CN114044005B - Foreign matter detection and treatment device and method between platform screen door and train - Google Patents
Foreign matter detection and treatment device and method between platform screen door and train Download PDFInfo
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- CN114044005B CN114044005B CN202111579119.5A CN202111579119A CN114044005B CN 114044005 B CN114044005 B CN 114044005B CN 202111579119 A CN202111579119 A CN 202111579119A CN 114044005 B CN114044005 B CN 114044005B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
The invention provides a foreign matter detection and treatment device between a platform screen door and a train, which is electrically connected with an original platform system, interlocking equipment and a train control system of a subway station and is used for detecting and automatically treating the foreign matters between the platform screen door and the train, and comprises the following components: the system comprises a detection module, a data preprocessing module, a real-time data acquisition processing module, a data processing module, a decision and treatment module and a maintenance learning module. Meanwhile, the invention also provides a method for detecting and disposing foreign matters between the platform screen door and the train. The invention is applied to a platform screen door signal control system, is used for controlling a subway platform screen door, is linked with a platform system, interlocking equipment and a train control system, can avoid serious casualties, quickly responds to processing accidents, and reduces the influence on operation.
Description
Technical Field
The invention relates to the technical field of obstacle detection, in particular to a foreign matter detection and treatment device and a foreign matter detection and treatment method between a platform screen door and a train.
Background
The subway is a main traffic tool for daily commuting of people in large cities, and in order to prevent accidents that passengers drop into a train running line under large passenger flows, most subway stations are provided with shielding doors between a platform and a tunnel. A gap with the width of 10-35 cm exists between the subway platform screen door and the train, and during rush hours, passengers are overcrowded or partial passengers' door punching conditions occur when passengers or articles carried by the passengers are clamped in gaps between the two doors, and the lives of the passengers are even endangered.
The detection of foreign matters between the subway platform screen door and the train is a difficult problem, and the existing detection means mainly comprise manual observation, laser detection, point-to-point cameras and the like, wherein the manual observation mode is easily influenced by weather conditions, and has certain pressure on the working intensity of staff; the laser detection mode is not suitable for the condition of a curve platform; on one hand, the characteristic extraction and matching of photographed image under dark illumination or overexposure are difficult in a manner of installing the point-to-point cameras on the subway platform screen door and the train door, and the images are easily misreported due to the influence of the use environment. In addition, for the condition that foreign matters exist in the platform screen door and the train, a manual intervention mode is mainly adopted at present, but due to the hysteresis of the manual intervention mode, subway accidents cannot be avoided. The existing technology for detecting and processing the foreign matters of the shielding door is difficult to meet the safety requirement of SIL4 (safety IntegrityLevel 4, safety integrity level authentication level 4).
Disclosure of Invention
The invention aims to provide a foreign matter detection and treatment device and a foreign matter detection and treatment method between a platform screen door and a train based on a multi-data fusion and self-adaptive learning algorithm, which are applied to a platform screen door signal control system and are used for controlling a subway platform screen door and are linked with a platform system, interlocking equipment and a train control system, so that serious casualties can be avoided, accidents can be rapidly responded and treated, and the influence on operation is reduced.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
the utility model provides a foreign matter detection processing apparatus between platform screen door and train, sets up in the subway station yard, is connected with the original platform system of subway station yard, interlocking equipment and train control system electricity, carries out information interaction with the platform information of platform system output, interlocking information of interlocking equipment output, train control system output's train control system information for detect the foreign matter between platform screen door and the train and automatic processing, include:
the detection module is used for detecting foreign matters between the platform screen door and the train;
the data preprocessing module is electrically connected with the detection module, the platform system and the interlocking equipment respectively, and is used for carrying out initialization setting when a train does not enter a station, extracting parameters of the detection module, partial platform information and interlocking information and generating initialized station status information;
the real-time data acquisition and processing module is electrically connected with the detection module and is used for processing the output information of the detection module to generate a detection and identification result;
the data processing module is respectively and electrically connected with the detection module, the data preprocessing module and the real-time data acquisition processing module and is used for analyzing and processing the detection and identification result to generate a foreign matter identification and analysis result;
and the decision and treatment module is respectively and electrically connected with the platform system, the interlocking equipment, the train control system, the data preprocessing module and the data processing module and is used for carrying out data fusion processing on the foreign matter identification analysis result, the initialized station state information, the platform information, the interlocking information and the train control system information to generate a treatment decision and correspondingly treat the foreign matter.
Preferably, the detection module comprises:
the laser range finder is a reflective laser range finder and is arranged in a gap between a platform shielding wall and a train body parked adjacent to the platform shielding wall, and comprises a transmitting end, a receiving end and a reflecting plate, wherein the transmitting end and the receiving end are both arranged at the same end of a parked train, the reflecting plate is arranged at the other end of the parked train, the transmitting end horizontally transmits laser to the direction of the reflecting plate, and a laser path is a transmitting end-reflecting plate-receiving end and is used for detecting whether foreign matters exist between a platform shielding door and the train and outputting laser range finder information;
the infrared camera is arranged in a gap between the platform shielding wall and a train body adjacent to the platform shielding wall for stopping, is close to the head position of a stopped train and shoots approximately horizontally towards the tail direction; or the device is arranged at the tail position close to the parked train, shoots the train approximately horizontally towards the direction of the train head, is used for shooting the infrared image between the platform screen door and the train, and outputs the information of the infrared camera.
Preferably, the laser range finders comprise 4 identical laser range finders, each laser range finders have different ground clearance heights, wherein the transmitting ends and the receiving ends of 2 laser range finders are arranged at the head positions of the parked trains, and the transmitting ends and the receiving ends of 2 laser range finders are arranged at the tail positions of the parked trains.
Preferably, the infrared cameras comprise 2 identical infrared cameras which are respectively arranged at the head position and the tail position of the parked train.
Preferably, the laser range finder is a linear array laser detector with a rotary platform, so that a 3D scanning function can be realized.
Preferably, the initialization setting function of the data preprocessing module includes adjusting filtering parameters of the laser range finder and angles of the transmitter and the receiver.
Preferably, the initialization setting function of the data preprocessing module comprises adjusting shooting angle and background noise filtering parameters of the infrared camera.
Preferably, the real-time data acquisition processing module includes:
the laser range finder acquisition module is electrically connected with the laser range finder and is used for processing the information of the laser range finder to generate a laser range finding identification result;
the infrared camera acquisition module is electrically connected with the infrared camera and is used for processing the information of the infrared camera to generate an infrared camera identification result;
the detection recognition result comprises the laser ranging recognition result and the infrared shooting recognition result.
Preferably, the data processing module performs weighted 2oo2 voting on the laser ranging recognition result and the infrared camera shooting recognition result in combination with the initialized station state information, and generates a foreign matter recognition analysis result according to the voting result.
Preferably, the foreign matter detection and treatment device between the platform screen door and the train further comprises:
the maintenance learning module is electrically connected with the detection module, the data preprocessing module, the data processing module and the decision and treatment module respectively and is used for storing historical data, processing and learning the historical data after operation is finished, and performing online self-checking, software updating and parameter updating.
The foreign matter detection and treatment method between the platform screen door and the train is realized by the foreign matter detection and treatment device between the platform screen door and the train, and comprises the following steps:
s1: during the period that the train does not enter the station, carrying out system initialization setting through the data preprocessing module, and generating the initialized station field state information;
s2: based on the laser range finder and the infrared camera, identifying the foreign matters, and generating a foreign matter identification analysis result through the data processing module;
s3: based on the foreign matter identification analysis result, initialized station state information and information output by a station system, interlocking equipment and a train control system, a treatment decision is generated by the decision and treatment module and is treated correspondingly.
Preferably, step S1 comprises:
s11: the data preprocessing module extracts part of information output by the interlocking equipment and generates initialization interlocking information;
s12: the data preprocessing module adjusts system parameters of the laser range finder;
s13: the data preprocessing module adjusts system parameters of the infrared camera;
s14: the data preprocessing module f extracts part of information output by a platform system and generates initialization platform information;
s15: and based on the initialization interlocking information, the system parameters of the laser range finder, the system parameters of the infrared camera and the initialization station information, the data preprocessing module performs fusion processing to generate the initialization station state information.
Preferably, step S2 comprises:
s21: based on the laser range finder information, the real-time data acquisition processing module generates the laser range finding identification result;
s22: based on the infrared camera information, the real-time data acquisition processing module generates the infrared camera recognition result;
s23: based on the laser ranging recognition result and the infrared shooting recognition result, the data processing module performs fusion calculation to generate the foreign matter recognition analysis result.
Preferably, in step S21, the laser range finder has a 3D scanning detection function, and the laser range finding identification result includes foreign matter line segment contour information between the platform screen door and the train and distance information thereof.
Preferably, in step S22, the infrared imaging recognition result includes an image of the foreign object and distance information thereof, and the attribute and probability of the foreign object are primarily determined.
Preferably, step S23 further includes: and carrying out weighted 2oo2 voting on the laser ranging recognition result and the infrared shooting recognition result by combining the initialized station status information, wherein the foreign matter recognition analysis result comprises attribute, behavior and distance information of recognizing the foreign matters between the station shielding door and the train according to the voting result.
Preferably, step S3 comprises:
s31: based on the foreign matter identification analysis result, the initialized station state information and the station information, the decision and treatment module generates a preliminary treatment strategy;
s32: based on the preliminary treatment strategy, the foreign matter identification analysis result, the platform information, the interlocking information and the train control system information, the decision and treatment module performs data fusion processing, generates a treatment decision and carries out corresponding treatment.
Preferably, the method further comprises step S4:
s41: the attendant feeds back the foreign matter treatment result to the decision and treatment module;
s42: the decision and treatment module stores the laser ranging recognition result, the infrared shooting recognition result, the foreign matter recognition analysis result, the foreign matter treatment result, the platform information, the interlocking information and the train control system information into the maintenance learning module as historical data records.
Preferably, the maintenance learning method in the non-operation period is further included:
f1: learning historical data by the maintenance learning module;
f2: and performing self-checking, updating and maintaining through the maintenance learning module.
In summary, compared with the prior art, the device and the method for detecting and disposing foreign matters between the platform screen door and the train provided by the invention have the following beneficial effects:
1. by carrying out fusion processing and weighted 2oo2 comparison algorithm voting on the data of the two different types of detectors, the false alarm rate and the false alarm rate of the system are reduced, the reliability and the safety of the algorithm are improved, and the accuracy of the detection result of the system can reach the requirements of a safety system;
2. through self-adaptive algorithm learning, the system intelligently meets the conditions of different subway stations, and the adaptability and safety of the whole system are improved, so that accidents caused by missed detection of clamped personnel are avoided;
3. through the linkage with the platform system, the interlocking equipment and the train control system, the real-time performance of accident handling is improved, serious casualties can be avoided, the accident handling is responded quickly, and the influence on operation is reduced.
Drawings
FIG. 1 is a block diagram of a foreign matter detection and handling apparatus between a platform screen door and a train in accordance with the present invention;
FIG. 2 is a flow chart of a method of foreign object detection and handling between a platform screen door and a train in accordance with the present invention;
fig. 3 is a flowchart of a non-operational maintenance learning method of the maintenance learning module of the present invention.
Detailed Description
The invention provides a device and a method for detecting and disposing foreign matters between a platform screen door and a train, which are further described in detail below with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that, the drawings are in very simplified form and all use non-precise proportions, which are only used for the purpose of conveniently and clearly assisting in describing the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any modification of structure, change of proportion or adjustment of size, without affecting the efficacy and achievement of the present invention, should still fall within the scope covered by the technical content disclosed by the present invention.
It is noted that in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the present embodiment provides a foreign matter detection and treatment device between a platform screen door and a train, which is used for detecting and automatically treating the foreign matter between the platform screen door and the train; the device is electrically connected with an original platform system c, interlocking equipment d and a train control system e of a subway station, wherein the platform system c outputs platform information, the interlocking equipment d outputs the interlocking information, and the train control system e outputs train control system information; the device comprises:
the laser range finder set a is arranged in a gap between a platform shielding wall and a train body where the platform shielding wall is stopped and is used for detecting whether foreign matters exist between each platform shielding door and the train and outputting laser range finder information, and comprises 4 identical reflection type laser range finders: the first laser range finder, the second laser range finder, the third laser range finder and the fourth laser range finder; each laser range finder comprises a transmitting end, a receiving end and a reflecting plate, wherein the transmitting end and the receiving end are arranged at one end of the train body, the reflecting plate is arranged at the other end of the train body, the transmitting end horizontally transmits laser to the other end of the parked train, and a laser path is a transmitting end-reflecting plate-receiving end; the transmitting end and the receiving end of the first laser range finder and the second laser range finder are arranged at the head position of the parked train, the reflector is arranged at the tail position of the parked train, and the ground clearance heights of the first laser range finder and the second laser range finder are respectively 0.5 meter and 1.25 meter; the transmitting end and the receiving end of the third laser range finder and the fourth laser range finder are arranged at the tail position of the parked train, the reflector is arranged at the head position of the parked train, and the ground clearance of the third laser range finder and the fourth laser range finder is 0.75 meter and 1.5 meter respectively; in the embodiment, each laser range finder adopts a linear array laser detector with a rotary platform, so that a 3D scanning function can be realized;
an infrared camera set b comprising 2 identical infrared cameras: the first infrared camera and the second infrared camera are arranged in a gap between the platform shielding wall and a train body parked adjacent to the platform shielding wall, and the height of the first infrared camera is 1 meter away from the ground, wherein the first infrared camera is arranged at the head position of a parked train and shoots the train in the direction of the tail of the train; the second infrared camera is arranged at the tail position of the parked train and shoots approximately horizontally towards the direction of the locomotive; the infrared camera group b is used for shooting infrared images between each platform screen door and the train and outputting infrared camera information;
the data preprocessing module f is arranged in a subway station and is respectively and electrically connected with the laser range finder set a, the infrared camera set b, the station system c, the interlocking equipment d and the train control system e, and has the functions of: firstly, initializing and setting system parameters when a train does not enter a station: initializing communication configuration parameters of a data communication interface, such as data transmission intervals, data formats and the like; the filtering parameters of the laser range finder set a, the angles of the transmitters and the receivers and the like are adjusted so as to improve the detection efficiency, reduce the interference caused by the station environment and reduce the omission ratio and the false alarm ratio; the shooting angle, background noise filtering parameters and the like of the infrared camera set b are adjusted so as to reduce interference caused by station environment and improve shooting effect; secondly, generating initialized station field state information when the train does not enter the station: extracting part of interlocking information output by the interlocking device d as initializing interlocking information, extracting part of platform information output by the platform system c as initializing platform information, and carrying out fusion processing on the extracted and set system parameters of the laser range finder set a, the system parameters of the infrared camera set b, the initializing interlocking information and the initializing platform information to generate initializing station field state information serving as a basis for subsequent information processing; thirdly, regulating and controlling various task processes: initializing a task queue, monitoring whether the task time is delayed or not, and timely adjusting a monitoring period to avoid request blocking;
the real-time data acquisition processing module g is arranged in a subway station and comprises a laser range finder acquisition module g1 and an infrared camera acquisition module g2, wherein the laser range finder acquisition module g1 is electrically connected with the laser range finder set a and is used for processing laser range finder information, generating a laser range finding identification result and outputting the laser range finding identification result; the infrared camera acquisition module g2 is electrically connected with the infrared camera set b and is used for processing the infrared camera information, generating and outputting an infrared camera identification result;
the data processing module h is arranged in a subway station, is electrically connected with the laser range finder set a, the infrared camera set b, the data preprocessing module f and the real-time data acquisition processing module g respectively, and is used for analyzing and processing a laser range finding identification result and an infrared camera shooting identification result, acquiring a foreign matter image between a station shielding door and a train, comparing and identifying the foreign matter image with a known database, carrying out 2oo2 voting (a redundant voting structure for improving the reliability or availability of a safety related system) with the laser range finding identification result and the infrared camera shooting identification result by combining with initialized station state information, and identifying the attribute, the behavior and the distance information of the foreign matter between the station shielding door and the train according to the voting result, generating and outputting a foreign matter identification analysis result;
the decision and treatment module i is arranged in a subway station, is respectively and electrically connected with the station system c, the interlocking equipment d, the train control system e, the data preprocessing module f and the data processing module h, and is used for carrying out data fusion processing according to a foreign matter identification analysis result, initialized station state information, station information, the interlocking information and train control system information, generating a treatment decision and carrying out corresponding treatment;
the maintenance learning module j is arranged in the subway station and is electrically connected with the laser range finder set a, the infrared camera set b, the data preprocessing module f, the data processing module h and the decision and treatment module i respectively and used for storing historical data: laser ranging recognition results, infrared shooting recognition results, foreign matter recognition analysis results, foreign matter treatment results, platform information, interlocking information, train control system information and the like during operation, and processing and learning historical data after operation is finished; and performing online self-checking, software updating and parameter updating.
As shown in fig. 2, the present embodiment further provides a method for detecting and disposing foreign matters between a platform screen door and a train, which is implemented by the device for detecting and disposing foreign matters between a platform screen door and a train, and includes the steps of:
and (3) an operation period data acquisition and processing stage:
y1: system initialization is performed during non-arrival of the train:
y11: based on the partial interlocking information output by the interlocking device d, the data preprocessing module f extracts the initialization interlocking information:
the data preprocessing module f extracts part of interlocking information such as signal control, turnout control, route control and the like output by the interlocking equipment d, and generates initialization interlocking information;
y12: the data preprocessing module f adjusts system parameters of the laser range finder set a:
the data preprocessing module f adjusts the filtering parameters of the laser range finder set a and the angles of each transmitter and each receiver so as to improve the detection efficiency, reduce the interference caused by the station environment and reduce the omission ratio and the false alarm ratio;
y13: the data preprocessing module f adjusts system parameters of the infrared camera group b:
the data preprocessing module f adjusts shooting angles and background noise filtering parameters of the infrared camera set b so as to reduce interference caused by station environment and improve shooting effect;
y14: based on the partial station information output by the station system c, the data preprocessing module f extracts the initialized station information:
the data preprocessing module f extracts part of platform information such as a train exit station, a platform screen door switch and the like from the platform system c to generate initialization platform information;
y15: based on the initialization interlocking information, the system parameters of the laser range finder set a, the system parameters of the infrared camera set b and the initialization station information, the data preprocessing module f generates initialization station state information through fusion processing:
the data preprocessing module f carries out fusion algorithm processing on the data obtained by the data preprocessing module f in the steps Y11 to Y14, and generates initialized station state information as a basis for subsequent information processing;
y2: and (3) foreign matter identification:
y21: based on the information of the laser range finder, the real-time data acquisition processing module g processes and generates a laser range finding recognition result:
the laser range finder set a performs 3D scanning detection on the space between the platform shielding door and the train, the real-time data acquisition processing module g acquires laser range finder information in real time, performs data processing through algorithms such as median filtering and edge extraction, extracts foreign matter line segment contour information and distance information between the platform shielding door and the train, further identifies whether foreign matters exist between the platform shielding door and the train, generates a laser range finding identification result and outputs the result;
y22: based on the information of the infrared camera, the real-time data acquisition processing module g processes and generates an infrared camera recognition result:
the real-time data acquisition processing module g acquires information of the infrared camera in real time, performs data processing through algorithms such as gray stretching, image segmentation and pattern recognition, extracts images and distance information between foreign matters and the train and platform shielding doors, preliminarily judges the attribute and probability of the foreign matters (such as personnel and probability thereof), and generates and outputs infrared camera recognition results;
y23: based on the laser ranging recognition result, the infrared camera shooting recognition result and the initialized station state information, the data processing module h processes and generates a foreign matter recognition analysis result:
the data processing module h performs fusion calculation on the laser ranging recognition result, the infrared shooting recognition result and the like, performs weighted 2oo2 voting on the laser ranging recognition result and the infrared shooting recognition result by combining with initialized station state information, recognizes the attribute, the behavior and the distance information of the foreign matters between the platform screen door and the train according to the voting result, generates a foreign matter recognition analysis result and outputs the foreign matter recognition analysis result;
y3: treatment;
y31: based on the foreign object identification analysis result, the initialized station state information and the station information, the decision and treatment module i generates a preliminary treatment strategy:
the decision and treatment module i combines the initialized station state information and the station information according to the foreign matter identification analysis result output by the data processing module h, and generates different preliminary treatment strategies according to whether foreign matters exist or not but does not perform actual treatment, wherein the preliminary treatment strategies are as follows:
if no foreign matter exists, starting or running the train according to a normal program;
if foreign matters exist, the train immediately stops starting or running, and the platform screen door is opened;
y32: based on the preliminary treatment strategy, foreign object identification analysis results, platform information, interlock information, and train control system information, the decision and treatment module i generates a treatment decision and actually treats:
the decision and treatment module i performs data fusion processing on the preliminary treatment strategy, the foreign matter identification analysis result, the platform information, the interlocking information and the train control system information to generate a treatment decision, and performs treatment according to corresponding actions of the treatment decision control platform system c, the interlocking equipment d and the train control system e;
y4: feedback and recording;
y41: treatment condition feedback:
the attendant feeds the foreign matter treatment result back to the decision and treatment module i;
y42: history data record storage:
the decision and treatment module i stores the laser ranging recognition result, the infrared camera shooting recognition result, the foreign matter recognition analysis result, the foreign matter treatment result, the platform information, the interlocking information, the train control system information and the like as historical data records into the maintenance learning module j.
Non-operational maintenance learning phase (fig. 3):
f1: learning history data:
after the daily operation is finished, the maintenance learning module j processes and learns the historical data stored on the same day and is used as a basis for adjusting various parameters of the laser range finder set a, the infrared camera set b, the data processing module h, the data preprocessing module f and the like, and the system can be more intelligently adapted to the environment of a station where the system is located through learning the statistical data, so that the adaptability and the safety of the whole system are improved;
f2: self-checking, updating and maintaining:
the maintenance learning module j performs online self-checking, software updating and parameter updating on the laser range finder set a, the infrared camera set b, the modules and the like, and records checking and updating results into a log record; if an update or self-test error is found, the station system c is notified to perform maintenance.
In summary, according to the device and the method for detecting and disposing foreign matters between the platform screen door and the train, the false alarm rate and the false alarm rate of the system are reduced, the reliability and the safety of the algorithm are improved, and the accuracy of the detection result of the system meets the requirements of a safety system by carrying out fusion processing on the data of two different types of detectors and carrying out 2o 2 comparison algorithm voting with weights; through self-adaptive algorithm learning, the system intelligently meets the conditions of different subway stations, and the adaptability and safety of the whole system are improved, so that accidents caused by missed detection of clamped personnel are avoided; through the linkage with the platform system, the interlocking equipment and the train control system, the real-time performance of accident handling is improved, serious casualties can be avoided, the accident handling is responded quickly, and the influence on operation is reduced.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (17)
1. The utility model provides a foreign matter detection processing apparatus between platform screen door and train, sets up in the subway station yard, is connected with the original platform system of subway station yard, interlocking equipment and train control system electricity, carries out information interaction with the platform information of platform system output, interlocking information of interlocking equipment output, train control system output's train control system information for detect the foreign matter between platform screen door and the train and automatic processing, its characterized in that includes:
the detection module is used for detecting foreign matters between the platform screen door and the train; the detection module comprises: the laser range finder is a reflective laser range finder and is arranged in a gap between a platform shielding wall and a train body parked adjacent to the platform shielding wall, and comprises a transmitting end, a receiving end and a reflecting plate, wherein the transmitting end and the receiving end are both arranged at the same end of a parked train, the reflecting plate is arranged at the other end of the parked train, the transmitting end horizontally transmits laser to the direction of the reflecting plate, and a laser path is a transmitting end-reflecting plate-receiving end and is used for detecting whether foreign matters exist between a platform shielding door and the train and outputting laser range finder information; the infrared camera is arranged in a gap between the platform shielding wall and a train body adjacent to the platform shielding wall for stopping, is close to the head position of a stopped train and shoots approximately horizontally towards the tail direction; or the device is arranged at the tail position close to the parked train, shoots the train approximately horizontally towards the direction of the train head, is used for shooting infrared images between the platform screen door and the train, and outputs information of an infrared camera;
the data preprocessing module is electrically connected with the detection module, the platform system and the interlocking equipment respectively, and is used for carrying out initialization setting when a train does not enter a station, extracting parameters of the detection module, partial platform information and interlocking information and generating initialized station status information;
the real-time data acquisition and processing module is electrically connected with the detection module and is used for processing the output information of the detection module to generate a detection and identification result;
the data processing module is respectively and electrically connected with the detection module, the data preprocessing module and the real-time data acquisition processing module and is used for analyzing and processing the detection and identification result to generate a foreign matter identification and analysis result;
the decision and treatment module is respectively and electrically connected with the platform system, the interlocking equipment, the train control system, the data preprocessing module and the data processing module and is used for carrying out data fusion processing on the foreign matter identification analysis result, the initialized station state information, the platform information, the interlocking information and the train control system information to generate a treatment decision and correspondingly treat the foreign matter identification analysis result;
the maintenance learning module is electrically connected with the detection module, the data preprocessing module, the data processing module and the decision and treatment module respectively and is used for storing historical data, processing and learning the historical data after operation is finished, and performing online self-checking, software updating and parameter updating.
2. A platform screen door and inter-train foreign object detection and handling device according to claim 1, wherein the laser rangefinder comprises 4 identical laser rangefinders, each of which has a different ground clearance height, wherein the transmitting end and the receiving end of 2 laser rangefinders are arranged at the head position of a parked train, and the transmitting end and the receiving end of the other 2 laser rangefinders are arranged at the tail position of the parked train.
3. A platform screen door and inter-train foreign object detection and handling device according to claim 1, wherein the infrared cameras comprise 2 identical infrared cameras respectively arranged at the head position and the tail position of a parked train.
4. The device for detecting and disposing foreign matters between a platform screen door and a train according to claim 2, wherein the laser range finder is a linear array laser detector with a rotary platform, and can realize a 3D scanning function.
5. A platform screen door and inter-train foreign object detection and handling device according to claim 1, wherein the initialization setting function of the data preprocessing module comprises adjusting the filtering parameters of the laser range finder and the angles of the transmitting end and the receiving end.
6. A platform screen door and inter-train foreign object detection and handling device according to claim 1, wherein the data preprocessing module's initialization setting function includes adjusting the shooting angle of the infrared camera and background noise filtering parameters.
7. The apparatus for detecting and disposing foreign matter between a platform screen door and a train as claimed in claim 1, wherein the real-time data acquisition and processing module includes:
the laser range finder acquisition module is electrically connected with the laser range finder and is used for processing the information of the laser range finder to generate a laser range finding identification result;
the infrared camera acquisition module is electrically connected with the infrared camera and is used for processing the information of the infrared camera to generate an infrared camera identification result;
the detection recognition result comprises the laser ranging recognition result and the infrared shooting recognition result.
8. The apparatus for detecting and disposing foreign matter between a platform screen door and a train according to claim 7, wherein the data processing module performs weighted 2oo2 voting on the laser ranging recognition result and the infrared camera recognition result in combination with the initialized station status information, and generates a foreign matter recognition analysis result according to the voting result.
9. A method for detecting and disposing foreign matter between a platform screen door and a train, characterized by being realized by the device for detecting and disposing foreign matter between a platform screen door and a train according to any one of claims 1 to 8, comprising the steps of:
s1: during the period that the train does not enter the station, carrying out system initialization setting through the data preprocessing module, and generating the initialized station field state information;
s2: based on the laser range finder and the infrared camera, identifying the foreign matters, and generating a foreign matter identification analysis result through the data processing module;
s3: based on the foreign matter identification analysis result, initialized station state information and information output by a station system, interlocking equipment and a train control system, a treatment decision is generated by the decision and treatment module and is treated correspondingly.
10. The method for detecting and disposing foreign matter between a platform screen door and a train as recited in claim 9, wherein step S1 includes:
s11: the data preprocessing module extracts part of information output by the interlocking equipment and generates initialization interlocking information;
s12: the data preprocessing module adjusts system parameters of the laser range finder;
s13: the data preprocessing module adjusts system parameters of the infrared camera;
s14: the data preprocessing module extracts partial information output by the platform system and generates initialization platform information;
s15: and based on the initialization interlocking information, the system parameters of the laser range finder, the system parameters of the infrared camera and the initialization station information, the data preprocessing module performs fusion processing to generate the initialization station state information.
11. A method of detecting and disposing foreign matter between a platform screen door and a train as claimed in claim 9, wherein step S2 includes:
s21: based on the laser range finder information, the real-time data acquisition processing module generates a laser range finding identification result;
s22: based on the infrared camera information, the real-time data acquisition processing module generates an infrared camera recognition result;
s23: based on the laser ranging recognition result and the infrared shooting recognition result, the data processing module performs fusion calculation to generate the foreign matter recognition analysis result.
12. A method for detecting and disposing foreign objects between a platform screen door and a train according to claim 11, wherein in step S21, the laser range finder has a 3D scanning detection function, and the laser range finding recognition result includes the profile information of the foreign object line segment between the platform screen door and the train and the distance information thereof.
13. The method for detecting and disposing foreign objects between a platform screen door and a train according to claim 11, wherein in step S22, the infrared image capturing and recognizing result includes an image of the foreign objects and distance information thereof, and the attribute and probability of the foreign objects are primarily determined.
14. The method for detecting and disposing foreign matter between a platform screen door and a train as recited in claim 11, wherein step S23 further includes: and carrying out weighted 2oo2 voting on the laser ranging recognition result and the infrared shooting recognition result by combining the initialized station status information, wherein the foreign matter recognition analysis result comprises attribute, behavior and distance information of recognizing the foreign matters between the station shielding door and the train according to the voting result.
15. The method for detecting and disposing foreign matter between a platform screen door and a train as recited in claim 9, wherein step S3 includes:
s31: based on the foreign matter identification analysis result, the initialized station state information and the station information, the decision and treatment module generates a preliminary treatment strategy;
s32: based on the preliminary treatment strategy, the foreign matter identification analysis result, the platform information, the interlocking information and the train control system information, the decision and treatment module performs data fusion processing, generates a treatment decision and carries out corresponding treatment.
16. A method of detecting and disposing foreign matter between a platform screen door and a train as recited in claim 9, further comprising step S4:
s41: the attendant feeds back the foreign matter treatment result to the decision and treatment module;
s42: the decision and treatment module stores laser ranging recognition results, infrared shooting recognition results, foreign matter recognition analysis results, foreign matter treatment results, platform information, interlocking information and train control system information as historical data records into the maintenance learning module.
17. A method of foreign object detection and handling between a platform screen door and a train according to claim 9, further comprising a maintenance learning method during non-operation:
f1: learning historical data by the maintenance learning module;
f2: and performing self-checking, updating and maintaining through the maintenance learning module.
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| CN102897196A (en) * | 2012-11-05 | 2013-01-30 | 蔡方舟 | Method and device for preventing subway train from running after objects are clamped between door of subway train and platform screen door |
| JP6001128B1 (en) * | 2015-04-13 | 2016-10-05 | 株式会社京三製作所 | Train arrival and departure control system, on-board equipment and ground equipment |
| CN110939342A (en) * | 2018-09-25 | 2020-03-31 | 武汉云象智能科技有限公司 | System and method for early warning of people clamped between subway car door and shielding door based on lamp strip detection |
| KR20200092796A (en) * | 2019-01-25 | 2020-08-04 | 금오공과대학교 산학협력단 | Screen door interlocking alarm system using optical fiber |
| CN211397112U (en) * | 2019-09-04 | 2020-09-01 | 大连科技学院 | People safety coefficient is prevented pressing from both sides by subway shielded door |
| CN112268515B (en) * | 2020-10-21 | 2022-07-15 | 宁波中车时代电气设备有限公司 | Platform door gap anti-pinch detection method and system based on multi-sensor fusion technology |
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