CN115432040A - Platform door obstacle avoidance detection system and obstacle avoidance detection method and application thereof - Google Patents
Platform door obstacle avoidance detection system and obstacle avoidance detection method and application thereof Download PDFInfo
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- CN115432040A CN115432040A CN202211390191.8A CN202211390191A CN115432040A CN 115432040 A CN115432040 A CN 115432040A CN 202211390191 A CN202211390191 A CN 202211390191A CN 115432040 A CN115432040 A CN 115432040A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/50—Trackside diagnosis or maintenance, e.g. software upgrades
- B61L27/53—Trackside diagnosis or maintenance, e.g. software upgrades for trackside elements or systems, e.g. trackside supervision of trackside control system conditions
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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
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/10—Current supply arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention relates to the technical field of platform door obstacle avoidance devices, in particular to a platform door obstacle avoidance detection system, an obstacle avoidance detection method and application thereof. The invention is suitable for rail transit, a 3D structure optical depth camera is used for detecting a detained object on the rail side of a station door of an uplink region or the rail side of a station door of a downlink region, the 3D structure optical depth camera uses a 940nm wave band, is not afraid of a dark environment or the flash of a car light of a rail vehicle, has a Class I human eye friendly function, always ensures the three-dimensional full coverage in a camera area, prevents the false alarm of a detector during detection, has no interference among multiple devices, is simple to debug, and thus ensures the safety and normal operation efficiency of passengers.
Description
Technical Field
The invention relates to the technical field of platform door obstacle detection devices, in particular to a platform door obstacle avoidance detection system, an obstacle avoidance detection method and application thereof.
Background
In recent years, with the continuous and rapid development of subways in China, the wire mesh is increasingly complicated. In order to ensure the riding safety of passengers and prevent riding accidents under the condition of a large amount of crowded passenger flows, a platform screen door is arranged between the current subway platform and a train. However, as the passenger flow increases, the phenomenon of people being clamped between the train and the shield door occurs frequently.
Although many preventive measures, such as physical and technical measures of installing an anti-pinch baffle, detecting an infrared grating and the like, have been adopted in the existing construction and operation, due to the imperfection of the measures, in the actual subway operation process, a train driver is still relied on to judge whether a detained object exists in a mode of directly observing a gap between a screen door and a train door through human eyes. With the rapid increase of urban population, especially in the first-line cities of the north, the great passenger pressure is faced by the subway during the morning and evening peaks, and subway companies continuously strive to shorten the operation interval to increase the transportation volume and improve the passenger traveling efficiency. However, the possibility of further compressing the time is reduced due to human involvement in many important links, for example in current gap detection schemes, manual judgment is an important part. However, manual judgment increases the risk on the one hand and also increases the time for judgment on the other hand.
For a specific scene of rail transit, in the prior art, the following two schemes are adopted to detect whether a detained object exists on a rail side of a platform door so as to improve the safety level of the platform door system:
the method comprises the steps that a common camera is used for obtaining pictures, the obtained pictures are stored as a reference image source, then the newly obtained pictures are compared and judged with the reference image source, and an alarm is given when an obstacle is found; however, this solution has the following disadvantages:
(1) The dark environment is unfavorable for a common camera, the common camera is unreliable in imaging, and a large error causes a large number of false alarms;
(2) The bright environment is unfavorable for the common camera, the common camera forms images with flash points, and the flash points become blind areas, so that more missed reports are generated;
(3) Comparing and judging the time consumption of the front and the rear pictures, and identifying and confirming the pictures only after the maximum time reaches 20 seconds, so that the real-time performance is poor;
(4) The obstacles identified by the common camera have no size and cannot provide volume reference for station personnel;
(5) The obstacle identified by the common camera has no three-dimensional data, and a small object close to the camera can block a large image pick-up area, so that a blind area is generated and the report is missed;
judging whether people are clamped at present by analyzing whether the infrared gratings at the head end and the tail end of the platform are isolated or not by using an infrared detection mode; however, this solution has the following disadvantages:
(1) The infrared detection mode is easy to cause false alarm under the influence of environmental factors such as light rays and the like;
(2) The infrared detection mode has no alarm image, and the result is invisible;
(3) And the infrared detection mode is complex to debug.
In summary, with the popularization of fully automatic unmanned lines in China, it is urgently needed to improve the safety level of a platform door system without driver intervention.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system overcomes the defects in the prior art, and provides a platform door obstacle avoidance detection system, an obstacle avoidance detection method and application thereof. The three-dimensional full-coverage detection system is suitable for rail transit, 940nm wave band is used for 3D structure light depth camera shooting, dark environment or vehicle lamp flashing of rail vehicles is not feared, a Class I human-eye friendly function is achieved, three-dimensional full coverage in a camera shooting area is guaranteed all the time, false alarm of a detector is prevented while detection is conducted, interference among multiple devices is avoided, debugging is simple, and therefore safety and normal operation efficiency of passengers are guaranteed.
The technical scheme adopted by the invention for solving the technical problems is as follows: a platform door obstacle avoidance detection system is used for detecting retention objects on a platform door track side in an ascending area or a platform door track side in a descending area and comprises a display, a server and a PSC cabinet, wherein the display and the server are connected through signals, and the server and the PSC cabinet are connected through signals;
the system comprises a server, an uplink area camera group and a first kilomega switch, wherein the first kilomega switch is connected with the server through wires or wirelessly, the uplink area camera group is provided with a plurality of 3D structure optical depth cameras, and each 3D structure optical depth camera in the uplink area camera group is in signal connection with the first kilomega switch;
the system also comprises a downlink area camera group and a second gigabit switch, wherein the second gigabit switch is connected with the server in a wired or wireless manner, the downlink area camera group is provided with a plurality of 3D structure optical depth cameras, and each 3D structure optical depth camera in the downlink area camera group is respectively in signal connection with the second gigabit switch;
each 3D structure optical depth camera in the ascending area camera group is centrally arranged above the platform door track side of the ascending area through a support; each 3D structure optical depth camera in the descending area camera group is arranged above the platform door track side of the descending area in the middle through a support;
the monitoring range of the 3D structure light depth camera is a three-dimensional sector area between the left wing and the right wing of the platform door and the space between the platform door and the track.
Furthermore, the 3D structure optical depth camera is provided with a camera shell, an infrared receiving module, a color module, a first laser emitter and a second laser emitter are mounted on the camera shell, and a camera interface is arranged on the side surface of the camera shell; the 3D structure optical depth camera further comprises a camera control assembly, and the infrared receiving module, the color module, the first laser emitter, the second laser emitter and the camera interface are respectively connected with the camera control assembly.
Furthermore, the camera interface is an ethernet interface and is used for power supply and network connection interconnection.
Furthermore, the first laser emitter adopts a surface light source, and the second laser emitter adopts a point light source.
Further, the 3D structured light depth camera uses a 940nm operating band.
Further, the display, the server, the first gigabit switch and the second gigabit switch are all installed on the side of the end gate rail.
An obstacle avoidance detection method of the platform door obstacle avoidance detection system specifically includes the following steps:
s1, powering on a platform door obstacle avoidance detection system to operate, and completing initialization;
s2, the server receives a signal that the platform door is closed and locked;
s3, starting to photograph and record videos by the 3D structured light depth camera, and starting a depth mean value algorithm;
s4, starting timing by a detection timer, and if the timing time is not reached, entering the step S5; if the timing time is over, the step S10 is executed;
s5, judging whether the abnormity exists or not by a depth mean algorithm, if so, detecting that an obstacle exists on the platform door track side of the ascending area or the platform door track side of the descending area, and entering a step S6; if not, the step S4 is carried out;
s6, before the detection timer finishes timing, if the delay register D is full of timing (false interference exception is eliminated), an alarm is started, and a host of the server gives an alarm through a display and a driving audible and visual alarm and is related to a safety loop;
s7, uploading abnormal pictures and abnormal videos shot by the 3D structured light depth camera to a server;
s8, the server displays the stored abnormal pictures and abnormal videos through a display, and an alarm gives an alarm to prompt a worker to view the display; then, the staff further checks and clears the obstacles on the ascending area station door track side or the descending area station door track side;
s9, after clearing an alarm source, a worker clicks to reset, specifically, resetting a delay register D, an early warning flag bit F and an alarm flag register W in a depth-average algorithm; meanwhile, the safety loop is conducted;
and S10, finishing the monitoring of the period, waiting for the next period, and re-entering the step S2.
Further, the depth-mean algorithm in S3 specifically includes the following steps:
step S31, the depth mean value algorithm is internally provided with: a threshold register A and a threshold register B, wherein A and B are input and adjusted by an engineer by using experimental values;
step S32, the uplink area camera group and the downlink area camera group respectively carry out single-frame shooting on the station door track side of the uplink area and the station door track side of the downlink area, and pictures collected by each frame of shooting also comprise three-dimensional coordinate values (XYZ) of each pixel point besides common color pictures;
s33, when the server receives the photo collected by the new frame, extracting depth (Z) coordinate values of all pixel points, and filtering two-dimensional (X and Y) coordinate values of a plane;
step S34, a calculation module (which can be from a server or an additional chip of a 3D structured light depth camera) carries out calibration and conversion on the depth coordinate value, a depth value to be compared is converted, and the depth value to be compared is immediately stored in a register H to be compared;
step S35, H is compared with A/B, if A is less than H and less than B, the state is considered to be normal, the early warning zone bit F =0, the time delay register D stops timing and is cleared, and the step S32 is skipped; otherwise, setting an early warning flag bit F when the H exceeds the interval from A to B, namely F =1, starting/continuing timing by using a delay register D, and continuing to step S36;
step S36, starting the picture storage function and the video recording function when only F is 1, and continuing to step S37; if F is 0, discarding the stored pictures and the recorded videos;
step S37, if the preset time of the delay register D is up, triggering alarm, wherein the alarm mark register W =1 and sending the alarm to the host of the server, the host of the server gives an alarm by a display and a driving audible and visual alarm, and the step S7 is continued; otherwise, if the preset time of the delay register D is not full, the process returns to step S32.
An application of the platform door obstacle avoidance detecting system in a platform door.
The invention has the beneficial effects that: the invention has reasonable design and simple and convenient operation, and has the following advantages:
(1) The platform door obstacle avoidance detection system can accurately monitor the real size of the obstacle, really identify the unsafe obstacle environment and avoid false alarm; the real three-dimensional position of the barrier can be accurately presented, and a real basis is provided for whether the worker relieves the alarm manually;
(2) The platform door obstacle avoidance detection system can detect an object with the minimum diameter of 25mm and the absolute position of the object for a target protection area, and provides high safety guarantee for safe opening/closing of a platform door and a vehicle door;
(3) The platform door obstacle avoidance detection system is compatible with the existing subway platform door control system, and can be additionally arranged on the existing subway line in a mode of not influencing the operation of the original system; the system is also compatible with two modes of manned subway vehicles and unmanned subway vehicles;
(4) The platform door obstacle avoidance detection system can calculate whether an obstacle exists in real time by means of a depth mean value algorithm, second-level delay caused by comparison of multiple high-definition pictures in the prior art is avoided, and damage caused by delay judgment is eliminated by real-time monitoring results;
(5) The platform door obstacle avoidance detection system judges the obstacle in real time by means of a depth mean algorithm; when no obstacle exists, pictures and videos are not uploaded, so that privacy of passengers is protected; if the barrier exists, the relevant point picture and the video are extracted, and gigabit Ethernet is used for transmission, so that a high-definition and rapid visual means is provided for the station staff to check the barrier;
(6) The platform door obstacle avoidance detection system disclosed by the invention finds that the relevant point picture extracted by the obstacle is in a high-definition format and is used for presenting the obstacle, the size and the accurate position of the obstacle; the video extracted by the barrier is found to be the dynamic situation of the position of the barrier and the surrounding environment within the time period before and after, and a real basis is provided for the station staff to evaluate the barrier situation;
(7) The 3D structure light depth camera uses a 940nm wave band, can completely adapt to the dark environment at ordinary times of the subway track side and the environment of shining the driving car light, can work indiscriminately for 365 days multiplied by 24 hours all the year around, and does not have the working difference caused by the time domain and the surrounding environment;
(8) The 3D structure optical depth camera is arranged above the inner side of the platform door, is compatible with the Ethernet POE power supply technology, and is convenient for on-site rapid wiring construction and debugging; the 3D structure optical depth camera has the advantages that the power consumption is less than 5W, the power consumption is low, the heat is small, and the stability is high; meanwhile, the 3D structure light depth camera head is small in size, and small in occupied installation space of the door ridge beam.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural diagram of a platform door obstacle avoidance detection system according to the present invention;
FIG. 2 is a diagram illustrating a usage status of the platform door obstacle avoidance detection system according to the present invention;
FIG. 3 is a schematic diagram of a 3D structured light depth camera monitoring target area in the present invention;
FIG. 4 is a schematic structural diagram of a 3D structured light depth camera according to the present invention;
FIG. 5 is a left side view of FIG. 4;
fig. 6 is a flowchart of an obstacle avoidance method according to the present invention.
In the figure: 1. the system comprises a display, 2 servers, 3 PSC cabinets, 4 first kilomega switches, 5 second kilomega switches, 6.3D structured light depth cameras, 61 camera shells, 62 infrared receiving modules, 63 color modules, 64 first laser transmitters, 65 second laser transmitters and 66 camera interfaces.
Detailed Description
The invention will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic diagrams each illustrating the basic structure of the present invention only in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 to 5, the system for detecting obstacle avoidance of platform door is used for detecting a retention object at a platform door track side of an ascending area or a platform door track side of a descending area, and includes a display 1, a server 2 and a PSC cabinet 3, where the display 1 and the server 2 are connected through an HDMI port or a VGA port, and the server 2 and the PSC cabinet 3 are connected through an ethernet; the display 1 is used for displaying an obstacle image and an obstacle video;
the system also comprises an uplink area camera group and a first gigabit switch 4, wherein the first gigabit switch 4 is connected with the server 2 through the Ethernet, the uplink area camera group is provided with a plurality of 3D structure optical depth cameras 6, and each 3D structure optical depth camera 6 in the uplink area camera group is respectively in signal connection with the first gigabit switch 4;
the system comprises a server 2, a downlink area camera group and a second gigabit switch 5, wherein the second gigabit switch 5 is connected with the server 2 through an Ethernet, the downlink area camera group is provided with a plurality of 3D structure optical depth cameras 6, and each 3D structure optical depth camera 6 in the downlink area camera group is respectively in signal connection with the second gigabit switch 5;
each 3D structure optical depth camera 6 in the ascending area camera group is centrally installed on a top sealing plate on the platform door track side of the ascending area through a support; each 3D structure optical depth camera 6 in the descending area camera group is centrally installed on a top sealing plate on the platform door track side of the descending area through a support;
the monitoring range of the 3D structured light depth camera 6 is the three-dimensional sector area between the left and right wings of the platform door and the platform door to the track.
In the prior art, no matter a common camera acquires a picture or performs infrared detection, a monitored target protection area is a plane. The monitored target protection area is a three-dimensional sector area, so that the environment of the target protection area can be more truly identified.
The vehicle comprises two side areas of a track, wherein one side area is an ascending area, and the other side area is a descending area.
The display 1, the server 2, the first gigabit switch 4, and the second gigabit switch 5 are all installed on the end door rail side, and the station staff enters the area by a key.
The server 2 is connected to a display through an HDMI or VGA port, and is used for displaying the obstacle image and video.
The server 2 has at least three independent ethernet ports, such as P1, P2, P3 shown in fig. 1.
The server 2 is connected to a PSC cabinet 3 of a platform door through a P1 ethernet port (Pa is the ethernet port in fig. 1). The server 2 and the PSC cabinet 3 are in interactive communication by using industrial Ethernet, and one-to-one network connection is formed between the server and the PSC cabinet, so that the safety and the exclusivity of the network are ensured. The PSC cabinet 3 transmits a signal of 'platform door closed and locked' to the server 2; the server 2 immediately starts the 3D structured light depth camera 6 to perform real-time monitoring, and transmits the real-time obstacle monitoring result to the PSC cabinet 3 (the PSC cabinet 3 can be linked with a safety loop after receiving the obstacle feedback).
The server 2 is connected to the first gigabit switch 4 through a P2 ethernet port, and the first gigabit switch 4 is connected to all the 3D structured optical depth cameras 6 in the upstream area through an industrial ethernet. The server 2 immediately starts all the 3D structured optical depth cameras 6 in the uplink region to perform real-time monitoring on the track side of the station door in the uplink region after acquiring a "station door closed and locked" signal sent by the PSC cabinet 3 in real time. The server 2 refreshes the depth mean value of all the cameras in real time through network communication, once the depth mean value of a certain camera is abnormal, the server 2 gives an alarm immediately, and meanwhile, the server 2 provides obstacle warning for the platform and the vehicle at the first time through a safety loop of a PSC cabinet 3 linkage platform door system. When the depth mean value of a plurality of 3D structured light depth cameras is abnormal, the server 2 can respond and warn on the display 1 one by one. The server 2 does not find any depth mean value abnormality within a timing time period when the 'platform door closing and locking' signal is received, judges that the protected area is in a barrier-free safety state, and does not perform any linkage operation any more.
The server 2 is connected to the second gigabit switch 5 through a P3 ethernet port, and the second gigabit switch 5 is connected to all the 3D structured optical depth cameras 6 in the downstream area through an industrial ethernet. The working principle of the downlink area is the same as that of the uplink area.
The 3D structured light depth camera 6 is provided with a camera shell 61, an infrared receiving module 62, a color module 63, a first laser emitter 64 and a second laser emitter 65 are mounted on the camera shell 61, and a camera interface 66 is arranged on the side surface of the camera shell 61; the 3D structured light depth camera 6 further comprises a camera control assembly, and the infrared receiving module 62, the color module 63, the first laser emitter 64, the second laser emitter 65 and the camera interface 66 are respectively connected with the camera control assembly. The 3D structured light depth camera 6 is small in size, and the length, the width and the height are respectively not more than 60 multiplied by 20 (mm).
The 3D structured light scans and collects object information according to projection rays, and forms a three-dimensional image through a special algorithm of point-to-surface for comparison and identification. And projecting specific light information to the surface of the object and the background by using the 3D structure light module, and collecting the light information by using a camera. Information such as the position and depth of the object is calculated from the change of the optical signal caused by the object, and the entire three-dimensional space is restored. The 3D structured light technology realizes three-dimensional scanning by actively emitting dot matrix light, and the distortion degree of light projected on a measured object depends on the depth of the surface of the object, so that a light image with depth can be obtained in a shot image.
The color module 63 is used for real restoration of high-definition pictures and videos; the first laser emitter 64 is a surface light source and is used for light supplement imaging in a dark environment; the second laser emitter 65 adopts a point light source, which is structured light and is used for 3D stereo distance measurement; the camera interface 66 is an ethernet interface for power and network connectivity interconnection.
The 3D structure optical depth camera 6 does not hurt human eyes through Class I certification; the 940nm wave band can be completely suitable for the dark environment at ordinary times and the shining environment of the driving car lamps at the side of the subway track, and the running work can be carried out indiscriminately;
the 3D structured light depth camera 6 uploads the depth mean value, the picture and the video to the server 2 through the first kilomega switch 4 and the second kilomega switch 5 respectively. The server 2 uses a software algorithm to select the depth mean value of each 3D structure optical depth camera 6, and if the depth mean value of a certain camera is abnormal, the server 2 requires to upload pictures and videos of the camera.
First kilomega switch 4, second kilomega switch 5 and camera interface 66 all have ethernet POE power supply technology, are convenient for on-the-spot quick wiring construction and debugging.
As shown in fig. 6, the obstacle avoidance detection method of the above-mentioned platform door obstacle avoidance detection system specifically includes the following steps:
s1, electrifying and operating a platform door obstacle avoidance detection system to complete initialization;
s2, the server 2 receives a signal that the platform door is closed and locked;
s3, starting to photograph and record videos by the 3D structured light depth camera 6, and starting a depth mean value algorithm;
s4, starting timing by the detection timer, and if the timing time is not reached, entering S5; if the timing time is over, the step S10 is executed;
s5, judging whether the platform door track side of the ascending area or the platform door track side of the descending area is abnormal or not by using a depth mean algorithm, if so, detecting that an obstacle exists on the platform door track side of the ascending area or the platform door track side of the descending area, and entering a step S6; if not, the step S4 is carried out;
s6, before the detection timer finishes timing, if the delay register D is full of timing (false interference exception is eliminated), an alarm is started, and a host of the server 2 gives an alarm through the display 1 and a driving audible and visual alarm and is associated with a safety loop;
s7, uploading the abnormal pictures and abnormal videos shot by the 3D structured light depth camera 6 to the server 2;
s8, the server 2 displays the stored abnormal pictures and abnormal videos through the display 1, and the alarm gives an alarm to prompt a worker to view the display 1; then, the staff further checks and clears the obstacles on the ascending area station door track side or the descending area station door track side;
s9, after clearing an alarm source, a worker clicks to reset, specifically, resetting a delay register D, an early warning flag bit F and an alarm flag register W in a depth-average algorithm; meanwhile, the safety loop is conducted;
and S10, finishing the monitoring of the period, waiting for the next period, and re-entering the step S2.
The depth-mean algorithm in the step S3 specifically includes the following steps:
step S31, the depth mean value algorithm is internally provided with: a threshold register A and a threshold register B, wherein A and B are input and adjusted by an engineer by using experimental values;
step S32, the uplink area camera group and the downlink area camera group respectively carry out single-frame shooting on the station door track side of the uplink area and the station door track side of the downlink area, and pictures collected by each frame of shooting also comprise three-dimensional coordinate values (XYZ) of each pixel point besides common color pictures;
s33, when the server (2) receives the photo collected by the new frame, extracting depth (Z) coordinate values of all pixel points, and filtering two-dimensional (X and Y) coordinate values of a plane;
step S34, the calculation module (which can be from a server or an additional chip of the 3D structured light depth camera) carries out calibration conversion on the depth coordinate value, a depth value to be compared is converted, and the depth value to be compared is immediately stored in a register H to be compared;
step S35, H is compared with A/B, if A is less than H and less than B, the state is considered to be normal, the early warning zone bit F =0, the time delay register D stops timing and is cleared, and the step S32 is skipped; otherwise, setting an early warning flag bit F when the H exceeds the interval from A to B, namely F =1, starting/continuing timing by using a delay register D, and continuing to perform the step S36;
step S36, starting the picture storage function and the video recording function when only F is 1, and continuing to step S37; if F is 0, discarding the stored picture and the recorded video;
step S37, if the preset time of the delay register D is up, an alarm is triggered, an alarm mark register W =1 is sent to the host of the server 2, the host of the server 2 gives an alarm through the display 1 and the drive audible and visual alarm, and the step S7 is continued; otherwise, if the preset time of the delay register D is not full, the process returns to step S32.
According to the depth mean value algorithm, when the system runs for the first time, the server 2 transmits boundary coordinate values to the 3D structure optical depth camera 6 through the industrial Ethernet, and a specified target protection area required by a client is delineated. And then the 3D structure optical depth camera 6 refreshes the depth mean value in the designated area in real time, and generates an alarm by means of the working principle of the invention once the depth mean value is abnormal.
After the platform door obstacle avoidance detection system monitors an obstacle, pictures and videos of the position of the obstacle can be seen on the display 1; the picture can be read out on the display 1 in its size and its 3D exact position; the video can play the previous generation state and the surrounding environment of the video on the display 1, so that the staff can conveniently check and clear the obstacles.
An application of the platform door obstacle avoidance detecting system in a platform door.
The beneficial effects of the invention are as follows:
(1) The intelligent obstacle avoidance detection system provided by the invention can completely adapt to the dark environment at ordinary times and the shining environment of the driving car lamp at the subway track side by using the 940nm wave band, and can work indiscriminately in 365 days x 24 hours all the year round;
(2) The intelligent obstacle avoidance detection system can perform three-dimensional imaging on the area from the platform door to the rail;
(3) The intelligent obstacle avoidance detection system can perform three-dimensional distance measurement on the area between the platform door and the track;
(4) The intelligent obstacle avoidance detection system can detect the object with the minimum diameter of 25mm and the absolute position of the object for a protection area;
(5) The intelligent obstacle avoidance detection system is internally provided with a depth mean value algorithm, and whether obstacles exist or not can be identified in real time by judging whether the depth mean value is abnormal or not; time consumption for acquiring a large number of pictures and time consumption for comparing the pictures are avoided;
(6) The intelligent obstacle avoidance detection system does not upload pictures and videos when no obstacle exists, so that the privacy of passengers is protected;
(7) The intelligent obstacle avoidance detection system transmits network data by using the gigabit switch, and the servers 2 are provided with respective independent ports, so that high-speed and high-quality uploading of pictures and videos when an obstacle gives an alarm is ensured;
(8) Personnel can draw out an expected appointed protection area to the 3D structured light depth camera 6 through the display 1;
(9) The accurate three-dimensional position where the barrier is located and the size of the barrier can be read out on the display 1;
(10) The display 1 can play the environmental video where the barrier is located and the historical video generated by the environmental video; the station staff can conveniently search the reason and summarize the experience, and the subsequent reoccurrence is avoided.
While particular embodiments of the present invention have been described in the foregoing specification, various modifications and alterations to the previously described embodiments will become apparent to those skilled in the art from this description without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a barrier detecting system is kept away to platform door for detect the retention object of ascending district platform door track side or descending district platform door track side, its characterized in that: the system comprises a display (1), a server (2) and a PSC cabinet (3), wherein the display (1) is connected with the server (2) through signals, and the server (2) is connected with the PSC cabinet (3) through signals;
the system comprises a server (2), an uplink area camera group and a first gigabit switch (4), wherein the first gigabit switch (4) is connected with the server (2) in a wired or wireless mode, the uplink area camera group is provided with a plurality of 3D structure optical depth cameras (6), and each 3D structure optical depth camera (6) in the uplink area camera group is in signal connection with the first gigabit switch (4) respectively;
the system is characterized by further comprising a downlink area camera group and a second gigabit switch (5), wherein the second gigabit switch (5) is connected with the server (2) in a wired or wireless mode, the downlink area camera group is provided with a plurality of 3D structure optical depth cameras (6), and each 3D structure optical depth camera (6) in the downlink area camera group is in signal connection with the second gigabit switch (5) respectively;
each 3D structure optical depth camera (6) in the ascending area camera group is centrally arranged above the platform door track side of the ascending area through a support; each 3D structure optical depth camera (6) in the descending area camera group is arranged above the platform door track side of the descending area in the middle through a support;
the monitoring range of the 3D structure light depth camera (6) is a three-dimensional sector area between the left wing and the right wing of the platform door and the space between the platform door and the track.
2. The platform door obstacle avoidance detection system of claim 1, wherein: the 3D structure optical depth camera (6) is provided with a camera shell (61), an infrared receiving module (62), a color module (63), a first laser emitter (64) and a second laser emitter (65) are mounted on the camera shell (61), and a camera interface (66) is arranged on the side surface of the camera shell (61); 3D structure light degree of depth camera (6) still include camera control assembly, and infrared receiving module (62), colored module (63), first laser emitter (64), second laser emitter (65) and camera interface (66) are connected with camera control assembly respectively.
3. The platform door obstacle avoidance detection system of claim 2, wherein: the camera interface (66) is an Ethernet interface and is used for power supply and network connection interconnection.
4. The platform door obstacle avoidance detection system of claim 1, wherein: the 3D structured light depth camera (6) uses a 940nm working waveband.
5. The platform door obstacle avoidance detection system of claim 1, wherein: display (1), server (2), first giga switch (4) and second giga switch (5) all install at end gate track side.
6. An obstacle avoidance detection method of the platform door obstacle avoidance detection system according to any one of claims 1 to 5, characterized in that: the method specifically comprises the following steps:
s1, powering on a platform door obstacle avoidance detection system to operate, and completing initialization;
s2, the server (2) receives a signal that the platform door is closed and locked;
s3, starting photographing and video recording by the 3D structured light depth camera (6), and starting a depth mean value algorithm;
s4, starting timing by a detection timer, and if the timing time is not reached, entering the step S5; if the timing time is over, the step S10 is executed;
s5, judging whether the platform door track side of the ascending area or the platform door track side of the descending area is abnormal or not by using a depth mean algorithm, if so, detecting that an obstacle exists on the platform door track side of the ascending area or the platform door track side of the descending area, and entering a step S6; if not, the step S4 is executed;
s6, before the detection timer finishes timing, if the delay register D is full of timing, an alarm is started, and a host of the server (2) gives an alarm through the display (1) and a driving audible and visual alarm and is associated with a safety loop;
s7, uploading the abnormal pictures and abnormal videos shot by the 3D structured light depth camera (6) to a server (2);
s8, the server (2) displays the stored abnormal pictures and abnormal videos through the display (1), and the alarm gives an alarm to prompt a worker to view the display (1); then, the staff further checks and clears the obstacles on the platform door track side of the ascending area or the platform door track side of the descending area;
s9, clicking to reset after the alarm source is removed by a worker, specifically, resetting a delay register D, an early warning flag bit F and an alarm flag register W in a depth-average algorithm; meanwhile, the safety loop is conducted;
and step S10, after the monitoring of the period is finished, waiting for the next period, and re-entering the step S2.
7. The obstacle avoidance detection method of the platform door obstacle avoidance detection system according to claim 6, wherein: the depth-mean algorithm in the S3 specifically comprises the following steps:
step S31, the depth mean value algorithm is internally provided with: a threshold register A and a threshold register B, wherein A and B are input and adjusted by an engineer by using experimental values;
step S32, the uplink area camera group and the downlink area camera group respectively carry out single-frame shooting on the uplink area station door track side and the downlink area station door track side, and pictures collected by each frame shooting include three-dimensional coordinate values of each pixel point besides common color pictures;
s33, when the server (2) receives the photo collected by the new frame, extracting depth coordinate values of all pixel points, and filtering out two-dimensional coordinate values of a plane;
step S34, the calculation module carries out calibration and conversion on the depth coordinate value to convert a depth value to be compared, and the depth value to be compared is immediately stored in a register H to be compared;
step S35, H is compared with A/B, if A is less than H and less than B, the state is considered to be normal, the early warning zone bit F =0, the time delay register D stops timing and is cleared, and the step S32 is skipped; otherwise, setting an early warning flag bit F when the H exceeds the interval from A to B, namely F =1, starting/continuing timing by using a delay register D, and continuing to perform the step S36;
step S36, starting the picture storage function and the video recording function when only F is 1, and continuing to step S37; if F is 0, discarding the stored picture and the recorded video;
step S37, if the preset time of the delay register D is up, an alarm is triggered, the alarm flag register W =1 is sent to the host of the server (2), the host of the server (2) gives an alarm through the display (1) and the drive audible and visual alarm, and the step S7 is continued; otherwise, if the preset time of the delay register D is not full, the process returns to step S32.
8. Use of a platform door obstacle avoidance detection system according to any one of claims 1 to 5, wherein: the platform door obstacle avoidance detection system is applied to a platform door.
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