Safety monitoring and protecting device for shunting trailer operation

Abstract

The utility model relates to a kind of shunting trailer operation safety monitoring protective devices, comprising: data acquisition module, and the data processing display module of data acquisition module communication connection;The data acquisition module includes ranging speed measurement module and image acquisition module, for collecting the sensing data in trailer operation, and the sensing data is sent to the data processing display module;The data processing display module is used to process the sensing data, and the sensing data meeting the conditions are prompted with information, and the image data is displayed;The data acquisition module is integrated in data acquisition terminal, and the data acquisition terminal is installed in trailer train tail by magnetic attraction mode;The bottom of the data acquisition terminal is embedded with multiple switch magnets, and the installation position of the switch magnet is lower than the shell of the data acquisition terminal.The above-mentioned device can improve the accuracy and real-time performance of ranging speed measurement, and improve the safety of railway transportation.

Description

Technical Field

[0001] The utility model relates to the technical field of train operation and maintenance, and particularly to a safety monitoring and protection device for shunting and attaching operations. Background Art

[0002] Shunting operation is the basic operation process of freight transportation marshalling operation, and a safe and orderly shunting operation process is an important link to ensure safe production. In shunting operation, the attaching operation is a high-risk and high-difficulty operation link. According to the railway technical management specification, in the current attaching operation, the shunting locomotive is located at the tail of the whole train, and the driver cannot master the road surface information in the forward direction. It is necessary for the operation personnel to climb on the moving vehicle to manually detect the distance, speed, line obstacles, etc. between the locomotive and the vehicle to be attached. During the attaching operation, the leading carman needs to report the accurate distance between the train and the vehicle to be attached to the shunting chief in time so as to control the vehicle speed. Whether the leading carman can correctly judge the distance signals of ten, five, three, and one vehicle is an important index for the quality of the pushing operation. If this signal cannot be accurately displayed, the train will stop before reaching the established position, causing delay accidents and affecting the shunting operation efficiency, or the train will connect with the vehicle while moving at speed, which may not only cause damage to the car body, but even endanger the lives of shunting personnel.

[0003] The current manual monitoring method has defects such as inaccurate measurement data, communication delay, inability to transmit information to the driver in time, and potential safety hazards. Content of the Utility Model

[0004] Based on this, in view of the problems of inaccurate measurement data, communication delay, inability to transmit information to the driver in time, and potential safety hazards of the traditional monitoring method, it is necessary to provide a safety monitoring and protection device for shunting and attaching operations.

[0005] A safety monitoring and protection device for shunting and attaching operations includes: a data acquisition module, and a data processing and display module communicatively connected to the data acquisition module;

[0006] The data acquisition module includes a ranging and speed measurement module and an image acquisition module, which are used to acquire perception data during the attaching operation and send the perception data to the data processing and display module;

[0007] The data processing and display module is used to process the perception data, give information prompts for the perception data that meets the conditions, and display the perception data;

[0008] The data acquisition module is integrated in a data acquisition terminal, and the data acquisition terminal is installed at the tail of the attached train by a magnetic attraction method; a plurality of switch magnets are embedded at the bottom of the data acquisition terminal, and the installation positions of the switch magnets are lower than the outer shell of the data acquisition terminal.

[0009] In one embodiment, the data acquisition terminal is equipped with a rechargeable battery pack, which is a removable lithium battery.

[0010] In one embodiment, the ranging and velocity measuring module includes a lidar and a BeiDou ranging system, wherein the BeiDou ranging system includes a ranging module and a positioning module;

[0011] The lidar, the ranging module, and the image acquisition module are integrated in the data acquisition terminal, which is placed at the rear of the trailer train during operation;

[0012] The positioning module is placed on the trailer to be trailered during operation.

[0013] In one embodiment, the ranging and speed measuring module further includes an inertial measurement unit for measuring the distance between the rear of the trailer train and the trailer to be attached, in conjunction with the lidar.

[0014] In one embodiment, a wireless transmission module is also included; the data acquisition module and the data processing and display module communicate through the wireless transmission module.

[0015] In one embodiment, the wireless transmission module includes a long-range low-power wireless communication network and a 4G or 5G wireless network.

[0016] In one embodiment, the image acquisition module is used to acquire image data, and the image data, along with the speed data and distance data acquired by the BeiDou ranging system in the ranging and velocity measurement module, are transmitted to the data processing and display module via a 4G or 5G wireless network in the wireless transmission module.

[0017] In one embodiment, the distance and speed data collected by the lidar in the ranging and speed measuring module are transmitted to the data processing and display module via a long-range low-power wireless communication network in the wireless transmission module and a 4G or 5G wireless network.

[0018] In one embodiment, the wireless transmission module includes a wireless data transmitting unit and a wireless data receiving unit.

[0019] In one embodiment, the data processing and display module includes a data processing host and a human-computer interaction module;

[0020] The data processing and display module is installed at the driver's position of the trailer train.

[0021] The aforementioned shunting operation safety monitoring and protection device collects data through a distance and speed measurement module and an image acquisition module. This data is then sent to a data processing and display module for processing, which provides alerts for eligible data and displays image data of the shunting operation process. This enables automatic, real-time measurement and alarm of train distances during shunting operations, provides intuitive monitoring of video footage within the operation area, improves the accuracy and real-time performance of distance and speed measurements, avoids safety hazards caused by personnel climbing vehicles, significantly improves railway transportation safety, and lays the foundation for an automated, intelligent shunting operation system. Furthermore, automatic monitoring of train distances during shunting operations reduces delays caused by human factors, thereby improving transportation efficiency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a shunting trailer operation safety monitoring and protection device according to one embodiment;

[0024] Figure 2 This is a schematic diagram illustrating the composition and ranging principle of a BeiDou ranging system as an example.

[0025] Figure 3 This is a system topology diagram illustrating data transmission in one embodiment.

[0026] Figure 4 A schematic diagram of the structure of a shunting trailer operation safety monitoring and protection device according to another embodiment;

[0027] Figure 5 This is a schematic diagram of the composition structure of a data acquisition module according to one embodiment;

[0028] Figure 6 This is a schematic diagram of the composition structure of a data processing and display module according to one embodiment.

[0029] Reference numerals: 110, data acquisition module; 120, data processing and display module. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Currently, shunting and trailer operations rely on a supervisor climbing to the rear of the train to manually judge vehicle distances. This method is not only highly arbitrary and lacks quantifiable standards, but also consumes a large amount of manpower, is inefficient, and cannot provide real-time monitoring, resulting in delays. More importantly, having workers climbing on moving vehicles poses significant personal safety hazards.

[0032] Based on this, the present invention provides a safety monitoring and protection device for shunting trailer operations to solve the problems existing in the prior art.

[0033] refer to Figure 1 The present invention provides a structural block diagram of a shunting trailer operation safety monitoring and protection device, which includes: a data acquisition module 110 and a data processing and display module 120 that is communicatively connected to the data acquisition module 110.

[0034] The data acquisition module 110 includes a distance and speed measuring module and an image acquisition module, which are used to collect sensing data during trailer operation and send the sensing data to the data processing and display module 120.

[0035] The data processing and display module 120 is used to process the perceived data, provide information prompts for the perceived data that meets the conditions, and display the perceived data.

[0036] The data acquisition module 110 is integrated into the data acquisition terminal, which is installed at the rear of the trailer train by magnetic attraction. Multiple switch magnets are embedded in the bottom of the data acquisition terminal, and the installation position of the switch magnets is lower than the outer shell of the data acquisition terminal.

[0037] Specifically, the sensing data includes distance data between the trailer to be attached and the rear of the trailer train, speed data of the trailer train, and image data of the track and surrounding area in the work area. The data acquisition module 110 includes a distance and speed measurement module and an image acquisition module. The distance and speed measurement module collects distance data between the trailer to be attached and the rear of the trailer train, as well as speed data of the trailer train, during shunting and trailer operations. It then sends the distance and speed data to the data processing and display module 120 for processing and analysis to obtain reliable distance, speed, and early warning information, and provides alarm prompts using voice and images. The image acquisition module acquires image data of the track and surrounding area in the work area during operations and sends the image data to the data processing and display module 120 for display.

[0038] The data acquisition terminal's casing can be a waterproof, portable device case. Considering the terminal's intended use, it needs to be installed and removed multiple times on the train. Therefore, it's crucial to ensure secure and reliable installation while allowing for convenient and quick assembly and disassembly. Based on these installation requirements, a magnetic mounting method is used. Multiple powerful magnets are embedded in the bottom of the data acquisition terminal, ensuring both secure installation on the train and easy and quick assembly and disassembly. Due to the inherent properties of magnets, they are prone to breakage from impacts during use. Therefore, the magnets are designed to be slightly lower than the terminal's casing. This prevents direct impact and breakage of the magnets with the train's metal parts while ensuring sufficient magnetic force to secure the data acquisition terminal.

[0039] The data processing and display module 120 includes a data processing host and a human-machine interaction display unit. It is connected to the system via a wireless transmission module. The data processing and display module 120 can be installed in the driver's position of the trailer train (or shunting locomotive).

[0040] In addition, considering that this device needs to provide high-definition video images between the trailer train and the vehicle to be attached all day, the image acquisition performance required by the image acquisition module can be set as follows: (1) using a high-performance CMOS sensor; (2) clear and delicate images with a resolution of up to 10800p; (3) supporting HD-SDI and CVBS output; (4) low illumination, 0.01Lux @ (F1.2,AGCON), 0 Lux with IR; (5) supporting ICR automatic switching function to realize day and night monitoring; (6) supporting automatic white balance function, high color reproduction, and realistic images; (7) high signal-to-noise ratio, clean and pleasing images; (8) supporting automatic electronic shutter function to adapt to different monitoring environments; (9) supporting automatic electronic gain function with adaptive brightness.

[0041] The shunting operation safety monitoring and protection device provided in this embodiment collects data through a distance and speed measurement module and an image acquisition module. This data is then sent to a data processing and display module for processing, which provides alerts for eligible data and displays image data of the shunting operation process. This enables automatic real-time measurement and alarm of train distances during shunting operations, provides intuitive monitoring of video footage within the operation area, improves the accuracy and real-time performance of distance and speed measurements, avoids safety hazards caused by personnel climbing vehicles, significantly improves railway transportation safety, and lays the foundation for an automated intelligent shunting operation system. Furthermore, by automatically monitoring train distances during shunting operations, delays caused by human factors can be reduced, thereby improving transportation efficiency.

[0042] In some embodiments, the data acquisition terminal is equipped with a rechargeable battery pack, which is a removable lithium battery. Powered by the removable lithium battery, a single operation can be guaranteed for more than 8 hours. The wireless transmission module and antenna are integrated into the data acquisition terminal. The software of this device is designed for fully automatic operation; it can be carried to the vehicle to be attached and automatically started upon power-up.

[0043] In some embodiments, the ranging and speed measuring module includes a lidar and a BeiDou ranging system, and the BeiDou ranging system includes a ranging module and a positioning module; the lidar, ranging module and image acquisition module are integrated in a data acquisition terminal and placed at the rear of the trailer during operation; the positioning module is placed on the trailer to be trailerd during operation.

[0044] Specifically, the lidar can employ area array lidar technology to achieve high-precision, high-frequency distance measurement. Simultaneously, the lidar can detect and image within a specific azimuth angle range as needed, transmitting the results in real-time to the data processing and display unit 120. For the BeiDou ranging system, when measuring the real-time distance between the trailer train and the trailer to be trailerd, a positioning terminal can be installed at the rear of the trailer train and on the trailer to be trailerd. Combined with a monitoring platform and CORS (Continuous Operational Reference System), high-precision differential positioning of the two trains can be achieved. The distance between the two trains and their real-time speed can then be calculated, enabling monitoring and display of the distance between the two trains. For example... Figure 2The diagram shows the composition and ranging principle of the BeiDou ranging system. The BeiDou ranging system consists of three parts: a monitoring platform, positioning terminals, and a CORS system. The monitoring platform can monitor the location of the positioning terminals in real time and calculate the distance between the terminals. The positioning terminals communicate with the monitoring platform and the CORS system via a 4G network and support BDS / GPS satellite joint positioning, supporting sub-meter differential positioning.

[0045] In some embodiments, RTK (Real-time kinematic) satellite positioning technology can be used to process the data collected by the BeiDou ranging system to achieve centimeter-level high-precision ranging.

[0046] This device employs a combination of the BeiDou ranging system and a high-precision lidar for distance measurement. The lidar offers high accuracy and real-time performance, while the BeiDou ranging system has a wide range of applications and is easy to operate. The combination of these two systems complements each other, ensuring full coverage of the operational area and enabling real-time, accurate distance and speed measurement.

[0047] In some embodiments, the ranging and speed measuring module further includes an inertial measurement unit (IMU) for measuring the distance between the rear of the trailer train and the trailer to be trailerd, in conjunction with a lidar system. Specifically, the data acquisition terminal is installed at the rear of the trailer train, and the ranging and speed measuring module is located within the data acquisition terminal. Vibration during train movement can affect measurement accuracy. Therefore, an IMU sensor is added to the ranging and speed measuring module to accurately detect changes in the three-dimensional angles of the module in real time and transmit the results to the calculation module. This compensates for vibrations and angular deviations during train movement and equipment installation, ensuring the accuracy and precision of the ranging and speed measuring module's measurement results.

[0048] In some embodiments, a wireless transmission module is also included; the data acquisition module 110 and the data processing and display module 120 communicate via the wireless transmission module. Specifically, as shown... Figure 3 As shown, the wireless transmission module is used to establish a data transmission channel between the data acquisition module 110 and the data processing and display module 120, and transmit speed data, distance data and image data to the data processing and display module 120 in real time to ensure data communication between the data acquisition module 110 and the data processing and display module 120.

[0049] In some embodiments, considering the characteristics of the site area and train distribution, this solution adopts a LORA (Long Range Low Power Radio Frequency Technology) system combined with a 4G or 5G wireless network, providing wireless data transmission by selecting wireless terminal devices to form a VPN. That is, the wireless transmission module includes a Long Range Low Power Radio Frequency (Lora) wireless communication network and a 4G or 5G wireless network. Using 4G / 5G wireless communication technology to establish a first channel ensures the real-time performance and reliability of high-speed data transmission between the data acquisition module 110 and the data processing and display module 120. Using LoRa wireless communication technology to establish a second channel transmits important data, such as distance and warning signals, to the data processing and display module 120 for backup, improving the overall security and reliability of the device. This device also has an interface for railway-specific wireless communication, allowing for on-demand access and providing a more flexible and reliable communication link. Furthermore, the reliability of data acquisition and transmission can be ensured through two wireless communication methods (4G / 5G and LoRa).

[0050] In some embodiments, image data acquired by the image acquisition module, and speed and distance data acquired by the BeiDou ranging system in the ranging and speed measurement module, are transmitted to the data processing and display module via a 4G or 5G wireless network in the wireless transmission module. Specifically, since the image data acquired by the image acquisition module is real-time video image data during shunting and trailer operations, this image data is used to analyze whether there are personnel, vehicles, or obstacles crossing the track in the work area, so as to provide alarm prompts. Therefore, high real-time performance is required. However, LoRa communication has a low transmission rate. Therefore, when transmitting image data, the high-bandwidth, low-latency 4G / 5G wireless network in the wireless transmission module is used to transmit the image data to the data processing and display module, so that the shunting locomotive operators can view the situation on and near the track in the work area in a timely and real-time manner and respond promptly. Similarly, the speed and distance data collected by the BeiDou ranging system are also used to guide the shunting locomotive operators in controlling the speed of the trailer trains. Therefore, it is necessary to transmit the image data to the data processing and display module through the high-bandwidth, low-latency 4G / 5G wireless network in the wireless transmission module to ensure that the shunting locomotive operators can control the trailer trains in a timely and accurate manner.

[0051] In some embodiments, the distance and speed data collected by the lidar in the ranging and speed measurement module are transmitted to the data processing and display module via a long-range low-power wireless communication network (Lora) in the wireless transmission module and a 4G or 5G wireless network. Specifically, the distance and speed data collected by the lidar in the ranging and speed measurement module are transmitted to the data processing and display module 120 via both the long-range low-power wireless communication network (Lora) in the wireless transmission module and a 4G or 5G wireless network. Transmission via the 4G or 5G wireless network ensures real-time data transmission, allowing the data processing and display module 120 to process and analyze the data promptly, ensuring timely and accurate control of the trailer train by the shunting locomotive operators. Simultaneously, transmission to the data processing and display module 120 via the Lora wireless network enables backup of the distance and speed data, ensuring data traceability.

[0052] In some embodiments, the wireless transmission module includes a wireless data transmitting unit and a wireless data receiving unit. The wireless data receiving unit is used to receive sensing data collected by the data acquisition module 110 during trailer operation, and the wireless data transmitting unit is used to transmit the sensing data to the data processing and display module 120, thereby establishing communication between the data acquisition module 110 and the data processing and display module 120.

[0053] In some embodiments, the data processing and display module 120 includes a data processing host and a human-machine interactive audio-visual display device; the data processing and display module 120 is installed at the driver's position of the trailer train. Specifically, the data processing host integrates a high-performance processor and an efficient algorithm based on artificial intelligence to process and analyze in real time the ranging data from lidar, real-time three-dimensional detection data, inertial measurement unit (IMU) sensor data, satellite positioning data, and image data collected by a high-definition intelligent camera to obtain reliable distance, speed, and early warning information. During shunting and trailer operations, the real-time distance and speed data between the train and the vehicles to be coupled, acquired by the data acquisition module 110, are transmitted to the data processing host via a wireless transmission module. According to railway technical specifications, the host calculates operation instructions such as 10-car, 5-car, and 3-car configurations, and generates relevant speed control instructions. The human-machine interactive audio-visual display device receives the real-time shunting operation section video transmitted back by the data acquisition module 110 via a wireless transmission module and displays it to the driver. Using audio and video, the device provides the driver with operation information such as 10-car, 5-car, and 3-car configurations according to the operation procedures.

[0054] The data processing and display module 120 has interfaces with human-machine interface (MMI) and leveling system, and can be connected to relevant systems according to user needs.

[0055] To more clearly illustrate the safety monitoring and protection device for shunting trailer operations provided by this utility model, the following will provide a more detailed description of the device in conjunction with the accompanying drawings.

[0056] This utility model provides a shunting trailer operation safety monitoring and protection device installed on the trailer train body. Utilizing modules such as lidar and Beidou ranging system, it achieves real-time dynamic monitoring of safe distances during shunting trailer operations. During trailer operations, this device accurately measures the distance between the rear of the trailer train and the vehicle to be coupled, comparing it with the three distance signals (110m, 55m, 33m) required by railway technical specifications. This allows for the correct display of the distance signals for the tenth, fifth, and third cars to shunting personnel, and provides audio and video broadcast displays. It achieves dynamic real-time measurement of whether the moving trailer body and the vehicle to be coupled meet the safe distance requirements. Simultaneously, through an image acquisition module, it provides real-time image information within the operation area, and through multiple built-in wireless transmission modules, it achieves safe distance information exchange, thereby providing support for ensuring safe operation of shunting trailers.

[0057] like Figure 4 The diagram shows the overall structure of the shunting trailer operation safety monitoring and protection device, including a data acquisition module 110 and a data display and processing module 120. The data acquisition module 110 and the data display and processing module 120 communicate via a pre-set wireless transmission module. Figure 5 The diagram shows the structural composition of the data acquisition module 110. The data acquisition module is installed inside the data acquisition terminal equipment and is placed at the rear of the trailer during operation. It includes an adsorption device (installation structure), a lidar (equipped with an IMU sensor), a Beidou system (using an RTK satellite positioning module for positioning), a high-definition smart camera, a battery pack, and a wireless transmission module (Lora and 4G / 5G networks), etc.

[0058] like Figure 6 The diagram shows the structural composition of the data processing and display module 120. The data processing and display module includes a data processing host (integrating a high-speed computing platform and artificial intelligence algorithms), a human-machine interactive audio and video display device, and a wireless transmission (Lora and 4G / 5G network) module. It has interfaces for connecting to the human-machine interface (MMI) and the shunting system. The entire device is placed on the shunting locomotive driver's control panel.

[0059] During shunting operations, the operators bring the data acquisition terminal equipment to the work site and fix it to the rear of the trailer using a magnetic adsorption device, then turn the equipment on. Simultaneously, a Beidou positioning module is placed on the trailer to be coupled and turned on.

[0060] As the train moves backward, the BeiDou differential positioning module communicates with the BeiDou differential positioning base station via a 4G wireless network to measure in real time the distance between the rear of the trailer train and the trailer to be attached, as well as the trailer train speed. This information is then transmitted wirelessly to the data processing host on the locomotive, and the real-time distance and speed information is broadcast aloud on the display device. Simultaneously, a high-definition camera in the data acquisition terminal device captures real-time image information within the working track section, which is also transmitted wirelessly to the display device on the locomotive.

[0061] When the data processing host calculates and analyzes that the distance between the rear of the trailer and the vehicle to be coupled is 110 meters, the host begins to generate corresponding information for ten cars, five cars, three cars, and one car according to railway technical specifications, and provides voice prompts via display equipment. When the distance between the rear of the trailer and the vehicle to be coupled is less than 55 meters, the system automatically switches to a distance and speed measurement module to measure the distance and speed between the two vehicles.

[0062] During shunting and trailer operations, the data processing host uses AI analysis technology to perform real-time intelligent analysis on the image data acquired by the image acquisition module. When personnel or vehicles cross the track in the operation area, an alarm message is generated and displayed on the display device using voice and images.

[0063] This device employs BeiDou differential positioning and ranging equipment and high-precision radar to accurately measure the distance and speed between the train and the wagon to be coupled during shunting operations. Combined with a high-definition digital infrared camera, it monitors the surrounding environment of the locomotive's operating line. The collected speed, distance, and image data are transmitted wirelessly to the shunting locomotive's data processing host (which can be an onboard host). The data processing host processes and analyzes the information, generating prompts and alarms, which are then promptly output to the shunting locomotive operator through various display methods, including audio and video. This significantly improves the operator's awareness of the operation, enhances their ability to respond to emergencies, and ensures operational safety.

[0064] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A safety monitoring and protection device for shunting trailer operations, characterized in that, include: A data acquisition module, and a data processing and display module communicatively connected to the data acquisition module; The data acquisition module includes a distance measuring and speed measuring module and an image acquisition module, which are used to collect sensing data during trailer operation and send the sensing data to the data processing and display module. The data processing and display module is used to process the perceived data, provide information prompts for the perceived data that meets the conditions, and display the perceived data. The data acquisition module is integrated into the data acquisition terminal, which is installed at the rear of the trailer train by magnetic attraction. Multiple switch magnets are embedded in the bottom of the data acquisition terminal, and the installation position of the switch magnets is lower than the outer shell of the data acquisition terminal.

2. The apparatus according to claim 1, characterized in that, The data acquisition terminal is equipped with a rechargeable battery pack, which is a removable lithium battery.

3. The apparatus according to claim 1, characterized in that, The ranging and velocity measurement module includes a lidar and a BeiDou ranging system, and the BeiDou ranging system includes a ranging module and a positioning module. The lidar, the ranging module, and the image acquisition module are integrated in the data acquisition terminal, which is placed at the rear of the trailer train during operation; The positioning module is placed on the trailer to be trailered during operation.

4. The apparatus according to claim 3, characterized in that, The ranging and speed measuring module also includes an inertial measurement unit, which is used in conjunction with the lidar to measure the distance between the rear of the trailer train and the trailer to be attached.

5. The apparatus according to claim 1, characterized in that, It also includes a wireless transmission module; the data acquisition module and the data processing and display module communicate with each other through the wireless transmission module.

6. The apparatus according to claim 5, characterized in that, The wireless transmission module includes a long-range low-power wireless communication network and a 4G or 5G wireless network.

7. The apparatus according to any one of claims 3-6, characterized in that, The image acquisition module is used to acquire image data. The image data, along with the speed and distance data acquired by the BeiDou ranging system in the ranging and speed measurement module, are transmitted to the data processing and display module via a 4G or 5G wireless network in the wireless transmission module.

8. The apparatus according to any one of claims 3-6, characterized in that, The distance and speed data collected by the lidar in the ranging and speed measurement module are transmitted to the data processing and display module through the long-range low-power wireless communication network in the wireless transmission module and the 4G or 5G wireless network.

9. The apparatus according to claim 5, characterized in that, The wireless transmission module includes a wireless data transmitting unit and a wireless data receiving unit.

10. The apparatus according to claim 1, characterized in that, The data processing and display module includes a data processing host and a human-computer interaction display unit; The data processing and display module is installed at the driver's position of the trailer train.

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