CN107097810B - A kind of Along Railway foreign body intrusion UAV Intelligent identification and method for early warning and system - Google Patents
A kind of Along Railway foreign body intrusion UAV Intelligent identification and method for early warning and system Download PDFInfo
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- 239000012535 impurity Substances 0.000 claims abstract description 66
- 238000012544 monitoring process Methods 0.000 claims abstract description 27
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- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000012806 monitoring device Methods 0.000 claims description 3
- 230000002940 repellent Effects 0.000 claims description 3
- 239000005871 repellent Substances 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 2
- 238000010304 firing Methods 0.000 claims description 2
- 230000010365 information processing Effects 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
- A01M29/18—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves using ultrasonic signals
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- Burglar Alarm Systems (AREA)
Abstract
The invention discloses a kind of identification of Along Railway foreign body intrusion UAV Intelligent and method for early warning and system, this method realizes controlled train local motion environment foreign body intrusion detects by introducing unmanned plane impurity intrusion detection device, Kinect sensor is carried using unmanned plane foreign body intrusion device, supersonic wave bird driving device, GPS device, visit bird radar, in real time to circuit image processing and detection, foreign body intrusion event is found in time, counter-measure is taken in advance, and no longer need that the foreign body intrusion monitoring station of a large amount of high costs is installed along the railway, also the blind zone problem to the monitoring of Along Railway foreign body intrusion is directly avoided the occurrence of from technical solution；According to detection information of the bird radar to birds is visited, using the mobility of unmanned plane device, realize that orientation is driven in birds in danger zone in real time using ultrasonic birds driving device, improve the operation safety of train.
Description
Technical field
The invention belongs to railway track detection field, more particularly to a kind of Along Railway foreign body intrusion UAV Intelligent identification
With method for early warning and system.
Background technology
Harm of the railway foreign body intrusion to railway operation safety is extremely great, and the lighter causes Train delay, and severe one can give state
Family and the people bring serious economic loss.In recent years, Along Railway Environmental security hidden danger becomes increasingly conspicuous, to people's life and property
Bring great security risk.According to statistics, what the failure of the railway system belonged to equipment failure itself accounts for 20%, and external environment condition band
The reason for failure come but has accounted for 80%, caused train delays is largely " foreign body intrusion ".It is quick with railway construction
Development, train running speed are continuously improved, and the requirement to train operating safety is also continuously improved.
The foreign matter that limit is invaded in foreign body intrusion event is broadly divided into two classes：One kind is to be influenced to invade iron by external force or natural cause
The barrier of road track clearance, such limit foreign matter of invading is rear opposing stationary in fouling of clearance gauge, and such as landslide, mud-rock flow cave in
Caused by sandstone on road, another kind of is the biological species barrier for being strayed into railroad clearance, and such limit foreign matter of invading refers mainly to birds.
Existing foreign body intrusion monitoring mode has paired cable Sensor monitoring mode, microwave monitoring mode, infrared observation mode and regards
Frequency monitoring mode.The monitoring point of these foreign body intrusion modes is generally located on the railway location that junk easily occurs, such as across railway public affairs
The places such as road and bridge, tunnel face, highway and railway are located parallel, railway main track, alarm is sent before train reaches and invades limit place,
Train speed limit parking is controlled, ensures train operating safety.But with the increase of high ferro road network scale, in recent years when have birds intrusion
Railroad clearance, hits running bullet train, and due to lacking effective bird repellent method along high ferro, bird strikes are to height
The influence of iron operation is paid more and more attention.Data shows, on March 8th, 2011, and G1024 high ferro train is from Guangzhou Nankai toward force
The Chinese, during train driving to Yueyang to Wuhan section, experience hits bird event, causes withdrawal of train more than 20 minutes；July 29 in 2012
Day, the D5663 train that Jinhua is left for by Hongqiao in Shanghai occurred once to hit bird event within the border in Yiwu, and caused withdrawal of train 10
More minutes.Birdcollision is global problem, and Federation Aeronautic International, which hits bird, is set to " A " class security incident.Crash one
As occur in birds takeoff phase, therefore high ferro is subject to the probability bigger that the likelihood ratio aircraft of bird strikes is hit, although
The equipment such as bird-dispersing car can reduce the probability of bird strike aircraft to the greatest extent, but this experience is with the high ferro network increasingly expanded,
Undoubtedly seem awkward.Current foreign body intrusion monitoring mode invades limit foreign matter mainly for the above-mentioned first kind, and can only
Detect foreign body intrusion event in a certain section, have " monitoring blind area ".Had no for the second current railway of class foreign body intrusion event
Effective monitoring means.Patent of invention《Railway bird-repeller system》(Application No. 201110155588.4, Publication No.
CNl02301991A), it is made of the bird-scaring unit on railway and the console on bullet train.Work as bullet train
During more than certain speed, controller starts digital signal transmission device, launches corresponding digital signals to these bird-scaring units repeatedly, starts
These bird-scaring units drive birds.But it is great in constructing amount due to needing to set scarer in whole Along Railway, and can not realize pair
The orientation of birds is driven, not larger practicality.
The generation of this kind of foreign body intrusion event have the characteristics that it is sudden, irregular follow with it is unpredictable, this gives foreign matter
Invade limit monitoring and bring huge challenge, thus be badly in need of a kind of new Along Railway foreign body intrusion identification and method for early warning and
System.
The content of the invention
The present invention provides a kind of identification of Along Railway foreign body intrusion UAV Intelligent and method for early warning and system, its purpose
It is, realizes the non-blind area detection to Along Railway foreign body intrusion, reduces foreign body intrusion detecting system along railway department's installation
Cost and prevent threat of the birds to the bullet train of operation.
A kind of Along Railway foreign body intrusion UAV Intelligent identification and method for early warning, comprise the following steps：
Step 1：Railroad track is equidistantly divided, each track section is provided with monitoring unit, and each monitoring is single
Member is configured with 1 group of unmanned plane impurity intrusion detection device；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect being loaded on flight instruments sensings
Device array, supersonic wave bird driving device, visit bird radar, wireless communication module and GPS module；
Step 2：When having detected train passage by track circuit in the administrative railroad section of certain monitoring unit, monitoring
Instruction of taking off is assigned in center to unmanned plane impurity intrusion detection device, and train real time position, real-time speed are sent to nobody
Machine impurity intrusion detection device；
Step 3：The train real time position and real-time speed that unmanned plane impurity intrusion detection device is sent according to monitoring unit
Fly in front of train, and be maintained in real time at distance train S；
Step 4：When in front of unmanned plane impurity intrusion detection device reaches distance train at S, it is synchronous with train holding with
After track state, unmanned plane impurity intrusion detection device starts to detect work, synchronously proceeds as follows：
(1) start to gather the image information of position using Kinect sensor collection array, and by being wirelessly transferred
It is sent to Kinect image procossing large data centers；
(2) the radar reflection information for visiting bird radar collection position is utilized, and is sent to by being wirelessly transferred at radar
Manage large data center；
(3) the train speed per hour information sent according to monitoring center, adjusts itself flying speed, is kept with train real-time speed
It is synchronous；
Step 5：Kinect image procossings large data center and radar handle the large data center number to each receiving respectively
According to being analyzed and processed；
Kinect image procossings large data center extracts image background information to the image information of collection, passes through image in real time
Calculus of finite differences judges to whether there is suspicious item in present image, if discovery suspicious item, enters step 6, otherwise repeat step 4；
Radar handles large data center to the radar reflection information extraction radar reflection wave characteristic of collection, and with database
Birds character of reflection wave is matched, if finding birds radar reflection wave characteristic, enters step 7, otherwise repeat step 4；
Step 6：Kinect image procossing large data centers classify suspicious item, and foreign matter GPS information is sent to
Monitoring center, monitoring center send appropriate level warning information；
Step 7：Radar handles big data and carries out locating and tracking to radar reflection information, calculates locus where birds,
Judge whether birds are in danger zone, danger zone refers to the section where L with railroad track standoff distance；
If birds are in danger zone, unmanned plane impurity intrusion detection device starts bird repellent module, supersonic wave bird driving device
Start continuous firing, otherwise repeat step 4.
Further, unmanned plane impurity intrusion detection device is maintained at distance train S in real time in the step 3：S=Sk
+Se；
In formula：SkFor train idling stopping distance after emergency braking；SeFor train active braking distance after emergency braking.
Monitoring center based on the vehicle of train, speed and line slope information in track section, dynamic calculate it is current nobody
The distance of machine impurity intrusion detection device and train；
Train and unmanned plane impurity intrusion detection device distance S, that is, braking distance of the train under emergency braking, at nobody
Machine impurity intrusion detection device sends early warning when detecting track foreign matter, train can stop in emergency in time, ensures train travel
Safety；
Further, the danger zone refers to the section where L with railroad track standoff distance, wherein,vbFor birds average flight speed, v is the speed of train.
Birds outside danger zone do not influence train normal operation, and the birds in danger zone are to train
It is current have a threat, unmanned plane impurity intrusion detection device carries out the birds in danger zone using supersonic wave bird driving device
Orientation is driven.
Further, after unmanned plane impurity intrusion detection device and train synchronization to be measured move ahead, in train to be measured
When traveling is to next track section, unmanned plane impurity intrusion detection device carries out task handing-over, and monitoring center is to train to be measured
The newest track section entered sends instruction so that the unmanned plane impurity intrusion detection device of the track section takes off synchronized tracking
Train to be measured, the unmanned plane impurity intrusion detection device originally to fly enter the track section, charge, and will be to be measured
The real-time speed of train and position are sent to railway trains control centre.
Further, monitoring center foundation warning information, reads the train information of track section, to train in track section
Alarm is sent, and speed limit stop information is provided according to train operation regulation rule, and notifies relevant departments to carry out emergent management, is treated
It is disposed, releases early warning.
A kind of Along Railway foreign body intrusion unmanned plane real-time intelligent identification and early warning system, including：
Monitoring center, unmanned plane foreign matter is calculated according to rain model, line slope and real-time speed in administrative section in real time
Limit the distance between detection device and train are invaded, and is sent to that unmanned plane is different to invade limit monitoring device；Foundation comes from Kinect at the same time
The foreign substance information that image procossing large data center is sent, appropriate level warning information is sent to running train in section；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect being loaded on flight instruments sensings
Device, supersonic wave bird driving device, visit bird radar, wireless communication module and GPS module；
Kinect image procossings large data center be used for unmanned plane impurity intrusion detection device collection image information into
Row processing, extracts image background information, judges to whether there is suspicious item in present image in real time by image difference method, including figure
As acquisition module, image processing module and wireless communication module；
Radar processing large data center is used to gather circuit radar return information to unmanned plane impurity intrusion detection device
Processing, extracts radar reflection wave characteristic, is matched with birds character of reflection wave in database, and birds position is positioned
Tracking；
Monitoring center, Kinect image procossings large data center and radar handle large data center according to above-mentioned method pair
Unmanned plane impurity intrusion detection device is controlled, and the information of unmanned plane impurity intrusion detection device collection is handled.
Further, the unmanned plane impurity intrusion detection device is additionally provided with LED light supplement lamp.
Beneficial effect
The present invention provides a kind of identification of Along Railway foreign body intrusion UAV Intelligent and method for early warning and system, this method
Realize that foreign body intrusion is detected to controlled train local motion environment by introducing unmanned plane impurity intrusion detection device, utilize nobody
Machine foreign body intrusion device carry Kinect sensor, supersonic wave bird driving device, GPS device, visit bird radar, in real time to circuit image at
Reason and detection, find foreign body intrusion event, take counter-measure in advance, and no longer need to install a large amount of height along the railway in time
The foreign body intrusion monitoring station of cost, also directly avoids the occurrence of from technical solution and the blind area of Along Railway foreign body intrusion monitoring is asked
Topic；Detection information according to spy bird radar to birds, it is real-time using ultrasonic birds driving device using the mobility of unmanned plane device
Birds realize that orientation is driven in danger zone, improve the operation safety of train.
Brief description of the drawings
Fig. 1 is the flow chart of the method for the invention；
Fig. 2 is the structure diagram of system of the present invention.
Embodiment
Below in conjunction with drawings and examples, the present invention is described further.
As shown in Figure 1, a kind of Along Railway foreign body intrusion UAV Intelligent identification and method for early warning, comprise the following steps：
Step 1：Railroad track is equidistantly divided, each track section is provided with monitoring unit, and each monitoring is single
Member is configured with 1 group of unmanned plane impurity intrusion detection device；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect being loaded on flight instruments sensings
Device, supersonic wave bird driving device, visit bird radar, wireless communication module and GPS module；
Step 2：When having detected train passage by track circuit in the administrative railroad section of certain monitoring unit, monitoring
Instruction of taking off is assigned in center to unmanned plane impurity intrusion detection device, and train real time position, real-time speed are sent to nobody
Machine impurity intrusion detection device；
Step 3：The train real time position and real-time speed that unmanned plane impurity intrusion detection device is sent according to monitoring unit
Fly in front of train, and be maintained in real time at distance train S, S=Sk+Se；
In formula：SkFor train idling stopping distance after emergency braking；SeFor train active braking distance after emergency braking；
If EMU initial velocity is 160km/h, track calculates as follows without the gradient, distance S：
The idling stopping distance of EMUEMU emergency braking idling braking time tk
2.52s is taken, choosing active braking distance retardation formula according to the initial velocity of EMU isDistance S=Sk+Se=112+1018=1130m, unmanned plane
Impurity intrusion detection device is located in front of current train at 1130m；
Step 4：Synchronized tracking state is kept when the above-mentioned position of unmanned plane impurity intrusion detection device arrival, and with train
Afterwards, unmanned plane impurity intrusion detection device starts to detect work, proceeds as follows：
(1) the Kinect sensor collection array that unmanned plane impurity intrusion detection device carries starts to gather position
Image information, and it is sent to Kinect image procossing large data centers by being wirelessly transferred；
(2) what unmanned plane impurity intrusion detection device carried visits the radar return information of bird radar collection position,
And it is sent to radar processing large data center by being wirelessly transferred；
(3) the train speed per hour information that unmanned plane impurity intrusion detection device is sent according to monitoring center, adjusts itself flight
Speed, it is synchronous with the holding of train real-time speed；
Step 5：After unmanned plane impurity intrusion detection device is to the image and audio information transmissions of collection, each module carry out with
Lower operation：
(1) Kinect image procossings large data center receives the image letter sent from unmanned plane impurity intrusion detection device
Breath, handles the image information of collection, extracts image background information, is judged in real time by image difference method in present image
With the presence or absence of suspicious item, if finding suspicious item, 6 are entered step, otherwise repeat step 4；
(2) radar processing large data center handles the radar reflection information of collection, extracts radar reflection wave characteristic,
And matched with birds character of reflection wave in database, if finding birds radar reflection wave characteristic, 7 are entered step, is otherwise weighed
Multiple step 4；
Step 6：Kinect image procossing large data centers classify suspicious item, and foreign matter GPS information is sent to
Monitoring center, monitoring center send appropriate level warning information, read section train information, and alarm is provided to train in section,
Speed limit stop information is provided according to train operation regulation rule, and notifies relevant departments to carry out emergent management, pending to finish, solution
Except early warning；
Step 7：Radar handles big data and carries out locating and tracking to radar reflection information, calculates locus where birds,
Judge whether birds are in danger zone, danger zone is defined as the section where L with orbital distance：
In formula, birds average flight speed is vb, train speed v, L are the distance of danger zone and railway clearance；
If visiting bird radar finds there are birds apart from railway clearance 20m, current train speed is 160km/h, and Bird Flight is fast
Degree is generally 30-70km/h, takes worst situation vb=70km/h, danger zone is away from railway clearance distanceBirds are in danger zone, and unmanned plane foreign body intrusion device starts ultrasonic wave and drives
Bird device drives birds orientation.
Step 8：After unmanned plane impurity intrusion detection device and train synchronization to be measured move ahead, in train driving to be measured
During to next track section, unmanned plane impurity intrusion detection device carries out task handing-over, and monitoring center enters to train to be measured
Newest track section send instruction so that the unmanned plane impurity intrusion detection device of the track section synchronized tracking that takes off is to be measured
Train is measured, the unmanned plane impurity intrusion detection device originally to fly enters the track section, charges, and by train to be measured
Real-time speed and position send to railway trains control centre.
As shown in Fig. 2, monitoring center, calculates in real time according to rain model, line slope and real-time speed in administrative section
The distance between unmanned plane impurity intrusion detection device and train, and it is sent to that unmanned plane is different to invade limit monitoring device；Foundation at the same time
The foreign substance information sent from Kinect image procossing large data centers, sends running train in section in appropriate level early warning letter
Breath；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect being loaded on flight instruments sensings
Device, supersonic wave bird driving device, visit bird radar, wireless communication module and GPS module；
Kinect image procossings large data center be used for unmanned plane impurity intrusion detection device collection image information into
Row processing, extracts image background information, judges to whether there is suspicious item in present image in real time by image difference method, including figure
As acquisition module, image processing module and wireless communication module；
Radar processing large data center is used to gather circuit radar return information to unmanned plane impurity intrusion detection device
Processing, extract radar reflection feature, with database birds transmitting feature matched, and birds position is positioned with
Track；
Monitoring center, Kinect image procossings large data center and radar handle large data center according to above-mentioned method pair
Unmanned plane impurity intrusion detection device is controlled, and the information of unmanned plane impurity intrusion detection device collection is handled.
The unmanned plane impurity intrusion detection device is additionally provided with LED light supplement lamp.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skills in the art should understand that：Still can be to the specific of the present invention
Embodiment technical scheme is modified or replaced equivalently, and without departing from any modification of spirit and scope of the invention or equivalent substitution,
It should all cover among scope of the presently claimed invention.
Claims (7)
1. a kind of Along Railway foreign body intrusion UAV Intelligent identification and method for early warning, it is characterised in that comprise the following steps：
Step 1：Railroad track is equidistantly divided, each track section is provided with monitoring unit, and each monitoring unit is matched somebody with somebody
It is equipped with 1 group of unmanned plane impurity intrusion detection device；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect sensor being loaded on flight instruments, surpasses
Sound wave bird-scaring unit, visit bird radar, wireless communication module and GPS module；
Step 2：When having detected train passage by track circuit in the administrative railroad section of certain monitoring unit, monitoring center
Assign instruction of taking off to unmanned plane impurity intrusion detection device, and train real time position, that real-time speed is sent to unmanned plane is different
Thing invades limit detection device；
Step 3：Train real time position and the real-time speed flight that unmanned plane impurity intrusion detection device is sent according to monitoring unit
In front of to train, and it is maintained in real time at distance train S；
Step 4：When unmanned plane impurity intrusion detection device is reached at the S of distance train front, synchronized tracking shape is kept with train
After state, unmanned plane impurity intrusion detection device starts to detect work, synchronously proceeds as follows：
(1) start to gather the image information of position using Kinect sensor collection array, and sent by being wirelessly transferred
Give Kinect image procossing large data centers；
(2) using the radar reflection information for visiting bird radar collection position, and radar processing is sent to greatly by being wirelessly transferred
Data center；
(3) the train speed per hour information sent according to monitoring center, adjusts itself flying speed, keeps same with train real-time speed
Step；
Step 5：Kinect image procossings large data center and radar processing large data center respectively to the data that each receive into
Row analyzing and processing；
Kinect image procossings large data center extracts image background information to the image information of collection, passes through image difference in real time
Method judges to whether there is suspicious item in present image, if discovery suspicious item, enters step 6, otherwise repeat step 4；
Radar handles large data center to the radar reflection information extraction radar reflection wave characteristic of collection, and with birds in database
Character of reflection wave is matched, if finding birds radar reflection wave characteristic, enters step 7, otherwise repeat step 4；
Step 6：Kinect image procossing large data centers classify suspicious item, and foreign matter GPS information is sent to monitoring
Center, monitoring center send appropriate level warning information；
Step 7：Radar handles big data and carries out locating and tracking to radar reflection information, calculates locus where birds, judges
Whether birds are in danger zone, and danger zone refers to the section where L with railroad track standoff distance；
If birds are in danger zone, unmanned plane impurity intrusion detection device starts bird repellent module, and supersonic wave bird driving device starts
Continuous firing, otherwise repeat step 4.
2. according to the method described in claim 1, it is characterized in that, unmanned plane impurity intrusion detection device is real in the step 3
When be maintained at distance train S：S=Sk+Se；
In formula：SkFor train idling stopping distance after emergency braking；SeFor train active braking distance after emergency braking.
3. according to the method described in claim 2, it is characterized in that, the danger zone refer to be with railroad track standoff distance
Section where L, wherein,vbFor birds average flight speed, v is the speed of train.
4. according to the method described in claim 3, it is characterized in that, when unmanned plane impurity intrusion detection device and train to be measured
After synchronously moving ahead, in train driving to be measured to next track section, unmanned plane impurity intrusion detection device carries out task friendship
Connect, monitoring center sends instruction to the newest track section that train to be measured enters so that the unmanned plane foreign matter of the track section
Invade limit detection device to take off synchronized tracking train to be measured, the unmanned plane impurity intrusion detection device originally to fly enters the track
Section, charges, and the real-time speed of train to be measured and position are sent to railway trains control centre.
5. according to claim 1-4 any one of them methods, it is characterised in that monitoring center reads rail according to warning information
The train information in road section, sends train in track section alarm, and provides speed limit according to train operation regulation rule and stop transport
Information, and notify relevant departments to carry out emergent management, it is pending to finish, release early warning.
6. a kind of Along Railway foreign body intrusion unmanned plane real-time intelligent identification and early warning system, it is characterised in that including：
Monitoring center, unmanned plane foreign body intrusion is calculated according to rain model, line slope and real-time speed in administrative section in real time
The distance between detection device and train, and it is sent to that unmanned plane is different to invade limit monitoring device；Foundation comes from Kinect images at the same time
The foreign substance information that processing large data center is sent, appropriate level warning information is sent to running train in section；
The unmanned plane impurity intrusion detection device includes flight instruments and the Kinect sensor being loaded on flight instruments, surpasses
Sound wave bird-scaring unit, visit bird radar, wireless communication module and GPS module；
Kinect image procossings large data center is used at the image information to the collection of unmanned plane impurity intrusion detection device
Reason, extracts image background information, judges to whether there is suspicious item in present image in real time by image difference method, including image is adopted
Collect module, image processing module and wireless communication module；
Radar processing large data center is used to gather circuit radar return information processing to unmanned plane impurity intrusion detection device,
Radar reflection wave characteristic is extracted, is matched with birds character of reflection wave in database, and locating and tracking is carried out to birds position；
Monitoring center, Kinect image procossings large data center and radar processing large data center are any according to claim 1-5
Method described in is controlled unmanned plane impurity intrusion detection device, and to the collection of unmanned plane impurity intrusion detection device
Information is handled.
7. system according to claim 6, it is characterised in that the unmanned plane impurity intrusion detection device is additionally provided with LED
Light compensating lamp.
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| CN108550139A (en) * | 2018-03-19 | 2018-09-18 | 北京航空航天大学 | Rail foreign matter detecting method and device based on multi-level depth characteristic |
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