Limit invasion prevention equipment

Abstract

The utility model discloses an intrusion prevention device which comprises a detection device and a supporting structure, and the detection device is arranged on the supporting structure. The supporting structure comprises an equipment abutment or a vertical rod support installed in the vertical direction and a lifting device fixedly arranged on the equipment abutment or the vertical rod support, an equipment installation platform is arranged on the lifting device, and the detection device is fixedly arranged on the equipment installation platform; a certain included angle is formed between the equipment mounting platform and the horizontal plane; a rotary table is further arranged between the detection device and the equipment installation platform and used for adjusting the detection angle of the detection device.

Description

Technical Field

[0001] The invention belongs to the technical field of railway foreign body intrusion monitoring, and in particular relates to anti-intrusion equipment. Background Art

[0002] The existing anti-intrusion and anti-foreign object intrusion systems for construction of adjacent railway operating lines are all deployed on the plane of the construction work area, that is, electronic fences are set up at the plane boundary of the work area to form an intrusion alarm and prevention system for foreign objects, especially large construction machinery.

[0003] In actual construction, the intrusion of large machinery is not only related to the plane position of the machinery, but also to the operating height of the large machinery arm. For example, if the fence is 20 meters away from the roadbed, the large machinery operation point is 30 meters away from the roadbed, the equipment is located outside the plane fence and is not intruded, but its mechanical arm is at an operating height of 50 meters. If the large machine falls over, it will also cause a serious intrusion accident. Therefore, the anti-intrusion fence of the neighboring camp is not only related to the plane position of the machinery, but also to the height of its operating arm.

[0004] At present, the plane fence line in the direction of the railway line under construction in the neighboring camp is set to extend a certain distance outward from the edge of the roadbed. If the plane fence is set far enough from the roadbed, the safety of the railway can be guaranteed, but it will compress the construction space, increase the difficulty of construction, and lead to increased costs. If the plane fence is set close to the roadbed, it may cause the risk of large machinery exceeding the limit.

[0005] The existing anti-intrusion system mainly includes a plane perimeter fence set up by laser or infrared radiation, which will alarm when an object passes through or blocks the laser or infrared perimeter; by modeling the video features of large machinery, it can judge and alarm through video recognition. The laser or infrared radiation method cannot realize the alarm for objects exceeding the height limit, and the video method has the problems of complex modeling and high implementation cost. Summary of the invention

[0006] In order to solve the above problems, the present invention provides an anti-intrusion device, comprising: a detection device and a support structure, wherein the detection device is arranged on the support structure;

[0007] The supporting structure includes an equipment pier or a pole bracket installed in a vertical direction, and a lifting device fixedly arranged on the equipment pier or the pole bracket, the lifting device is provided with an equipment installation platform, and the detection device is fixedly arranged on the equipment installation platform;

[0008] The equipment installation platform forms a certain angle with the horizontal plane;

[0009] A turntable is also included between the detection device and the equipment installation platform, which is used to adjust the detection angle of the detection device and feed back the current actual detection angle.

[0010] In a possible implementation, the detection device includes a distance detector for detecting the distance of the object to be detected.

[0011] In a possible implementation, the detection device includes a camera device for acquiring video images.

[0012] In a possible implementation, the equipment installation platform forms an angle of 45° with the horizontal plane.

[0013] On the other hand, the present application also provides an anti-intrusion system, which includes at least two anti-intrusion devices, and the at least two anti-intrusion devices are respectively connected to a control unit, and the control unit is used to control the movement of the lifting device and the turntable and receive and process the received signals.

[0014] In a possible implementation, the system further includes an alarm unit connected to the control unit, and configured to issue an intrusion alarm according to a result of data processing by the control unit.

[0015] On the other hand, the present application provides an anti-intrusion method, the method comprising the following steps:

[0016] Model the area to be monitored and determine the location of the anti-intrusion equipment in the area to be monitored and its location relative to the railway;

[0017] Use anti-intrusion equipment to scan the monitored area, determine the direction, distance and height data of the intruder, and calculate and judge whether the intruder reaches the preset alarm threshold. When the intruder reaches the alarm threshold, an alarm is issued.

[0018] In a possible implementation, the calculating and determining whether the intrusion reaches a preset alarm threshold includes:

[0019] The coordinates of the intrusion relative to the monitoring point are determined as (x, y, z), where:

[0020] x=D*Math.cos(v0)*sin(ha)

[0021] y=D*Math.cos(v0)*cos(ha)

[0022] z=D*Math.sin(v0)

[0023] Where x is the lateral distance relative to the monitoring point, y is the longitudinal distance relative to the monitoring point, z is the height relative to the monitoring point, D is the distance from the monitoring point to the intrusion, ha is the yaw angle of the detection equipment, and v0 is the pitch angle of the detection equipment.

[0024] In a possible implementation, after obtaining the coordinates x, y, z of the intrusion relative to the monitoring point, the distance information X relative to the railway is obtained by the following calculation: 铁路 And the height H relative to the ground:

[0025] X 铁路 =x+x0

[0026] H=z+h0

[0027] Where x is the lateral distance relative to the monitoring point, x0 is the distance of the monitoring point relative to the railway, and h0 is the height of the monitoring point relative to the ground.

[0028] In one possible implementation, the method uses at least two detection devices to monitor and calculate intrusions at two locations.

[0029] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0030] The anti-intrusion equipment and method provided by the present invention scan and monitor the pre-set height limit alarm slope by setting a supporting structure (including a high-precision electric turntable and a lifting device) and a laser rangefinder (single-line or multi-line laser radar). If an ultra-high object is found, the ultra-high point can be immediately located based on the ranging information and the horizontal and vertical angles of the servo pan / tilt table (high-precision electric turntable), and the ultra-high object can be calculated. If the ultra-high object exceeds the preset threshold, an alarm is sent to the monitoring platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a schematic diagram of the structure of an anti-intrusion and limiting device provided by an exemplary embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of scanning of an intrusion surface provided by an exemplary embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of an algorithm provided by an exemplary embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of a front-end system provided by an exemplary embodiment of the present invention.

[0036] Description of symbols

[0037] 11-equipment pier, 12-lifting device, 13-equipment installation platform, 14-turntable, 15-laser rangefinder, 16-camera device;

[0038] 21-railway line, 22-height limit slope, A1-first scanning point, A2-second scanning point, Ax-limit intrusion risk point, 23-super-high object, 24-construction area;

[0039] 31-Railway, 32-Fence, 33-Intrusion prevention equipment. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0042] See also Figure 1 The present invention provides an anti-intrusion device, including: a detection device and a supporting structure, the detection device is arranged on the supporting structure; the supporting structure includes an equipment pier or pole bracket 11 installed in the vertical direction, and a lifting device 12 fixedly arranged on the equipment pier or pole bracket 11, and an equipment installation platform 13 is arranged on the lifting device 12, and the detection device is fixedly arranged on the equipment installation platform; the equipment installation platform forms a certain angle with the horizontal plane; a turntable 14 is also included between the detection device and the equipment installation platform, which is used to adjust the detection angle of the detection device and feedback the current actual detection angle.

[0043] The detection device includes a distance detector 15 for detecting the distance of the object to be measured. Exemplarily, the distance detector is a laser rangefinder or an infrared rangefinder. Further, the detection device also includes a camera 16 for acquiring video images. When the laser rangefinder 15 finds an over-elevation point, the laser rangefinder 15 links the camera 16 to take relevant photos and video images, and sends the image or video signal to the control unit. The over-elevation object and the over-elevation condition can be confirmed and evaluated through the intelligent algorithm analysis on site or on the platform or by manual review and judgment by the on-duty personnel on the platform.

[0044] Furthermore, the equipment installation platform 13 is at an angle of 45° to the horizontal plane. The equipment installation platform 13 is set on a platform that can be lifted vertically. When the business line of the construction section is a non-linear section, the height limit alarm slope is a curved surface with a concave or convex middle part. This curved surface can be cut into multiple layered planes at a certain angle (for example, 45°). By changing the height of the lifting device 12, the scanning of each layered curved surface can be completed. According to the position of the superelevation point and the superelevation height, the scanning, monitoring and superelevation alarm of the curved surface height limit alarm surface can be completed.

[0045] In a possible implementation, the laser rangefinder 15 and the camera device 16 of this embodiment use a multi-line electric scanning or mechanical scanning laser radar, which is installed on a 45° mounting bracket. At this time, the laser performs a three-dimensional stereoscopic scan on a 45° inclined surface in a cone-like shape, and the center line of the scanning area and the inclined surface are in the same plane. In this way, not only can super-high objects be measured, but also the degree of super-high objects or the risk of being super-high can be analyzed and judged, so as to make early warnings or alarms. In addition, since the multi-line scanning laser radar does not require the installation of a pan / tilt or turntable, it is small in size and simple and convenient to install.

[0046] By adopting the above-mentioned device structure, the present application can scan and monitor the pre-set height limit alarm slope. If an ultra-high object is found, the ultra-high point can be immediately located based on the ranging information and the horizontal and vertical angles of the servo pan / tilt table (high-precision electric turntable), and the ultra-high object can be calculated. If the ultra-high object exceeds the preset threshold, an alarm will be sent to the monitoring platform.

[0047] On the other hand, the present application also provides an anti-intrusion system, which includes at least two anti-intrusion devices, which are respectively connected to a control unit, and the control unit is used to control the movement of the lifting device 12 and the turntable 14 and receive and process the received signals. The system also includes an alarm unit, which is connected to the control unit and is used to issue an intrusion alarm based on the processing result of the data by the control unit. If the super-high object exceeds the preset threshold, an alarm is sent to the monitoring platform.

[0048] Exemplarily, the control unit can be a module with processing capabilities built into the device body, or it can be a control host connected to the outside through a line, used to control the lifting of the lifting device and the rotation of the turntable, and calculate whether the object intrudes after obtaining various information.

[0049] See also Figure 2 , the equipment and monitoring method provided in this embodiment are further explained below in combination with the usage process.

[0050] (a) Collect and input geographic information of the construction area. In order to simplify the boundary and monitoring area of ​​the construction site, this embodiment sets the monitoring area as a rectangular perimeter coverage, thereby simplifying it to the actual boundary of the construction site.

[0051] (b) Determine the position of the limit baseline, take the baseline as the starting point, and determine the limit slope according to the site conditions. Preferably, establish a plane with an inclination angle of 45°, referred to as the limit slope 22, which rises from the limit baseline at the roadbed side of the railway line 21 at an inclination angle of 45° and completely covers the rectangular perimeter of the entire construction site, and the slope boundary is completely consistent with the rectangular construction area perimeter on the horizontal plane.

[0052] (c) Since the curvature radius of the railway is relatively large, and the length of the adjacent construction site (each bid section) is not long, the encroachment baseline can be established in a straight line for most of the construction sites. For some railway sites with large curvature, the height limit slope with curved surface can be divided into several straight slopes to replace it. It can be solved by dividing it with multiple overall planes or multiple partition planes. At this time, the encroachment baseline is also a curve or divided into multiple straight lines (approximately broken lines).

[0053] At the two corners of the starting side of the height-limited slope, a laser rangefinder placed on a servo pan / tilt (turntable) is installed. According to the inclination and position data of the anti-intrusion restricted area, the installation height and horizontal inclination angle of the pan / tilt (turntable) are determined, and the rotation angle range is scanned. The laser rangefinder is controlled to complete the continuous ranging scan along the slope. As long as the height of an object exceeds the height-limited alarm slope (the distance value returned by the rangefinder is within the height-limited slope range), the three-dimensional positioning position of the super-high point in the construction site can be calculated through the angle value of the servo pan / tilt rotation, the pan / tilt inclination angle, and the distance value of the laser ranging. The system can perform two-way confirmation of the angles on both sides of the super-high point through the scanning and ranging devices located on both sides of the edge line, and then issue an alarm.

[0054] In this embodiment, an anti-intrusion device is installed at each of the two starting corners of the monitored area (construction area). An angle (preferably 45°) is set between the two anti-intrusion devices and the horizontal plane, and a height limit alarm slope is formed with the angle between the two anti-intrusion devices and the horizontal plane as the direction. When an ultra-high object reaches the height limit alarm slope, it means that the ultra-high object may break through the limited construction area when it falls, causing damage to the railway and other facilities outside the fence. The anti-intrusion device provided by this application has a certain angle between the equipment installation platform and the horizontal plane, and a turntable is also included between the detection device and the equipment installation platform. The detection angle of the detection device can be adjusted so that the anti-intrusion device can scan the height limit alarm slope, effectively ensuring the reliability of monitoring.

[0055] See also Figures 2 to 4, the present application also provides an anti-intrusion method, the method comprising the following steps: modeling the area to be monitored, determining the location of the anti-intrusion device in the area to be monitored, and the location relative to the railway 31;

[0056] Use anti-intrusion equipment to scan the monitored area, determine the direction, distance and height data of the intruder, and calculate and judge whether the intruder reaches the preset alarm threshold. When the intruder reaches the alarm threshold, an alarm will be issued.

[0057] In the figure, within the construction area 24, the anti-intrusion equipment installed at the first scanning point A1 and the second scanning point A2 scans the super-elevation slope, and monitors the super-elevation object 23 through the ranging information value. When the object is super-elevation, the distance D from the laser equipment to the super-elevation point can be measured. In addition, according to the angle α between the super-elevation slope and the ground level set during modeling, the height H of the super-elevation point, the distance x between the super-elevation point and the intrusion baseline, and the intrusion risk point Ax can be calculated.

[0058] The method for calculating and judging whether the intrusion has reached the preset alarm threshold comprises the following steps:

[0059] The coordinates of the intrusion relative to the monitoring point are (x, y, z), where:

[0060] x=D*Math.cos(v0)*sin(ha)

[0061] y=D*Math.cos(v0)*cos(ha)

[0062] z=D*Math.sin(v0)

[0063] Where x is the lateral distance relative to the monitoring point, y is the longitudinal distance relative to the monitoring point, z is the height relative to the monitoring point, D is the distance from the monitoring point to the intrusion, ha is the yaw angle of the detection equipment, and v0 is the pitch angle of the detection equipment.

[0064] After obtaining the coordinates x, y, z of the highest point of the intrusion relative to the monitoring point, the distance information X relative to the railway 31 and the height H relative to the ground are obtained by the following calculation:

[0065] X 铁路 =x+x0

[0066] H=z+h0

[0067] In the formula, X 铁路 is the lateral distance of the intrusion from the railway, x0 is the distance of the monitoring point relative to the railway, and h0 is the height of the monitoring point relative to the ground.

[0068] In order to extend the life of the equipment and increase the rate of discovering super-high objects 23, this embodiment uses two anti-intrusion devices 33 to continuously scan the area to be tested at two locations. The two anti-intrusion devices can expand a certain scanning range based on the super-high point position information, and scan the outline of the super-high object on the height-limited slope 22 upward, so as to obtain the precise height of the object's super-height, and evaluate the risk of intrusion accordingly. Within the fence 32, the two anti-intrusion devices 33 scan the height-limited slope 22 of the entire construction site in a cross-scanning manner. When super-height occurs, it can be confirmed from two angles using a laser rangefinder. This can reduce false alarms and eliminate interference and influence from factors such as various types of light and target reflectivity.

[0069] The present invention only determines the position of the area to be tested and the anti-intrusion equipment when modeling, and only determines the position of the highest point when detecting an intruder. Compared with the huge amount of calculation required in the prior art to use a camera to render the monitored area in real time, the equipment and method provided by the present invention are simple and require little calculation, thus solving the problems of high cost, complex system, complicated modeling and heavy workload of similar products in the past.

[0070] There are many options for scanning. For example, this embodiment provides two scanning methods:

[0071] 1. Daily inspection methods

[0072] 1. Two machines alternately patrol and scan. This scanning method can extend the life of the equipment.

[0073] 2. Two-machine master-slave scanning mode. Set the two laser instruments at positions A and B as master and slave respectively. The master and slave can be set alternately. The master scans the entire height-limited slope at normal speed, and the turntable of the slave completes cross-scanning of the area scanned by the master at a lower speed at a faster speed. In this way, the super-high point can be found and located at the first time with higher accuracy.

[0074] 3. Two machines scan simultaneously. This scanning method can ensure that extremely high risks are discovered in the first place.

[0075] 2. Ultra-high warning status

[0076] When an ultra-high object is discovered, a key ultra-high monitoring area can be determined according to the characteristics of the large machine in the construction plan. The equipment at points A and B cross-scan the monitoring area, which can very conveniently monitor the ultra-high points and their change rates and directions, further effectively and comprehensively monitor the ultra-high information, and promptly discover or predict the status of the intrusive object.

[0077] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the schemes disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art that are not disclosed in the present invention.

[0078] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0079] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0080] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An anti-intrusion device, characterized in that: include: A detection device and a support structure, wherein the detection device is arranged on the support structure; The supporting structure includes an equipment pier or a pole bracket installed in a vertical direction, and a lifting device fixedly arranged on the equipment pier or the pole bracket, the lifting device is provided with an equipment installation platform, and the detection device is fixedly arranged on the equipment installation platform; The equipment installation platform forms a certain angle with the horizontal plane; A turntable is also included between the detection device and the equipment installation platform, which is used to adjust the detection angle of the detection device and feed back the current actual detection angle.

2. The anti-intrusion device according to claim 1, characterized in that: The detection device comprises a distance detector for detecting the distance of the object to be detected.

3. The anti-intrusion device according to claim 1 or 2, characterized in that: The detection device includes a camera device for acquiring video images.

4. The anti-intrusion device according to claim 1, characterized in that: The equipment installation platform forms an angle of 45° with the horizontal plane.

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