CN-121973831-A - Real-time acquisition method and device for train operation environment data

Abstract

The application provides a real-time acquisition method and device for train operation environment data, wherein the device comprises a case, a sensor module, a radar module, a network communication module and a plurality of pitch angle adjusting modules, wherein the sensor module is arranged in the case and comprises at least one camera module for acquiring optical image data in front of train operation, one radar module for acquiring point cloud data in front of train operation, one infrared heat meter module for acquiring infrared thermal imaging data in front of train operation, one network communication module connected with the camera module, the radar module and the infrared heat meter module and used for collecting and transmitting acquired multi-source data, and the pitch angle adjusting modules are respectively connected with the camera module, the radar module and the infrared heat meter module and used for independently adjusting pitch angles of the corresponding modules so as to optimize perception vision of the corresponding modules. The intelligent sensing device overcomes the defect that a single sensor is limited in performance in severe weather such as night, rain and fog, and the like, and greatly improves the intelligent sensing breadth and depth of a train.

Inventors

• WANG ZHICHENG
• ZHANG BO
• CAO HONGFA
• KANG JINGHUI
• YANG WEIJUN
• ZHAO HONGWEI
• GAO FENG
• LI YANGTAO
• ZHANG SHUNGUANG
• XIA FEI
• YANG XIAOMING
• ZHANG ZHELONG
• CAI YIFEI
• LI ZIJIANG

Assignees

• 中国铁道科学研究院集团有限公司
• 北京纵横机电科技有限公司
• 中国铁道科学研究院集团有限公司机车车辆研究所
• 铁科纵横（天津）科技发展有限公司

Dates

Publication Date

20260505

Application Date

20251231

Claims (10)

1. 1. The utility model provides a train operation environment data real-time acquisition device which characterized in that includes: the device comprises a case, wherein a sensor module is arranged in the case; the sensor module includes: At least one camera assembly for acquiring optical image data ahead of the train operation; The radar component is used for collecting point cloud data in front of train operation; the infrared heat meter assembly is used for collecting infrared thermal imaging data in front of train operation; The network communication module is connected with the camera assembly, the radar assembly and the infrared heat meter assembly and used for collecting and transmitting the acquired multi-source data; And the pitch angle adjusting assemblies are respectively connected with the camera assembly, the radar assembly and the infrared heat meter assembly and are used for independently adjusting the pitch angles of the corresponding assemblies so as to optimize the perception field of view.
2. 2. The real-time acquisition device of train operation environment data according to claim 1, wherein the pitch angle adjusting assembly comprises a sensor mounting plate, a bottom plate, a tightness adjusting handle and an adjusting support rod, the sensor mounting plate is used for connecting and fixing the camera assembly and the radar assembly, round rectangular screw holes are respectively formed in two sides of the head of the sensor mounting plate, the bottom plate is connected with the bottom of the case to fix the pitch angle adjusting assembly, round screw holes are respectively formed in two sides of the head of the bottom plate, the tightness adjusting handle is connected between the round rectangular screw holes and the round screw holes, the adjusting support rod is fixed on the bottom plate through a fixing base, and round support nuts capable of rotatably adjusting the height are arranged on the head of the adjusting support rod to raise or lower the sensor mounting plate.
3. 3. The real-time acquisition device of train operation environment data according to claim 2, wherein the pitch angle adjusting assembly further comprises a supporting rotating shaft assembly, and the supporting rotating shaft assembly is connected to the sensor mounting plate and the tail of the bottom plate and used for adjusting the left and right steering angles of the pitch angle adjusting assembly.
4. 4. A real-time train operation environment data acquisition device according to claim 2 or 3, wherein the camera assembly comprises a near view camera, a middle view camera and a far view camera, the far view camera being distributed on the left side of the camera assembly, the near view camera being distributed in the middle of the camera assembly, the middle view camera being distributed on the right side of the camera assembly.
5. 5. The real-time train operation environment data acquisition device according to claim 4, wherein the radar component and the pitch angle adjusting component corresponding to the radar component are located above the close-range camera.
6. 6. The real-time train operation environment data acquisition device according to claim 4, wherein the infrared heat meter assembly is positioned at the left side of the long-range camera and is fixedly connected with the side wall of the sensor mounting plate of the pitch angle adjusting assembly corresponding to the long-range camera.
7. 7. The real-time train operation environment data acquisition device according to claim 4, further comprising a heat sink device disposed at a rear of the radar assembly.
8. 8. The real-time train operation environment data collection device according to claim 4, wherein the network communication module comprises a plurality of network interfaces, and the near view camera, the far view camera, the middle view camera, the radar component and the infrared heat meter component are connected to the corresponding network interfaces through network cables and connected to external devices through the remaining network interfaces.
9. 9. The real-time train operation environment data acquisition device according to claim 7, wherein the sensor module further comprises a power converter module, the power converter module is located at the rear side of the near-field camera, the power converter module comprises a first power module and a second power module, the first power module is responsible for converting high voltage into low voltage for supplying power to the camera assembly, the radar assembly and the infrared thermodynamic instrument assembly, and the second power module is responsible for converting high voltage into low voltage for supplying power to the heat sink and the network communication module.
10. 10. A method for acquiring train operation environment data in real time, wherein the method utilizes the train operation environment data real-time acquisition device as claimed in any one of claims 1 to 9 to acquire the data, and the method comprises the following steps: According to the actual running requirement of the train, the pitch angle adjusting assemblies corresponding to the sensors are independently operated, and the optimal sensing pitch angles are respectively set for the camera assembly, the radar assembly and the infrared heat meter assembly; Acquiring optical image data in front of train operation through the camera assembly; Acquiring point cloud data of the same front area through the radar component; Acquiring infrared thermal imaging data of the same front area through the infrared heat meter assembly; And collecting the optical image data, the point cloud data and the infrared thermal imaging data which are collected in parallel through the network communication module, and transmitting the optical image data, the point cloud data and the infrared thermal imaging data to external equipment in real time for subsequent processing.

Description

Real-time acquisition method and device for train operation environment data Technical Field The application relates to the technical field of rail transit data acquisition, in particular to a method and a device for acquiring train running environment data in real time. Background With the rapid development of rail transit, train operation is facing increasingly complex external environments and multiple challenges. Firstly, the surrounding environment of the line is complex and changeable, and sudden working conditions such as foreign matter intrusion, personnel false entry and the like become normals influencing driving safety. Secondly, under severe weather conditions such as night, rain and fog, ice and snow, sand and dust, the visual field of a driver can be severely limited, the effective observation distance is greatly shortened, and even less than hundred meters in extreme cases. This reduction in visibility can directly lead to delays in train signal identification and delays in forward obstacle perception, leading to a dramatic increase in the risk of driving safety. Therefore, how to break through the visual bottleneck of human drivers and realize all-weather and full-range reliable environment perception becomes an urgent technical proposition for guaranteeing the railway transportation safety. To solve the above-mentioned problems, attempts have been made in the prior art to mount sensors on a train to assist the driver in environmental awareness. However, these solutions have the following drawbacks in general: The performance limitation of a single sensor cannot be met all-weather, and the traditional scheme adopted on the current train is mostly dependent on a single type of sensor (such as a camera only). Such sensors may work well under good lighting conditions, but may drop sharply or even fail completely in low visibility scenes such as at night, heavy rain, heavy fog, etc. In addition, a single two-dimensional optical image cannot acquire depth information of a scene, and accurate three-dimensional reconstruction of the environment is difficult, so that the comprehensiveness and reliability of perception are seriously affected. The sensor is fixed in a mounting mode, the sensing range is limited, the sensor module in the prior art is usually mounted on a vehicle body at a fixed angle, and the sensing direction and the pitching angle cannot be changed after the sensor module is mounted. The mounting mode of the solidification lacks flexibility, and once the slope change of a front line, a curve or a specific area needs to be focused, a fixed visual field can not cover key information, so that a perception blind area appears, the best perception data can not be ensured to be acquired, and the scientificity and the accuracy of data acquisition are reduced. Multisource data collaboration is inefficient and lacks an integrated design, which is often a simple device heap even if some schemes attempt to integrate multiple sensors, and lacks an integrated and modular design. Each sensor works independently, data are difficult to synchronize in time, and collaborative calibration is lacking in physical space, so that subsequent data fusion processing is difficult and the efficiency is low. Meanwhile, the scattered layout also brings challenges to installation, power supply and heat dissipation, and influences the stability and safety of the whole system. In summary, the prior art has obvious defects in the environmental adaptability and the sensing flexibility of the sensor and the integrity of the multi-source data collaborative work, and is difficult to meet the urgent requirements of modern trains on high-precision, high-reliability and all-weather real-time sensing of the running environment. Disclosure of Invention In view of the above, the present application provides a method and apparatus for collecting train operation environment data in real time, so as to solve at least one of the above-mentioned problems. In order to achieve the above purpose, the present application adopts the following scheme: according to a first aspect of the present application, there is provided a real-time train operation environment data acquisition apparatus, comprising: the device comprises a case, wherein a sensor module is arranged in the case; the sensor module includes: At least one camera assembly for acquiring optical image data ahead of the train operation; The radar component is used for collecting point cloud data in front of train operation; the infrared heat meter assembly is used for collecting infrared thermal imaging data in front of train operation; The network communication module is connected with the camera assembly, the radar assembly and the infrared heat meter assembly and used for collecting and transmitting the acquired multi-source data; And the pitch angle adjusting assemblies are respectively connected with the camera assembly, the radar assembly and the infrared heat meter assemb