CN108340942A - A kind of railway monitoring system based on 3D laser radars - Google Patents
A kind of railway monitoring system based on 3D laser radars Download PDFInfo
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- CN108340942A CN108340942A CN201810247421.2A CN201810247421A CN108340942A CN 108340942 A CN108340942 A CN 108340942A CN 201810247421 A CN201810247421 A CN 201810247421A CN 108340942 A CN108340942 A CN 108340942A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 230000035939 shock Effects 0.000 claims abstract description 16
- 230000005611 electricity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of railway monitoring systems based on 3D laser radars, including laser radar scanning system, warning device, pressure sensor, temperature sensor, shock sensor and master controller, laser radar scanning system is arranged along railway, pressure sensor, temperature sensor, shock sensor are arranged on the inside of rail, laser radar scanning system includes transmitter unit, receiving unit, electric platform, image processing unit and central processing unit；Image processing unit, pressure sensor, temperature sensor and shock sensor are both provided with terminal node, and central processing unit is provided with router node, and master controller is provided with coordinator node；Warning device, transmitter unit, receiving unit and electric platform are connect with central processing unit respectively, image processing unit, pressure sensor, temperature sensor and shock sensor are connect by terminal node with central processing unit respectively, and central processing unit is connect by routing node with master controller.
Description
Technical field
The present invention relates to monitoring technology field more particularly to a kind of railway monitoring systems based on 3D laser radars.
Background technology
In recent years, railway traffic is quickly grown, and railway traffic network is also more and more perfect, to the security monitoring on railway line
Also more and more important, and rail is then that railway traffic is most basic and a most important ring, the monitoring of rail are safeguarded and transported to railway
Defeated safety has vital influence, and the foreign matter on rail can also cause train vibration influence security risk, and traditional prison
Control system mostly uses camera or the mode of parallel orbit transmitting single beam laser carries out monitoring foreign bodies, camera be limited to environment,
The influence of light, can not night, foggy weather work normally, and single beam laser then can not disturbance in judgement object specific category,
Size, and usually require manual operation.
Invention content
To solve the above-mentioned problems, the present invention propose it is a kind of not affected by environment, can all weather operations railway monitoring system
System, using laser radar scanning and carries out 3D imagings, calculates size, the distance of barrier, by zigbee mode networkings, realizes
Quick, flexible, the stable data transmission of multiple peripheral components.
Specifically, a kind of railway monitoring system based on 3D laser radars, including 3D laser radar scannings system, alarm dress
It sets, pressure sensor, temperature sensor, shock sensor and master controller, the 3D laser radar scannings system are set along railway
It sets, the pressure sensor, temperature sensor, shock sensor are arranged on the inside of rail, the 3D laser radar scannings system
Including transmitter unit, receiving unit, electric platform, image processing unit and central processing unit；
Described image processing unit, pressure sensor, temperature sensor and shock sensor are both provided with zigbee terminal nodes
Module, the central processing unit are provided with zigbee routing node modules, and the master controller is provided with zigbee coordinators
Node module；
The transmitter unit, receiving unit and electric platform are connect with the central processing unit respectively, and described image processing is single
Member, pressure sensor, temperature sensor and shock sensor pass through zigbee terminal node modules and the central processing respectively
Unit communication connects, and the central processing unit is communicated to connect by zigbee routing nodes module and the master controller.
Further, the transmitter unit includes laser emitter and cutoff filter, the laser emitter hair
The laser beam gone out forms a wordline laser by cutoff filter；The receiving unit is camera.
Further, the central processing unit is connect by RS485 Serial Port Lines with the control interface of the electric platform.
Preferably, the zigbee terminal node modules are CC2530.
Preferably, the central processing unit is AVR single chip.
Further, the router node module is CC2530, and CC2530 passes through RS232 serial ports and the central processing
Unit connects.
Further, the master controller is ARM.
Further, the coordinator node module includes CC2530 and CC2591, and wherein CC2591 is radio-frequency front-end core
Piece, RF_N pins, RF_P pins, P0_1 pins, P0_4 pins and the P1_1 pins of CC2530 draw with the RF_N of CC2591 respectively
Foot, RF_P pins, PA_EN pins, LNA_EN pins, the connection of HGM_EN pins, CC2530 pass through RS232 serial ports and the master control
Device connection processed, the ANT pins of CC2591 are separately connected SMA antennas and FP inverse-F antennas.
Preferably, the master controller is additionally provided with 3G/4G/WIFI modules.
Further, the warning device is short message alarm module, and the short message alarm module passes through RS232 serial ports and institute
State central processing unit connection.
The beneficial effects of the present invention are：It is not affected by environment, it round-the-clock can be monitored, barrier can be accurately identified
Classification, size and distance, the carry out data exchange that monitoring device can flexibly, quickly, stable by zigbee networkings, convenient for management
Personnel are quick, get information about field condition.
Description of the drawings
Fig. 1 is a kind of system schematic of railway monitoring system based on 3D laser radars of the present invention.
Specific implementation mode
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control illustrates this hair
Bright specific implementation mode.
As shown in Figure 1, a kind of railway monitoring system based on 3D laser radars, including 3D laser radar scannings system, report
Alarm device, pressure sensor, temperature sensor, shock sensor and master controller, the 3D laser radar scannings system is along iron
Road is arranged, and the pressure sensor, temperature sensor, shock sensor are arranged on the inside of rail, the 3D laser radar scannings
System includes transmitter unit, receiving unit, electric platform, image processing unit and central processing unit；
Described image processing unit, pressure sensor, temperature sensor and shock sensor are both provided with zigbee terminal nodes
Module, the central processing unit are provided with zigbee routing node modules, and the master controller is provided with zigbee coordinators
Node module；
The transmitter unit, receiving unit and electric platform are connect with the central processing unit respectively, and described image processing is single
Member, pressure sensor, temperature sensor and shock sensor pass through zigbee terminal node modules and the central processing respectively
Unit communication connects, and the central processing unit is communicated to connect by zigbee routing nodes module and the master controller.
The monitoring point that railway monitoring is related to is more, and the equipment needed is also very much, will be wasted with traditional 485 or CAN modes
The a large amount of time in 485 bus of cloth or CAN bus, once and the bus whole system that goes wrong will paralyse, this programme uses
ZigBee wireless transmission methods, ZigBee define 3 kinds of network node forms, are network coordinator node respectively
（Coordinator）, router node（Router）And terminal node（End Device）, terminal node is for sending related prison
Measured data and its corresponding address information；Router node is used to the information that terminal node is sent being transmitted to coordinator；Coordinate
The data that device node is responsible for the foundation of network, the distribution of network address and receiving router node and terminal node are sent,
Due to using wireless, terminal node that can be advantageously mounted at rail everywhere, and ZigBee is logical using self-organizing network
Letter, when a terminal node module when something goes wrong, do not interfere with the operation of whole system, at the same this system have it is low in energy consumption,
It is easy to operate and the characteristics of convenient for safeguarding.
Further, the transmitter unit includes laser emitter and cutoff filter, the laser emitter hair
The laser beam gone out forms a wordline laser by cutoff filter；The receiving unit is camera.
Further, the central processing unit is connect by RS485 Serial Port Lines with the control interface of the electric platform,
The present embodiment obtains each point phase difference by being arranged a wordline laser device on electric platform, by holder rotation sweep
Information, so that it may to obtain out the three-dimensional information of target.
Preferably, the zigbee terminal node modules are CC2530.
Preferably, the central processing unit is AVR single chip, and specially Atmega88 passes through preset software systems
Controllable unlatching/closing laser, setting scan path, control cloud platform rotation angle；AVR single chip controls the rotation of holder,
A wordline laser device is driven by holder according to scan path, emits a series of scanning light beams, and camera obtains scanned target and returns
The two-dimentional echo-signal returned, camera imaging part obtain the Two dimensional Distribution information of scanned target, and AVR single chip passes through laser
Range of triangle algorithm algorithm calculates a wordline laser device at a distance from measured target, and by obtained data and target two-dimensional signal
It is bonded three-dimensional laser image-forming information, and obtained information is sent to image processing unit, image processing unit is into line number
According to processing and drawing three-dimensional image, image data is sent to by coordinator node by zigbee network；It is completed by this system
Monolithic AVR programmings, hardware are built, are imaged the control of control and image processing system and scanning means, and can accurately realize items
Index and function, ensure it is preferable realize 3D imagings under the premise of, compared with similar laser radar, reducing by a relatively large margin
System cost.
Further, the router node module is CC2530, and CC2530 passes through RS232 serial ports and the central processing
Unit connects.
Further, the master controller is ARM, uses the control system for core based on ARM9 here.
Further, the coordinator node module includes CC2530 and CC2591, and wherein CC2591 is radio-frequency front-end core
Piece, RF_N pins, RF_P pins, P0_1 pins, P0_4 pins and the P1_1 pins of CC2530 draw with the RF_N of CC2591 respectively
Foot, RF_P pins, PA_EN pins, LNA_EN pins, the connection of HGM_EN pins, CC2530 pass through RS232 serial ports and the master control
Device connection processed, the ANT pins of CC2591 are separately connected SMA antennas and FP inverse-F antennas.
Preferably, the master controller is additionally provided with 3G/4G/WIFI modules, and master controller will receive image and other
The pressure data of each point of monitoring data such as rail temperature, track is sent to background management system by wireless network.
Further, the warning device is short message alarm module, and the short message alarm module passes through RS232 serial ports and institute
Central processing unit connection is stated, when a certain item monitoring data exception, AVR single chip is sent out by short message alarm module to administrator
Send alarming short message.
It should be noted that for each embodiment of the method above-mentioned, for simple description, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should understand that, the application is not limited by the described action sequence, because
For according to the application, certain some step can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of railway monitoring system based on 3D laser radars, which is characterized in that including 3D laser radar scannings system, alarm
Device, pressure sensor, temperature sensor, shock sensor and master controller, the 3D laser radar scannings system is along railway
Setting, the pressure sensor, temperature sensor, shock sensor are arranged on the inside of rail, 3D laser radar scannings system
System includes transmitter unit, receiving unit, electric platform, image processing unit and central processing unit；
Described image processing unit, pressure sensor, temperature sensor and shock sensor are both provided with zigbee terminal nodes
Module, the central processing unit are provided with zigbee router node modules, and the master controller is provided with zigbee coordinations
Device node module；
The warning device, transmitter unit, receiving unit and electric platform are connect with the central processing unit respectively, the figure
As processing unit, pressure sensor, temperature sensor and shock sensor respectively by zigbee terminal node modules with it is described
Central processing unit communicates to connect, and the central processing unit is logical by zigbee router nodes module and the master controller
Letter connection.
2. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the transmitting
Unit includes laser emitter and cutoff filter, and the laser beam that the laser emitter is sent out passes through IR cut filter
Piece forms a wordline laser；The receiving unit is camera, and the transmitter unit and the receiving unit are arranged in the electricity
On dynamic holder.
3. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the center
Processing unit is connect by RS485 Serial Port Lines with the control interface of the electric platform.
4. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that described
Zigbee terminal node modules are CC2530.
5. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the center
Processing unit is AVR single chip.
6. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the routing
Device node module is CC2530, and CC2530 is connect by RS232 serial ports with the central processing unit.
7. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the master control
Device processed is ARM.
8. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the coordination
Device node module includes CC2530 and CC2591, and wherein CC2591 is radio frequency front end chip, and RF_N pins, the RF_P of CC2530 draw
Foot, P0_1 pins, P0_4 pins and P1_1 pins respectively with the RF_N pins of CC2591, RF_P pins, PA_EN pins, LNA_
EN pins, the connection of HGM_EN pins, CC2530 are connect by RS232 serial ports with the master controller, the ANT pins point of CC2591
It Lian Jie not SMA antennas and FP inverse-F antennas.
9. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the master control
Device processed is additionally provided with 3G/4G/WIFI modules.
10. a kind of railway monitoring system based on 3D laser radars according to claim 1, which is characterized in that the report
Alarm device is short message alarm module, and the short message alarm module is connect by RS232 serial ports with the central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247421.2A CN108340942A (en) | 2018-03-23 | 2018-03-23 | A kind of railway monitoring system based on 3D laser radars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247421.2A CN108340942A (en) | 2018-03-23 | 2018-03-23 | A kind of railway monitoring system based on 3D laser radars |
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| Publication Number | Publication Date |
|---|---|
| CN108340942A true CN108340942A (en) | 2018-07-31 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810247421.2A Withdrawn CN108340942A (en) | 2018-03-23 | 2018-03-23 | A kind of railway monitoring system based on 3D laser radars |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109360361A (en) * | 2018-12-14 | 2019-02-19 | 辽宁奇辉电子系统工程有限公司 | A kind of railroad platform end intrusion detection early warning system |
| CN109375239A (en) * | 2018-11-13 | 2019-02-22 | 四川西南交大铁路发展股份有限公司 | A kind of circuitry obstacle object monitor and alarm system and method based on three-dimensional imaging |
| CN110481601A (en) * | 2019-09-04 | 2019-11-22 | 深圳市镭神智能系统有限公司 | A kind of rail detection system |
| CN111121941A (en) * | 2019-12-18 | 2020-05-08 | 沈阳风驰软件股份有限公司 | Sand burying detection device for railway sand damage road section |
| CN111142173A (en) * | 2018-11-02 | 2020-05-12 | 江西斯源科技有限公司 | ZigBee-based natural environment monitoring device for high-speed train operation |
| CN111976788A (en) * | 2019-05-22 | 2020-11-24 | 杭州电子科技大学 | High-speed rail transit network radar system |
-
2018
- 2018-03-23 CN CN201810247421.2A patent/CN108340942A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111142173A (en) * | 2018-11-02 | 2020-05-12 | 江西斯源科技有限公司 | ZigBee-based natural environment monitoring device for high-speed train operation |
| CN109375239A (en) * | 2018-11-13 | 2019-02-22 | 四川西南交大铁路发展股份有限公司 | A kind of circuitry obstacle object monitor and alarm system and method based on three-dimensional imaging |
| CN109360361A (en) * | 2018-12-14 | 2019-02-19 | 辽宁奇辉电子系统工程有限公司 | A kind of railroad platform end intrusion detection early warning system |
| CN111976788A (en) * | 2019-05-22 | 2020-11-24 | 杭州电子科技大学 | High-speed rail transit network radar system |
| CN110481601A (en) * | 2019-09-04 | 2019-11-22 | 深圳市镭神智能系统有限公司 | A kind of rail detection system |
| CN111121941A (en) * | 2019-12-18 | 2020-05-08 | 沈阳风驰软件股份有限公司 | Sand burying detection device for railway sand damage road section |
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Application publication date: 20180731 |