MILLIMETER WAVE RADAR APPARATUS DETERMINING OBSTACLE ON RAILWAY

A millimeter wave radar apparatus determining an obstacle on a railway is applied to the railway and the obstacle. The millimeter wave radar apparatus includes a user interface and a millimeter wave radar. The user interface is configured to control the millimeter wave radar. The millimeter wave radar is configured to transmit a radar wave to a predetermined range on the railway. The millimeter wave radar is configured to receive a reflected radar wave reflected from the predetermined range on the railway based on the radar wave. The user interface is configured to determine whether the obstacle is in the predetermined range on the railway based on the reflected radar wave. If the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to provide a warning.

BACKGROUND

Technical Field

The present disclosure relates to a millimeter wave radar apparatus, and especially relates to a millimeter wave radar apparatus determining an obstacle on a railway.

Description of Related Art

A train traveling fast on a railway often carries a large number of passengers or goods, so the safety of the train is very important. One of the most important factors affecting the safety of the train is whether there is an obstacle on the railway. Once there is the obstacle on the railway, the passing train will be very dangerous. However, the current railway obstacle warning system is often not real-time and accurate, which seriously affects the safety of the train.

SUMMARY OF THE DISCLOSURE

In order to solve the above-mentioned problems, an object of the present disclosure is to provide a millimeter wave radar apparatus determining an obstacle on a railway.

In order to achieve the object of the present disclosure mentioned above, the millimeter wave radar apparatus of the present disclosure is applied to the railway and the obstacle. The millimeter wave radar apparatus includes a user interface and a millimeter wave radar. The millimeter wave radar is electrically connected to the user interface. Moreover, the user interface is configured to control the millimeter wave radar. The millimeter wave radar is configured to transmit a radar wave to a predetermined range on the railway. The millimeter wave radar is configured to receive a reflected radar wave reflected from the predetermined range on the railway based on the radar wave. The user interface is configured to determine whether the obstacle is in the predetermined range on the railway based on the reflected radar wave. If the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to provide a warning.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, the millimeter wave radar apparatus further includes a camera lens electrically connected to the user interface. Moreover, the user interface is configured to control the camera lens. If the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to control the camera lens to photograph the obstacle in the predetermined range on the railway.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the user interface includes a microprocessor electrically connected to the millimeter wave radar and the camera lens.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the microprocessor includes a dynamic object tracking unit electrically connected to the millimeter wave radar. Moreover, the dynamic object tracking unit includes a point cloud capturing subunit electrically connected to the millimeter wave radar. Moreover, the point cloud capturing subunit is configured to obtain a point cloud information based on the reflected radar wave.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the dynamic object tracking unit further includes a point cloud reliability checking subunit electrically connected to the point cloud capturing subunit. Moreover, the point cloud reliability checking subunit is configured to check the point cloud information.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the dynamic object tracking unit further includes a point cloud classification subunit electrically connected to the point cloud capturing subunit. Moreover, if the point cloud information checked by the point cloud reliability checking subunit is correct, the point cloud capturing subunit is configured to transmit the point cloud information to the point cloud classification subunit. The point cloud classification subunit is configured to classify the point cloud information to obtain a point cloud classification information.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the dynamic object tracking unit further includes a point cloud variation tracking subunit electrically connected to the point cloud classification subunit.

Moreover, the point cloud classification subunit is configured to transmit the point cloud classification information to the point cloud variation tracking subunit. The point cloud variation tracking subunit is configured to determine whether the obstacle is dynamically in the predetermined range on the railway based on the point cloud classification information, and the point cloud variation tracking subunit is configured to determine a moving track and a moving speed of the obstacle based on the point cloud classification information. If the point cloud variation tracking subunit determines that the obstacle is dynamically in the predetermined range on the railway based on the point cloud classification information, the user interface is configured to determine that the obstacle is in the predetermined range on the railway based on the reflected radar wave.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the microprocessor further includes a static object determining unit electrically connected to the millimeter wave radar. Moreover, before the millimeter wave radar starts to determine/detect/scan, the millimeter wave radar and the static object determining unit are configured to use a range angle spectrum technology to record a background reflection information in the predetermined range on the railway. Then, after the millimeter wave radar starts determining/detecting/scanning, the millimeter wave radar and the static object determining unit are configured to subtract the background reflection information from a current reflection information to determine whether the obstacle is statically in the predetermined range on the railway. If the millimeter wave radar and the static object determining unit determine that the obstacle is statically in the predetermined range on the railway more than a predetermined time, the user interface is configured to determine that the obstacle is in the predetermined range on the railway based on the reflected radar wave.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, the millimeter wave radar apparatus is applied to a cloud system, wherein the user interface further includes a warning lamp and an alarm bell. The warning lamp is electrically connected to the microprocessor. The alarm bell is electrically connected to the microprocessor. Moreover, if the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to control the camera lens to photograph the obstacle in the predetermined range on the railway to upload to the cloud system, and the user interface is configured to light the warning lamp, and the user interface is configured to drive the alarm bell to generate a warning sound. The warning lamp is configured to further display the warning. The cloud system is configured to store an incident screen photo, an obstacle distance, an incident location coordinate and an incident time.

Moreover, in an embodiment of the millimeter wave radar apparatus of the present disclosure mentioned above, moreover the user interface further includes a timer electrically connected to the microprocessor. Moreover, if the user interface determines that the obstacle is in the predetermined range on the railway, the user interface is configured to provide the warning and is configured to utilize the timer to record an appearance time of the obstacle. If the user interface determines that the obstacle leaves the predetermined range on the railway, the user interface is configured to stop providing the warning and is configured to utilize the timer to record a departure time of the obstacle.

The advantage of the present disclosure is to promptly and accurately warn that the obstacle is on the railway, so as to improve the safety of the train running on the railway.

Please refer to the detailed descriptions and figures of the present disclosure mentioned below for further understanding the technology, method and effect of the present disclosure achieving the predetermined purposes. It believes that the purposes, characteristic and features of the present disclosure can be understood deeply and specifically. However, the figures are only for references and descriptions, but the present disclosure is not limited by the figures.

DETAILED DESCRIPTION

In the present disclosure, numerous specific details are provided, to provide a thorough understanding of embodiments of the disclosure. Persons of ordinary skill in the art will recognize, however, that the present disclosure can be practiced without one or more of the specific details. In other instances, well-known details are not shown or described to avoid obscuring aspects of the present disclosure. Now please refer to the figures for the explanation of the technical content and the detailed description of the present disclosure:

FIG.1shows a block diagram of the millimeter wave radar apparatus of the present disclosure. A millimeter wave radar apparatus10determining an obstacle on a railway of the present disclosure includes a user interface116, a millimeter wave radar104and a camera lens110. The user interface116includes a microprocessor102, a warning lamp130, an alarm bell218and a timer132. The components mentioned above are electrically connected to each other. The present disclosure only needs the user interface116and the millimeter wave radar104to achieve the effect and the purpose of the present disclosure.

FIG.2shows a first application situation of the millimeter wave radar apparatus of the present disclosure.FIG.3shows a second application situation of the millimeter wave radar apparatus of the present disclosure.FIG.4shows a third application situation of the millimeter wave radar apparatus of the present disclosure.FIG.5shows a fourth application situation of the millimeter wave radar apparatus of the present disclosure. Please refer toFIG.1toFIG.5at the same time for the following contents.

The millimeter wave radar apparatus10of the present disclosure is applied to a railway20, an obstacle30and a cloud system220. The user interface116is configured to control the millimeter wave radar104and the camera lens110. The millimeter wave radar104is configured to transmit a radar wave106to a predetermined range112on the railway20. The millimeter wave radar104is configured to receive a reflected radar wave108reflected from the predetermined range112on the railway20based on the radar wave106. The user interface116is configured to determine whether the obstacle30is in the predetermined range112on the railway20based on the reflected radar wave108. Moreover, the millimeter wave radar104and the camera lens110can be arranged at any locations/positions/places of the periphery of the railway20.

If the user interface116determines that the obstacle30is in the predetermined range112on the railway20, the user interface116is configured to provide a warning114, and the user interface116is configured to light the warning lamp130, and the user interface116is configured to drive the alarm bell218to generate a warning sound, and the warning lamp130is configured to further display the warning114, and the user interface116is configured to utilize the timer132to record an appearance time of the obstacle30, and the user interface116is configured to control the camera lens110to photograph the obstacle30in the predetermined range112on the railway20to upload to the cloud system220. The cloud system220is configured to store an incident screen photo, an obstacle distance, an incident location coordinate and an incident time.

If the user interface116determines that the obstacle30leaves the predetermined range112on the railway20, the user interface116is configured to stop providing the warning114and is configured to utilize the timer132to record a departure time of the obstacle30.

FIG.2shows that the millimeter wave radar104is determining whether the obstacle30is in the predetermined range112on the railway20, andFIG.2shows that the obstacle30is not in the predetermined range112on the railway20.FIG.3shows that the millimeter wave radar104determines that the obstacle30(for example, a falling rock) is in the predetermined range112on the railway20, and the user interface116provides the warning114and records the appearance time of the obstacle30, and the camera lens110photographs the obstacle30in the predetermined range112on the railway20.FIG.4shows that the obstacle30leaves the predetermined range112on the railway20, and the user interface116stops providing the warning114, and the user interface116records the departure time of the obstacle30.FIG.5shows another kind of obstacle30, for example, a vehicle that breaks into the railway20.

FIG.6shows a block diagram of an embodiment of the microprocessor of the present disclosure. Please refer toFIG.1toFIG.5at the same time. The microprocessor102includes a dynamic object tracking unit118and a static object determining unit216. The dynamic object tracking unit118includes a point cloud capturing subunit120, a point cloud reliability checking subunit122, a point cloud classification subunit124and a point cloud variation tracking subunit128. The components mentioned above are electrically connected to each other.

The point cloud capturing subunit120is configured to obtain a point cloud information134based on the reflected radar wave108. The point cloud reliability checking subunit122is configured to check the point cloud information134. If the point cloud information134checked by the point cloud reliability checking subunit122is correct, the point cloud capturing subunit120is configured to transmit the point cloud information134to the point cloud classification subunit124. In other words, the point cloud reliability checking subunit122has a determination mechanism (namely, a determination standard) to determine whether the point cloud information134is correct. If the point cloud information134passes the determination standard, the point cloud information134can be used. If the point cloud information134does not achieve the determination standard, the point cloud information134needs to be recollected/recaptured.

The point cloud classification subunit124is configured to classify the point cloud information134to obtain a point cloud classification information126. The point cloud classification subunit124is configured to transmit the point cloud classification information126to the point cloud variation tracking subunit128. The point cloud variation tracking subunit128is configured to determine whether the obstacle30is dynamically in the predetermined range112on the railway20based on the point cloud classification information126, and the point cloud variation tracking subunit128is configured to determine a moving track and a moving speed of the obstacle30based on the point cloud classification information126. If the point cloud variation tracking subunit128determines that the obstacle30is dynamically in the predetermined range112on the railway20based on the point cloud classification information126, the user interface116is configured to determine that the obstacle30is in the predetermined range112on the railway20based on the reflected radar wave108(namely, the above-mentioned recitation “the point cloud variation tracking subunit128determines that the obstacle30is dynamically in the predetermined range112on the railway20based on the point cloud classification information126” means that “the user interface116is configured to determine that the obstacle30is in the predetermined range112on the railway20based on the reflected radar wave108”).

Before the millimeter wave radar104starts to determine/detect/scan, the millimeter wave radar104and the static object determining unit216are configured to use a range angle spectrum (which is also called the range angle heat map) technology to record a background reflection information in the predetermined range112on the railway20. Then, after the millimeter wave radar104starts determining/detecting/scanning, the millimeter wave radar104and the static object determining unit216are configured to subtract the background reflection information from a current reflection information to determine whether the obstacle30is statically in the predetermined range112on the railway20. If the millimeter wave radar104and the static object determining unit216determine that the obstacle30is statically in the predetermined range112on the railway20more than a predetermined time, the user interface116is configured to determine that the obstacle30is in the predetermined range112on the railway20based on the reflected radar wave108(namely, the above-mentioned recitation “the millimeter wave radar104and the static object determining unit216determine that the obstacle30is statically in the predetermined range112on the railway20more than a predetermined time” means that “the user interface116is configured to determine that the obstacle30is in the predetermined range112on the railway20based on the reflected radar wave108”).

Moreover, the dynamic object tracking unit118and the static object determining unit216of the microprocessor102of the present disclosure are configured to determine a size status of the obstacle30. If the dynamic object tracking unit118and the static object determining unit216of the microprocessor102determines that the size status of the obstacle30is smaller than a predetermined-ignored size status, the dynamic object tracking unit118and the static object determining unit216of the microprocessor102are configured to ignore the obstacle30. Therefore, the present disclosure does not determine an object which does not affect the travel and the safety of the train (such as a small stone) as the obstacle30.

The dynamic object tracking unit118, the static object determining unit216, the point cloud capturing subunit120, the point cloud reliability checking subunit122, the point cloud classification subunit124and the point cloud variation tracking subunit128can be integrated into the microprocessor102. Namely, the respective works of the above-mentioned units/subunits are all performed by the microprocessor102. Or, the above-mentioned units/subunits are respective microprocessors or signal processors or electronic components, so as to perform the respective works of the above-mentioned units/subunits.

For example, the dynamic object tracking unit118is a first microprocessor or a first signal processor; the static object determining unit216is a second microprocessor or a second signal processor; the point cloud capturing subunit120is a third microprocessor or a third signal processor; the point cloud reliability checking subunit122is a fourth microprocessor or a fourth signal processor; the point cloud classification subunit124is a fifth microprocessor or a fifth signal processor; the point cloud variation tracking subunit128is a sixth microprocessor or a sixth signal processor.

Moreover,FIG.7shows a block diagram of an embodiment of the millimeter wave radar of the present disclosure. Please refer toFIG.1toFIG.6together. The millimeter wave radar104includes an analog-to-digital circuit136, a millimeter wave receiving circuit138and a millimeter wave transmitting circuit140. The analog-to-digital circuit136is electrically connected to the microprocessor102. The millimeter wave receiving circuit138is electrically connected to the analog-to-digital circuit136. The millimeter wave transmitting circuit140is electrically connected to the millimeter wave receiving circuit138. The millimeter wave transmitting circuit140is configured to transmit the radar wave106to the predetermined range112on the railway20. The millimeter wave receiving circuit138is configured to receive the reflected radar wave108reflected from the predetermined range112on the railway20based on the radar wave106. The millimeter wave receiving circuit138is configured to process the reflected radar wave108to obtain an analog signal142. The millimeter wave receiving circuit138is configured to transmit the analog signal142to the analog-to-digital circuit136. The analog-to-digital circuit136is configured to process the analog signal142to obtain a digital signal144. The analog-to-digital circuit136is configured to transmit the digital signal144to the microprocessor102. The digital signal144includes the point cloud information134.

Moreover,FIG.8shows a block diagram of an embodiment of the analog-to-digital circuit of the present disclosure. Please refer toFIG.1toFIG.7together. The analog-to-digital circuit136includes a digital front-end decimation filter146, an analog-to-digital conversion buffer148, a hardware accelerator150, a first analog-to-digital converter152, a second analog-to-digital converter154, a third analog-to-digital converter156and a fourth analog-to-digital converter158. The digital front-end decimation filter146is electrically connected to the microprocessor102. The analog-to-digital conversion buffer148is electrically connected to the digital front-end decimation filter146. The hardware accelerator150is electrically connected to the analog-to-digital conversion buffer148. The first analog-to-digital converter152is electrically connected to the digital front-end decimation filter146and the millimeter wave receiving circuit138. The second analog-to-digital converter154is electrically connected to the digital front-end decimation filter146and the millimeter wave receiving circuit138. The third analog-to-digital converter156is electrically connected to the digital front-end decimation filter146and the millimeter wave receiving circuit138. The fourth analog-to-digital converter158is electrically connected to the digital front-end decimation filter146and the millimeter wave receiving circuit138.

Moreover,FIG.9shows a partial block diagram of an embodiment of the millimeter wave receiving circuit of the present disclosure. Please refer toFIG.1toFIG.8together. The millimeter wave receiving circuit138includes a first intermediate frequency filter160, a second intermediate frequency filter162, a third intermediate frequency filter164, a fourth intermediate frequency filter166, a first frequency mixer168, a second frequency mixer170, a third frequency mixer172and a fourth frequency mixer174. The first intermediate frequency filter160is electrically connected to the first analog-to-digital converter152. The second intermediate frequency filter162is electrically connected to the second analog-to-digital converter154. The third intermediate frequency filter164is electrically connected to the third analog-to-digital converter156. The fourth intermediate frequency filter166is electrically connected to the fourth analog-to-digital converter158. The first frequency mixer168is electrically connected to the first intermediate frequency filter160and the millimeter wave transmitting circuit140. The second frequency mixer170is electrically connected to the second intermediate frequency filter162and the millimeter wave transmitting circuit140. The third frequency mixer172is electrically connected to the third intermediate frequency filter164and the millimeter wave transmitting circuit140. The fourth frequency mixer174is electrically connected to the fourth intermediate frequency filter166and the millimeter wave transmitting circuit140.

Moreover,FIG.10shows another partial block diagram of the embodiment of the millimeter wave receiving circuit of the present disclosure. Please refer toFIG.1toFIG.9together. The millimeter wave receiving circuit138further includes a first low-noise amplifier176, a second low-noise amplifier178, a third low-noise amplifier180, a fourth low-noise amplifier182, a first receiving antenna184, a second receiving antenna186, a third receiving antenna188and a fourth receiving antenna190. The first low-noise amplifier176is electrically connected to the first frequency mixer168. The second low-noise amplifier178is electrically connected to the second frequency mixer170. The third low-noise amplifier180is electrically connected to the third frequency mixer172. The fourth low-noise amplifier182is electrically connected to the fourth frequency mixer174. The first receiving antenna184is electrically connected to the first low-noise amplifier176. The second receiving antenna186is electrically connected to the second low-noise amplifier178. The third receiving antenna188is electrically connected to the third low-noise amplifier180. The fourth receiving antenna190is electrically connected to the fourth low-noise amplifier182.

Moreover,FIG.11shows a block diagram of an embodiment of the millimeter wave transmitting circuit of the present disclosure. Please refer toFIG.1toFIG.10together. The millimeter wave transmitting circuit140includes a first phase shifter192, a second phase shifter194, a third phase shifter196, a frequency multiplier198, a frequency synthesizer200and a ramp generator202. The first phase shifter192is electrically connected to the millimeter wave receiving circuit138. The second phase shifter194is electrically connected to the millimeter wave receiving circuit138. The third phase shifter196is electrically connected to the millimeter wave receiving circuit138. The frequency multiplier198is electrically connected to the millimeter wave receiving circuit138, the first phase shifter192, the second phase shifter194and the third phase shifter196. The frequency synthesizer200is electrically connected to the frequency multiplier198. The ramp generator202is electrically connected to the frequency synthesizer200.

Moreover, according toFIG.11, the millimeter wave transmitting circuit140further includes a first power amplifier204, a second power amplifier206, a third power amplifier208, a first transmitting antenna210, a second transmitting antenna212and a third transmitting antenna214. The first power amplifier204is electrically connected to the first phase shifter192. The second power amplifier206is electrically connected to the second phase shifter194. The third power amplifier208is electrically connected to the third phase shifter196. The first transmitting antenna210is electrically connected to the first power amplifier204. The second transmitting antenna212is electrically connected to the second power amplifier206. The third transmitting antenna214is electrically connected to the third power amplifier208.

The advantage of the present disclosure is to promptly and accurately warn that the obstacle is on the railway, so as to improve the safety of the train running on the railway. When the obstacle30invades the railway20, the alarm bell218, the warning lamp130and the camera lens110will be triggered, and the warning data will be uploaded to the cloud system220, and the train driver can know the road conditions ahead in advance based on the warning result of the cloud system220, so as to reduce the occurrence of the accidents.

Although the present disclosure has been described with reference to the preferred embodiment thereof, it will be understood that the disclosure is not limited to the details thereof. Various substitutions and modifications have been suggested in the foregoing description, and others will occur to those of ordinary skill in the art. Therefore, all such substitutions and modifications are intended to be embraced within the scope of the disclosure as defined in the appended claims.