarios such as nighttime, heavy rain, or dense fog. Furthermore, a single two-dimensional optical image cannot acquire depth information of the scene, making accurate 3D reconstruction of the environment difficult, which severely impacts the comprehensiveness and reliability of perception.

[0005] Fixed sensor mounting methods limit sensing range: Existing sensor modules are typically mounted on the vehicle body at a fixed angle, and their sensing orientation and pitch angle cannot be changed after installation. This fixed mounting method lacks flexibility. Once there are changes in the gradient of the road ahead, curves, or when it is necessary to focus on a specific area, the fixed field of view may not be able to cover key information, resulting in blind spots and failing to guarantee the acquisition of optimal sensing data, thus reducing the scientific nature and accuracy of data collection.

[0006] Multi-source data collaboration suffers from low efficiency and a lack of integrated design: Even when some solutions attempt to integrate multiple sensors, they are often simply a collection of devices, lacking integrated and modular design. Each sensor operates independently, making data synchronization difficult in time and lacking physical calibration, leading to difficulties and inefficiencies in subsequent data fusion processing. Furthermore, the dispersed layout presents challenges for installation, power supply, and heat dissipation, affecting the stability and security of the entire system.

[0007] In summary, existing technologies have significant shortcomings in terms of sensor environmental adaptability, sensing flexibility, and the overall coordination of multi-source data, making it difficult to meet the urgent needs of modern trains for high-precision, high-reliability, and all-weather real-time sensing of the operating environment. Summary of the Invention

[0008] In view of this, this application provides a method and apparatus for real-time acquisition of train operating environment data to solve at least one of the aforementioned problems.

[0009] To achieve the above objectives, this application adopts the following approach:

[0010] According to a first aspect of this application, a real-time train operation environment data acquisition device is provided, comprising:

[0011] A chassis, wherein a sensor module is installed inside the chassis;

[0012] The sensor module includes:

[0013] At least one camera component for acquiring optical image data of the area in front of the train;

[0014] A radar component used to collect point cloud data ahead of the train;

[0015] An infrared thermal imaging component is used to collect infrared thermal imaging data in front of the train.

[0016] A network communication module, connected to the camera assembly, radar assembly and infrared thermal imager assembly, is used to collect and transmit the acquired multi-source data;

[0017] Several pitch angle adjustment components are connected to the camera component, radar component and infrared thermometer component respectively, and are used to independently adjust the pitch angle of the corresponding component to optimize its sensing field of view.

[0018] In one embodiment of this application, the pitch angle adjustment assembly includes a sensor mounting plate, a base plate, a tension adjustment handle, and an adjustment support rod. The sensor mounting plate is used to connect and fix the camera assembly and the radar assembly. Each side of the sensor mounting plate has a rounded rectangular screw hole. The base plate is connected to the bottom of the chassis to fix the pitch angle adjustment assembly. Each side of the base plate has a circular screw hole. The tension adjustment handle is connected between the rounded rectangular screw hole and the circular screw hole. The adjustment support rod is fixed to the base plate by a fixed base. The head of the adjustment support rod has a rotatable, height-adjustable circular support nut for raising or lowering the sensor mounting plate.

[0019] In one embodiment of this application, the pitch angle adjustment component further includes a support shaft assembly, which is connected to the rear of the sensor mounting plate and the base plate, and is used to adjust the left and right turning angle of the pitch angle adjustment component.

[0020] In one embodiment of this application, the camera assembly includes a close-up camera, a medium-range camera, and a distant camera, with the distant camera distributed on the left side of the camera assembly, the close-up camera distributed in the middle of the camera assembly, and the medium-range camera distributed on the right side of the camera assembly.

[0021] In one embodiment of this application, the radar component and its corresponding pitch angle adjustment component are located above the close-up camera.

[0022] In one embodiment of this application, the infrared thermal imager assembly is located to the left of the distant camera and is fixedly connected to the side wall of the sensor mounting plate of the pitch angle adjustment assembly corresponding to the distant camera.

[0023] In one embodiment of this application, the sensor module further includes a heat dissipation device disposed at the rear of the radar assembly.

[0024] In one embodiment of this application, the network communication module includes several network interfaces. The close-up camera, the long-range camera, the medium-range camera, the radar component, and the infrared thermal imager component are connected to their respective network interfaces via network cables, and are connected to external devices via the remaining network interfaces.

[0025] In one embodiment of this application, the sensor module further includes a power converter module located behind the close-up camera. The power converter module includes a first power module and a second power module. The first power module is responsible for converting high voltage to low voltage to power the camera assembly, the radar assembly, and the infrared thermometer assembly. The second power module is responsible for converting high voltage to low voltage to power the cooling fan and the network communication module.

[0026] According to a second aspect of this application, a method for real-time acquisition of train operating environment data is provided. The method utilizes the train operating environment data real-time acquisition device described above for data acquisition, and the method includes:

[0027] According to the actual needs of train operation, the pitch angle adjustment components corresponding to each sensor are operated independently to set the optimal sensing pitch angle for the camera component, radar component and infrared thermometer component respectively.

[0028] The camera assembly acquires optical image data of the area in front of the train.

[0029] The radar component collects point cloud data of the same forward area.

[0030] Infrared thermal imaging data of the same frontal area are collected using the infrared thermal imager assembly.

[0031] The network communication module collects the optical image data, point cloud data, and infrared thermal imaging data acquired in parallel, and transmits them to external devices in real time for further processing.

[0032] According to a third aspect of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0033] According to a fourth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described method.

[0034] According to a fifth aspect of the present invention, a computer program product is provided, comprising a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0035] As can be seen from the above technical solution, the real-time train operation environment data acquisition method and device provided in this application integrates a camera, radar, and infrared thermal imager, enabling simultaneous acquisition of optical images, 3D point clouds, and infrared thermal imaging data. This multi-source data fusion approach overcomes the limitations of single sensors in performance under adverse weather conditions such as nighttime and rain / fog through the diversity and complementarity of the data, achieving 3D scene reconstruction of the operating environment and nighttime perception functions, greatly improving the breadth and depth of intelligent train perception. Furthermore, this device equips each sensor with an independent pitch angle adjustment component, allowing operators to dynamically optimize and adjust the pitch attitude of each sensor flexibly according to actual conditions such as track gradient and curves. This overcomes the limitations of traditional fixed installations, which result in a single sensing angle and blind spots, ensuring that the sensors are always aligned with key areas, thereby effectively improving the scientific validity and accuracy of the perceived data. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0037] Figure 1 This is a front view of a real-time train operation environment data acquisition device provided in an embodiment of this application;

[0038] Figure 2 This is a top view of a real-time train operation environment data acquisition device provided in an embodiment of this application;

[0039] Figure 3 This is an overall schematic diagram of the remote view camera and its pitch angle adjustment component provided in the embodiments of this application;

[0040] Figure 4 This is a structural diagram of the pitch angle adjustment component provided in the embodiments of this application;

[0041] Figure 5 This is a flowchart illustrating a real-time data acquisition method for train operating environment provided in an embodiment of this application;

[0042] Figure 6 This is a schematic block diagram of the system configuration of the electronic device provided in the embodiments of the invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. Here, the illustrative embodiments and descriptions of this application are used to explain this application, but are not intended to limit this application.

[0044] like Figure 1 The image shown is a front view of a real-time train operation environment data acquisition device provided in an embodiment of this application. Figure 2 This is a top view of a real-time train operation environment data acquisition device provided in an embodiment of this application. Figure 1 and Figure 2 As can be seen, the data acquisition device includes: a chassis (not shown), inside which a sensor module is installed. The sensor module includes: at least one camera component for acquiring optical image data of the area in front of the train; a radar component 4 for acquiring point cloud data of the area in front of the train; an infrared thermal imager component 5 for acquiring infrared thermal imaging data of the area in front of the train; a network communication module 8 connected to the camera component, radar component 4, and infrared thermal imager component 5 for collecting and transmitting the acquired multi-source data; and several pitch angle adjustment components 9 connected to the camera component, radar component 4, and infrared thermal imager component 5 respectively, for independently adjusting the pitch angle of the corresponding component to optimize its field of view.

[0045] In one embodiment of this application, the camera assembly includes a distant camera 1, a close-up camera 2, and a medium-range camera 3. The distant camera 1 is located on the left side of the camera assembly, the close-up camera 2 is located in the middle of the camera assembly, and the medium-range camera 3 is located on the right side of the camera assembly (viewed from the front view).

[0046] The long-range camera 1, with its telephoto design, is primarily responsible for acquiring real-time optical image data of the distant area ahead of the train. Focusing on long-range perception, this camera can capture signals, obstacles, or environmental changes hundreds of meters away, providing wide-area field of view support. The short-range camera 2, with its close-range design, focuses on acquiring real-time optical image data of the close-range area ahead of the train. This camera emphasizes detail capture, such as track debris, near-field obstacles, or fine textures, providing high-resolution close-range perception. The medium-range camera 3, with its medium-range design, is responsible for acquiring real-time optical image data of the medium-range area ahead of the train. This camera bridges long-range and close-range perception, covering a moderate range of scene changes and providing balanced depth of field. Positioned on the right, it complements the left-side long-range camera 1, ensuring comprehensive panoramic coverage.

[0047] The three cameras are arranged in a left-center-right relative position on the right side of the overall sensor module (viewed from the front view). This linear distribution ensures the compact integration of the camera components, avoids physical interference between components (such as obstruction or overlap), and facilitates coordinated arrangement with other sensors (such as radar component 4 mounted above close-up camera 2 and infrared thermal imager component 5 mounted to the left of distant camera 1). Each camera is equipped with an independent pitch angle adjustment component 9, which can dynamically adjust the pitch angle without interfering with each other to adapt to the gradient, curves, or complex conditions of the train line.

[0048] Furthermore, the aforementioned camera layout allows the cameras to acquire optical image data at different distances in parallel, forming a continuous field-of-view gradient from near to far: the far-field camera 1 on the left focuses on distant objects, capturing signals, obstacles, or overall track changes, providing wide-area field-of-view support. The close-field camera 2 in the middle focuses on near objects (track debris or fine textures), ensuring high-resolution detail perception. The medium-field camera 3 on the right covers medium distances, bridging near and far blind spots, forming a balanced depth perception. This left-middle-right lateral expansion is similar to panoramic stitching, enriching the range and types of perception through the complementarity of different focal lengths, achieving comprehensive coverage of the environment in front of the train and 3D scene reconstruction.

[0049] In one embodiment of this application, such as Figure 3 The image shown is an overall schematic diagram of the long-range camera and its pitch adjustment components. Figure 4 This is a structural diagram of the pitch angle adjustment assembly. The pitch angle adjustment assembly 9 includes a sensor mounting plate 13, a base plate 11, a tension adjustment handle 10, and an adjustment support rod 14.

[0050] The sensor mounting plate 13 is the core support structure of the pitch angle adjustment assembly 9, used to connect and fix sensors such as camera components (e.g., long-range camera 1) and radar components 4. The sensor mounting plate 13 has a rounded rectangular screw hole on each side of its head, each hole being a few centimeters long. These screw holes are designed to provide adjustment margin, facilitating the insertion and sliding fixation of the tension adjustment handle 10.

[0051] The base plate 11 serves as the base for the pitch angle adjustment assembly 9, connecting to the bottom of the chassis to secure the entire assembly. Each side of the head of the base plate 11 has a circular screw hole for threaded connection with the tension adjustment handle 10. These holes, along with the rounded rectangular screw holes, allow the sensor mounting plate 13 to be fixed in place after the pitch angle has been adjusted. The base plate 11 is made of a rigid material (such as high-strength plastic or metal) to withstand vibrations and impacts during train operation.

[0052] The tension adjustment handles 10 are connected between the rounded rectangular screw holes of the sensor mounting plate 13 and the circular screw holes of the base plate 11, and are installed on both sides of the front end of the pitch angle adjustment assembly 9 (each pitch angle adjustment assembly 9 has two tension adjustment handles 10). The tension adjustment handles 10 adopt a threaded mechanism, which supports loosening and tightening operations, making it convenient for users to manually adjust and fix the pitch angle of the sensor mounting plate 13, that is, the pitch angle of the camera assembly.

[0053] The adjusting support rod 14 is fixed to the base plate 11 by a mounting bracket, located in the middle of the two tension adjusting handles 10. The head of the adjusting support rod 14 is equipped with a rotatable, height-adjustable circular support nut. Rotating this nut raises or lowers the sensor mounting plate 13, thereby indirectly raising or lowering the corresponding camera assembly (e.g.,...). Figure 3 (1) The long-range camera in the middle. This design provides precise height control, with an adjustment range of several centimeters, to adapt to different line slopes.

[0054] It should be noted that, firstly, by loosening the tension adjustment handle 10 and then turning the round support nut at the top of the support rod 14, the sensor mounting plate 13 that fixes the sensor can be raised or lowered, thereby adjusting the pitch angle. After the adjustment is completed, the tension adjustment handle 10 should be tightened again to fix the current pitch angle.

[0055] In another embodiment of this application, such as Figure 3As shown, the pitch angle adjustment component 9 also includes a support shaft assembly 12. This support shaft assembly 12 is connected to the rear of the sensor mounting plate 13 and the base plate 11, and is used to adjust the left and right steering angles of the pitch angle adjustment component 9. This allows operators to dynamically optimize the left and right orientation of the sensor according to the train's operating environment (such as curves or lateral obstacles), avoiding lateral blind spots caused by fixed installation. For example, in this embodiment, one end of the support shaft assembly 12 can be connected to the back panel of the chassis, and the other end can be connected to the back panel (not shown) of the pitch angle adjustment component 9.

[0056] In another embodiment of this application, the radar component 4 and its corresponding pitch angle adjustment component are located above the close-up camera 2. This vertically stacked layout design is optimized for the multi-source sensor fusion requirements of the train operating environment. Through compact spatial integration and independent adjustment mechanisms, the radar component 4 efficiently acquires point cloud data of the area in front of the train, while complementing the optical image data of the close-up camera 2, thereby improving the overall depth and accuracy of perception. The following is based on the accompanying drawings (e.g.) Figure 1 and Figure 2 It consists of components and its structure, function, adjustment principle and advantages are described in detail.

[0057] The radar assembly 4 is mounted inside the chassis by being fixed to the corresponding sensor mounting plate 13. It utilizes a higher mounting position for the pitch adjustment assembly 9, specifically located above the close-up camera 2. Viewed from a top-down angle (e.g.) Figure 2 As shown, the radar assembly 4 and the close-up camera 2 form a vertically stacked structure: the close-up camera 2 is located in the middle of the camera assembly, and the radar assembly 4 and its matching pitch angle adjustment assembly 9 are fixedly connected above it by a bracket. This top-bottom layout optimizes the use of internal space in the chassis, avoids lateral interference, and facilitates the coordinated arrangement with other sensors (such as the far-field camera 1 and infrared thermal imager assembly 5 on the left, and the mid-field camera 3 on the right).

[0058] Radar module 4 is equipped with a dedicated pitch angle adjustment component 9. The size of this component is designed and adapted to the size of the radar itself, and it supports independent adjustment without affecting the close-up camera 2 below. As the core component of the sensor module, radar module 4 is mainly responsible for collecting point cloud data in front of the train for subsequent real-time 3D reconstruction of the environment in front of the train, supporting foreign object intrusion detection and intelligent sensing systems.

[0059] In another embodiment of this application, the infrared thermal imager component 5 is located to the left of the distant camera and is fixedly connected to the side wall of the sensor mounting plate of the pitch angle adjustment component corresponding to the distant camera. This allows the infrared thermal imager component 5 to adjust its pitch angle synchronously with the distant camera 1. Alternatively, in this embodiment, the infrared thermal imager component 5 can be independently fixed to the chassis base plate without being synchronized with the distant camera 1. The infrared thermal imager component 5 senses temperature changes in the scene ahead of the train (such as heat source identification and obstacle thermal characteristics) through infrared scanning, compensating for the limitations of optical cameras in low visibility conditions. Its left-side position and side wall fixation facilitate complementarity with the telephoto image of the distant camera 1, providing support for long-distance thermal imaging (such as signal or foreign object detection hundreds of meters away).

[0060] In another embodiment of this application, the sensor module further includes a heat dissipation device 6, which is disposed at the rear of the radar assembly 4. Viewed from a top view, the heat dissipation device 6 is adjacent to the rear of the radar assembly 4, forming a rear-mounted heat dissipation path. This rear-mounted arrangement utilizes the space distribution of the chassis to avoid interference with front sensors (such as the radar assembly 4 above the close-up camera 2). In this embodiment, the heat dissipation device 6 can be in the form of a fan, including fan blades, a motor drive, and a mounting bracket. Of course, other heat dissipation devices, such as heat sinks, heat pipes, or liquid cooling systems, can also be used in this embodiment, directly connected to the rear shell of the radar assembly 4 to provide directional heat dissipation. The size of the heat dissipation device 6 is adapted to the higher mounting position of the radar assembly 4 (located above the close-up camera 2), ensuring coverage of the heat source areas of the camera assembly, radar assembly 4, and infrared thermal imager assembly 5.

[0061] In another embodiment of this application, the network communication module 8 includes several network interfaces. The long-range camera 1, the close-range camera 2, the medium-range camera 3, the radar component 4, and the infrared thermal imager component 5 are connected to the corresponding network interfaces via network cables, and are connected to external devices via the remaining network interfaces.

[0062] The network communication module 8 can be, for example, an industrial-grade switch, which can achieve data aggregation, packaging, and efficient transmission, ensuring seamless access to external devices for multimodal data (such as optical images, point clouds, and infrared data) collected by the sensor module, supporting subsequent recognition and modeling, and improving the overall system's intelligent sensing capabilities. The network communication module 8 can be fixed to the rigid material base plate of the chassis with several screws, located on the rear side of the infrared thermal meter assembly 5 (e.g., Figure 1 and Figure 2 (As shown). This rear-side layout optimizes the internal space of the chassis, avoids interference with the front sensors (such as the infrared thermal imager assembly 5 on the left side of the far-view camera 1), and facilitates the coordinated arrangement with the heat dissipation device 6 (located behind the radar assembly 4) and the power converter module 7.

[0063] In another embodiment of this application, the sensor module further includes a power converter module 7 located behind the close-up camera 2. The power converter module includes a first power module and a second power module. The first power module is responsible for converting high voltage to low voltage to power the camera assembly, radar assembly 4 and infrared thermal imager assembly 5. The second power module is responsible for converting high voltage to low voltage to power the heat dissipation device 6 and network communication module 8.

[0064] As described above, the real-time train operating environment data acquisition device provided in this application integrates a camera, radar, and infrared thermal imager, enabling simultaneous acquisition of optical images, 3D point clouds, and infrared thermal imaging data. This multi-source data fusion approach overcomes the limitations of single sensors in adverse weather conditions such as nighttime and rain / fog through the diversity and complementarity of the data. It achieves 3D scene reconstruction of the operating environment and nighttime perception capabilities, significantly improving the breadth and depth of intelligent train perception. Furthermore, this device equips each sensor with an independent pitch angle adjustment component, allowing operators to dynamically optimize and adjust the pitch attitude of each sensor based on actual conditions such as track gradient and curves. This overcomes the limitations of traditional fixed installations, which result in a single sensing angle and blind spots, ensuring that the sensors are always aligned with key areas, thereby effectively improving the scientific validity and accuracy of the perceived data.

[0065] like Figure 5 The diagram shown is a flowchart illustrating a real-time train operation environment data acquisition method according to an embodiment of this application. This method is implemented by the real-time train operation environment data acquisition device described above, and includes the following steps:

[0066] Step S501: Based on the actual needs of train operation, independently operate the pitch angle adjustment components corresponding to each sensor to set the optimal sensing pitch angle for the camera component, radar component, and infrared thermal imager component.

[0067] Each sensor (such as the long-range camera 1, close-range camera 2, and medium-range camera 3 in the camera assembly; the radar assembly 4; and the infrared thermometer assembly 5) is equipped with a dedicated pitch angle adjustment assembly 9, which achieves dual-degree-of-freedom adjustment (height and left / right angle) through the sensor mounting plate 13, the support shaft assembly 12, the base plate 11, the tension adjustment handle 10, and the adjustment support rod 14.

[0068] Based on the device's placement and the train's forward field of vision (e.g., raising the angle to cover distant areas when going uphill), the optimal angle for each component is independently set to achieve dynamic optimization of sensor pose, improving sensing flexibility and data accuracy. This step ensures the quality of subsequent data acquisition, overcoming the limitations of a single angle.

[0069] Step S502: Acquire optical image data of the train's path using the camera assembly.

[0070] This step utilizes camera components for optical sensing to acquire real-time image data at different distances in front of the train, supporting multi-field complementarity. The camera components include a far-field camera 1 (left side, telephoto), a close-field camera 2 (middle, near-focus), and a medium-field camera 3 (right side, medium-focus), all distributed inside the chassis and fixed on the sensor mounting plate 13.

[0071] After the adjustment in step S501 is completed, the camera parameters (such as focal length and exposure) are adjusted, and the scene in the direction of the train's travel is captured to obtain optical image data1 at the far-focus (signal recognition at hundreds of meters away), mid-focus (obstacles at medium distance), and near-focus (close-up details). These data provide high-resolution two-dimensional visual information for subsequent environment reconstruction. By complementing different focal lengths, the perception range is enriched, compensating for the limitations of a single camera in terms of distance or weather conditions, and supporting auxiliary perception at night or in inclement weather.

[0072] Step S503: Collect point cloud data of the same forward area using the radar component.

[0073] The radar component 4 is fixed on the sensor mounting plate 13, located above the close-up camera 2, and its position is optimized by a dedicated pitch angle adjustment component 9. After adjustment in step S501, the radar parameters are adjusted to scan the area in front of the train and acquire three-dimensional point cloud data for real-time three-dimensional reconstruction (such as foreign object location or obstacle detection). The point cloud data covers the same area in front and complements the optical image obtained in step S502, providing depth and structural information, which is especially effective under low visibility conditions (such as rain, fog, or night).

[0074] Step S504: Collect infrared thermal imaging data of the same front area using the infrared thermal imager assembly.

[0075] The infrared thermal imager component 5 is fixed to the left side of the distant camera 1. After adjustment in step S501, the infrared parameters are adjusted, and the same area in front of the train is scanned to sense the temperature distribution and changes (such as heat source identification or anomaly detection) and acquire infrared thermal imaging data. These data complement the data from steps S502 and S503, providing thermal information under nighttime or low visibility conditions (such as the thermal characteristics of obstacles in rain and fog).

[0076] Step S505: The optical image data, point cloud data and infrared thermal imaging data acquired in parallel are collected through the network communication module and transmitted to an external device in real time for subsequent processing.

[0077] As described above, the real-time train operating environment data acquisition method provided in this application integrates a camera, radar, and infrared thermal imager, enabling simultaneous acquisition of optical images, 3D point clouds, and infrared thermal imaging data. This multi-source data fusion approach overcomes the limitations of single sensors in adverse weather conditions such as nighttime and rain / fog through the diversity and complementarity of the data. It achieves 3D scene reconstruction of the operating environment and nighttime perception capabilities, significantly improving the breadth and depth of intelligent train perception. Furthermore, this device equips each sensor with an independent pitch angle adjustment component, allowing operators to dynamically optimize and adjust the pitch attitude of each sensor based on actual conditions such as track gradient and curves. This overcomes the limitations of traditional fixed installations, which result in a single sensing angle and blind spots, ensuring that the sensors are always aligned with key areas, thereby effectively improving the scientific validity and accuracy of the perceived data.

[0078] This application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described method.

[0079] This application also provides a computer-readable storage medium storing a computer program that performs the above-described methods.

[0080] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the above-described method.

[0081] It should be noted that the electronic device, computer-readable storage medium, and computer program product provided in the embodiments of this application specifically implement the above steps S502-S505.

[0082] like Figure 6 The electronic device 600 may also include: a communication module 110, an input unit 120, an audio processor 130, a display 160, and a power supply 170. It is worth noting that the electronic device 600 does not necessarily need to include these components. Figure 6 All components shown; in addition, electronic device 600 may also include Figure 6 The components shown can be referenced in the prior art.

[0083] like Figure 6 The central processing unit 100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device. The central processing unit 100 receives inputs and controls the operation of various components of the electronic device 600.

[0084] The memory 140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 100 may execute the program stored in the memory 140 to perform information storage or processing, etc.

[0085] Input unit 120 provides input to central processing unit 100. Input unit 120 may be, for example, a keypad or touch input device. Power supply 170 provides power to electronic device 600. Display 160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0086] The memory 140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 140 can also be some other type of device. The memory 140 includes a buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application / function storage unit 142 for storing application and function programs or processes for executing the operation of the electronic device 600 via the central processing unit 100.

[0087] The memory 140 may also include a data storage unit 143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 144 of the memory 140 may include various drivers for the electronic device for communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0088] The communication module 110 is a transmitter / receiver that sends and receives signals via the antenna 111. The communication module (transmitter / receiver) is coupled to the central processing unit 100 to provide input signals and receive output signals, which can be the same as in a conventional mobile communication terminal.

[0089] Based on different communication technologies, multiple communication modules 110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication modules (transmitters / receivers) are also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132, thereby enabling typical telecommunications functions. The audio processor 130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 130 is coupled to a central processing unit 100, enabling on-device recording via the microphone 132 and on-device playback of stored audio via the speaker 131.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A real-time data acquisition device for train operating environment, characterized in that, include: A chassis, wherein a sensor module is installed inside the chassis; The sensor module includes: At least one camera component for acquiring optical image data of the direction in front of the train; A radar component used to collect point cloud data ahead of the train; An infrared thermal imaging component is used to collect infrared thermal imaging data in front of the train. A network communication module, connected to the camera assembly, radar assembly and infrared thermal imager assembly, is used to collect and transmit the acquired multi-source data; Several pitch angle adjustment components are connected to the camera component, radar component and infrared thermometer component respectively, and are used to independently adjust the pitch angle of the corresponding component to optimize its sensing field of view.

2. The real-time train operation environment data acquisition device as described in claim 1, characterized in that, The pitch angle adjustment assembly includes a sensor mounting plate, a base plate, a tension adjustment handle, and an adjustment support rod. The sensor mounting plate is used to connect and fix the camera assembly and the radar assembly. The sensor mounting plate has a rounded rectangular screw hole on each side of its head. The base plate is connected to the bottom of the chassis to fix the pitch angle adjustment assembly. The base plate has a circular screw hole on each side of its head. The tension adjustment handle is connected between the rounded rectangular screw hole and the circular screw hole. The adjustment support rod is fixed to the base plate by a fixed base. The head of the adjustment support rod has a circular support nut that can be rotated to adjust the height, used to raise or lower the sensor mounting plate.

3. The real-time train operation environment data acquisition device as described in claim 2, characterized in that, The pitch angle adjustment assembly also includes a support shaft assembly, which is connected to the rear of the sensor mounting plate and the base plate, and is used to adjust the left and right turning angles of the pitch angle adjustment assembly.

4. The real-time train operation environment data acquisition device as described in claim 2 or 3, characterized in that, The camera assembly includes a close-up camera, a medium-range camera, and a long-range camera. The long-range camera is located on the left side of the camera assembly, the close-up camera is located in the middle of the camera assembly, and the medium-range camera is located on the right side of the camera assembly.

5. The real-time train operation environment data acquisition device as described in claim 4, characterized in that, The radar assembly and its corresponding pitch adjustment assembly are located above the close-up camera.

6. The real-time train operation environment data acquisition device as described in claim 4, characterized in that, The infrared thermal imager assembly is located to the left of the distant camera and is fixedly connected to the side wall of the sensor mounting plate of the pitch angle adjustment assembly corresponding to the distant camera.

7. The real-time train operation environment data acquisition device as described in claim 4, characterized in that, It also includes a heat dissipation device, which is located at the rear of the radar assembly.

8. The real-time train operation environment data acquisition device as described in claim 4, characterized in that, The network communication module includes several network interfaces. The close-up camera, the long-range camera, the medium-range camera, the radar component, and the infrared thermal imager component are connected to their respective network interfaces via network cables, and are connected to external devices via the remaining network interfaces.

9. The real-time train operation environment data acquisition device as described in claim 7, characterized in that, The sensor module also includes a power converter module located behind the close-up camera. The power converter module includes a first power module and a second power module. The first power module is responsible for converting high voltage to low voltage to power the camera assembly, the radar assembly, and the infrared thermal imager assembly. The second power module is responsible for converting high voltage to low voltage to power the heat dissipation device and the network communication module.

10. A method for real-time acquisition of train operating environment data, characterized in that, The method utilizes the real-time train operation environment data acquisition device as described in any one of claims 1-9 to acquire data, and the method includes: According to the actual needs of train operation, the pitch angle adjustment components corresponding to each sensor are operated independently to set the optimal sensing pitch angle for the camera component, radar component and infrared thermometer component respectively. The camera assembly acquires optical image data of the area in front of the train. The radar component collects point cloud data of the same forward area. Infrared thermal imaging data of the same frontal area are collected using the infrared thermal imager assembly. The network communication module collects the optical image data, point cloud data, and infrared thermal imaging data acquired in parallel, and transmits them to external devices in real time for further processing.

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