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CN-122009276-A - Obstacle detection system, method and device and electronic equipment

CN122009276ACN 122009276 ACN122009276 ACN 122009276ACN-122009276-A

Abstract

The application discloses an obstacle detection system, method and device and electronic equipment, and relates to the field of automatic control. And determining whether the travel switch sensors in abnormal states exist according to the number of contacts with the initial states of the contacts of the two travel switch sensors changed, wherein the initial states are preset states maintained by the contacts of the travel switch sensors when no obstacle is detected. On the basis, when the number of the determined travel switch sensors in the abnormal state is not less than 1, determining the fault severity level according to the number of the contacts, and prompting corresponding processing advice according to the fault severity level. And when the travel switch sensor in the abnormal state is determined to be absent, a corresponding obstacle or derailment prompt signal is sent. The false triggering of braking caused by single-point faults can be avoided, and the operation safety is improved.

Inventors

  • XIE JIAJIA
  • GUO NING
  • HE JINLONG
  • ZHAO YUE

Assignees

  • 中车长春轨道客车股份有限公司

Dates

Publication Date
20260512
Application Date
20260227

Claims (10)

  1. 1. The obstacle detection system is characterized by comprising a main control module and at least one obstacle detection module connected with the main control module, wherein the obstacle detection module comprises two travel switch sensors, the two travel switch sensors are arranged on the same side of a railway vehicle, and the two travel switch sensors are redundant.
  2. 2. The obstacle detection system of claim 1, wherein the master control module comprises two mutually redundant master control sub-modules and two mutually redundant power boards, each power board is used for supplying power to each master control sub-module, and each master control sub-module is connected with two travel switch sensors.
  3. 3. An obstacle detection method for use in the obstacle detection system of claim 2, the method comprising: determining whether a travel switch sensor in an abnormal state exists according to the number of contacts with changed initial states of the two travel switch sensors and whether the contacts belong to the same travel switch sensor, wherein the initial states are preset states maintained by the contacts of the travel switch sensor when no obstacle is detected; When the number of the determined travel switch sensors in the abnormal state is not less than 1, determining the fault severity level according to the number of the contacts; And sending a prompt signal representing that the obstacle or derailment is detected when the travel switch sensor in the abnormal state is determined to be absent and the contact point with the initial state changed is present.
  4. 4. The obstacle detecting method according to claim 3, wherein the determining whether there is a travel switch sensor in an abnormal state based on the number of contacts that change according to initial states of contacts of the two travel switch sensors and whether the contacts belong to the same travel switch sensor includes: If the number of the contacts with the initial state changed is 1, taking a travel switch sensor with the contacts as the travel switch sensor in the abnormal state; And if the number of the contacts with the initial state changed is 2 and the 2 contacts belong to the first travel switch sensor, using the second travel switch sensor as the travel switch sensor in the abnormal state.
  5. 5. The obstacle detection method as claimed in claim 4, further comprising: and determining the fault severity level as a first fault level, and prompting a processing suggestion for representing that the railway vehicle runs to a target place and then is checked according to the first fault level.
  6. 6. The obstacle detecting method according to claim 3, wherein the determining whether there is a travel switch sensor in an abnormal state based on the number of contacts that change according to initial states of contacts of the two travel switch sensors and whether the contacts belong to the same travel switch sensor includes: If the number of the contacts with the initial state being changed is 3, taking a travel switch sensor with the initial state of the contacts unchanged as the travel switch sensor in the abnormal state; And if the number of the contacts with the initial state changed is 2, and the first contact with the initial state changed belongs to a first travel switch sensor and the second contact belongs to a second travel switch sensor, the first travel switch sensor and the second travel switch sensor are used as travel switch sensors in abnormal states.
  7. 7. The obstacle detection method as claimed in claim 6, further comprising: And determining the fault severity level as a second fault level, prompting a processing suggestion representing that the rail vehicle runs to a nearest station for inspection according to the second fault level, and sending a prompting signal representing that an obstacle exists when the number of contacts with the initial state changed is 3.
  8. 8. The obstacle detection method according to any one of claims 3 to 7, characterized by further comprising: Sequentially executing a first flow of power supply detection of each power panel, a second flow of mutual detection of the two main control sub-modules, a third flow of sensor signal receiving detection on the two main control sub-modules and a fourth flow of output sensor signal detection on the two main control sub-modules; and if the detection result of the first flow, the detection result of the second flow, the detection result of the third flow or the detection result of the fourth flow indicates that any one of the detection results does not pass, stopping the running of the railway vehicle.
  9. 9. An obstacle detecting apparatus, comprising: The state monitoring module is used for determining whether the travel switch sensor in an abnormal state exists or not according to the quantity of contacts with the initial states of the contacts of the two travel switch sensors changed and whether the contacts belong to the same travel switch sensor, wherein the initial state is a preset state maintained by the contacts of the travel switch sensor when no obstacle is detected; A first detection module for determining the fault severity level according to the contact number when the number of the determined travel switch sensors in the abnormal state is not less than 1, and And the second detection module is used for sending a prompt signal representing that the obstacle or derailment is detected when the travel switch sensor in the abnormal state is determined to be absent and the contact point with the initial state changed is present.
  10. 10. An electronic device comprising at least one processor and a memory coupled to the processor, wherein: the memory is used for storing a computer program; The processor is configured to execute the computer program to enable the electronic device to implement the obstacle detection method as claimed in any one of claims 3 to 8.

Description

Obstacle detection system, method and device and electronic equipment Technical Field The present application relates to the field of automatic control technologies, and in particular, to a system, a method, a device, and an electronic apparatus for detecting an obstacle. Background For rail vehicles, contact obstacle detection is a key trigger mechanism for emergency braking systems that minimizes accident damage by immediately initiating emergency braking upon detection of a physical collision with an obstacle. The existing obstacle detection system of the railway vehicle is extremely easy to cause error recognition of obstacles due to single-point faults caused by obstacle detection sensors and the like in the system, so that false triggering of emergency braking is caused, and running safety of the railway vehicle is seriously threatened. Disclosure of Invention In view of the above problems, the application provides a system, a method, a device and an electronic device for detecting an obstacle, so as to achieve the purposes of improving the detection reliability and running safety. The specific scheme is as follows: The application provides an obstacle detection system, which comprises a main control module and at least one obstacle detection module connected with the main control module, wherein the obstacle detection module comprises two travel switch sensors, the two travel switch sensors are arranged on the same side of a railway vehicle, and the two travel switch sensors are redundant. In one possible implementation, the main control module comprises two main control sub-modules which are redundant with each other and two power boards which are redundant with each other, wherein each power board respectively supplies power for each main control sub-module, and each main control sub-module is respectively connected with two travel switch sensors. A second aspect of the present application provides an obstacle detection method, for use in the obstacle detection system of the first aspect, the method comprising: determining whether a travel switch sensor in an abnormal state exists according to the number of contacts with changed initial states of the two travel switch sensors and whether the contacts belong to the same travel switch sensor, wherein the initial states are preset states maintained by the contacts of the travel switch sensor when no obstacle is detected; When the number of the determined travel switch sensors in the abnormal state is not less than 1, determining the fault severity level according to the number of the contacts; And sending a prompt signal representing that the obstacle or derailment is detected when the travel switch sensor in the abnormal state is determined to be absent and the contact point with the initial state changed is present. In one possible implementation, the determining whether there is a travel switch sensor in an abnormal state according to the number of contacts that change according to initial states of contacts of two travel switch sensors and whether the contacts belong to the same travel switch sensor includes: If the number of the contacts with the initial state changed is 1, taking a travel switch sensor with the contacts as the travel switch sensor in the abnormal state; And if the number of the contacts with the initial state changed is 2 and the 2 contacts belong to the first travel switch sensor, using the second travel switch sensor as the travel switch sensor in the abnormal state. In one possible implementation, the obstacle detection method further includes: and determining the fault severity level as a first fault level, and prompting a processing suggestion for representing that the railway vehicle runs to a target place and then is checked according to the first fault level. In one possible implementation, the determining whether there is a travel switch sensor in an abnormal state according to the number of contacts that change according to initial states of contacts of two travel switch sensors and whether the contacts belong to the same travel switch sensor includes: If the number of the contacts with the initial state being changed is 3, taking a travel switch sensor with the initial state of the contacts unchanged as the travel switch sensor in the abnormal state; And if the number of the contacts with the initial state changed is 2, and the first contact with the initial state changed belongs to a first travel switch sensor and the second contact belongs to a second travel switch sensor, the first travel switch sensor and the second travel switch sensor are used as travel switch sensors in abnormal states. In one possible implementation, the obstacle detection method further includes: And determining the fault severity level as a second fault level, prompting a processing suggestion representing that the rail vehicle runs to a nearest station for inspection according to the second fault level, and sending a prompting signal repres