CN116092043A - Method and system for detecting obstacle between train door and platform shielding door - Google Patents
Method and system for detecting obstacle between train door and platform shielding door Download PDFInfo
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- CN116092043A CN116092043A CN202211069103.4A CN202211069103A CN116092043A CN 116092043 A CN116092043 A CN 116092043A CN 202211069103 A CN202211069103 A CN 202211069103A CN 116092043 A CN116092043 A CN 116092043A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a method and a system for detecting obstacles between a train door and a platform shielding door, which belong to the field of rail traffic monitoring and control.
Description
Technical Field
The invention relates to the field of rail transit monitoring control, in particular to a method and a system for detecting obstacles between a train door and a platform screen door.
Background
With the continuous development of urban rail transit construction, the driving of people gradually develops to unmanned, and in the process of leaving a train, the accident of clamping people and objects between a platform screen door and a train door frequently happens, and if the accident is improperly handled, the safety of passengers is endangered or property loss is caused; the existing train is generally provided with a shielding door safety baffle, a lookout light belt, an opposite-emission photoelectric switch, an infrared light curtain or a door and shielding gap anti-clamping device, when the existence of an obstacle between the door and the shielding door is found, an acousto-optic signal is checked through human eyes, a driver or a station staff is assisted to check the abnormality between the door and the shielding door, and the system is only used as an auxiliary means and does not participate in train control at present; in order to prevent such accidents, it is important to design a reliable system for detecting obstacles between the vehicle door and the platform screen door.
Disclosure of Invention
The invention provides a method and a system for detecting obstacles between a train door and a platform screen door, which can solve the problem of misjudgment or misoperation in the prior art through observation by manpower lookout.
A method for detecting obstacles between a train door and a platform screen door comprises the following steps:
step one: before a train enters an A station to open a door, the train control unit sends a signal of the A station on the door opening side to a host processor;
step two: after the train enters the station A and parks, a camera on the same side as the door opening side of the station A shoots a door opening picture of an area between a vehicle door and a shielding door in a radiation angle range, and sends the door opening picture information to a host processor through a switch for storage, and then the vehicle door is opened;
step three: after the stop time is over, the host processor receives all the commands for closing the doors sent by the train control unit, closes all the doors, and the camera shoots the closed picture of the area between the doors within the radiation angle range and the shielding door again, and sends the closed picture information to the host processor for storage;
step four: the host processor compares the picture information before and after the door is opened by a differential image processing algorithm, and judges whether an obstacle exists in the area between the vehicle door and the shielding door according to the picture information comparison result;
step five: if the comparison result shows that the differential pixel point is not lower than the set threshold value, the host processor judges that an obstacle is found, the host processor sends an obstacle signal to the train control unit, and the train outputs an obstacle intrusion alarm instruction and controls an obstacle intrusion alarm relay in the train traction authorization loop to be disconnected, so that the train traction authorization loop is invalid, and the train is blocked from traction;
if the comparison result is that the differential pixel point is lower than the set threshold value of the computer, the host processor judges that no obstacle is found and the train is pulled normally.
In the fifth step, after the train is blocked and pulled, after the obstacle is cleared, the warning is remotely released, if all the commands for closing the doors are received again, the camera shoots the closed picture of the area between the doors and the shielding door after the obstacle is cleared again, and sends the closed picture information to the host processor for storage, and the fourth step and the fifth step are performed again in a circulating way.
In the fifth step, the host processor simultaneously sends the image information of the obstacle and the obstacle signal to the train operation control center, the train operation control center displays an alarm and informs related personnel to process the obstacle before, after the obstacle is cleared, the alarm is remotely released, if all the commands for closing the vehicle doors are received again, the camera shoots the post-closing pictures of the area between the vehicle doors and the shielding doors after the obstacle is cleared again, the post-closing picture information is sent to the host processor for storage, and the fourth step and the fifth step are performed again in a circulating way.
The traction authorization loop in the fifth step is connected with an obstacle intrusion alarm bypass switch in parallel and a train emergency traction switch;
when the network communication is normal or the obstacle intrusion alarm relay works normally, the obstacle intrusion alarm bypass switch and the train emergency traction switch are in an off state;
when the network communication is abnormal, the train emergency traction switch is in a closed state; when the obstacle intrusion alarm relay fails, the obstacle intrusion alarm bypass switch is in a closed state.
A system for detecting an obstacle between a train door and a platform screen door, comprising:
the image information acquisition units are connected with the carriages in a one-to-one correspondence manner and are used for acquiring image information of the area between each vehicle door and the shielding door;
the train control unit is used for controlling the on-off of the train traction authorization loop;
the host processor is used for communicating with the image information acquisition unit and the train control unit, storing the picture information before opening the door and the picture information after opening the door, which are shot by the image information acquisition unit, comparing the picture information before opening the door with the picture information after closing the door through a differential image processing algorithm, and judging whether an obstacle exists in the area between the vehicle door and the shielding door according to the comparison result of the picture information;
if the comparison result is that the differential pixel point is lower than the set threshold value, the obstacle is judged to be absent, and if the comparison result is that the differential pixel point is not lower than the set threshold value, the obstacle is judged to be present.
Preferably, the image information acquisition unit comprises two groups of camera units respectively arranged in the middle of two sides of the carriage, and the camera units comprise at least two hemispherical high-definition cameras.
Preferably, the number of the host processors is two, and the host processors are respectively arranged at the head carriage and the tail carriage of the train.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, two hemispherical high-definition cameras are respectively arranged in the middle parts of two sides of each carriage, the obstacle between the train door and the shielding door is monitored, the train control unit is triggered to output an obstacle limit intrusion alarm instruction when the obstacle is detected before the train leaves a station, the obstacle limit intrusion instruction is connected into the train traction authorization loop to block the train traction, and the traction authorization loop party can establish a movable train after the obstacle is removed, so that the safe operation of the train is ensured, the accident of clamping the object is avoided, and the personal and property safety of passengers is ensured.
Drawings
FIG. 1 is a flow chart of a method of detecting an obstacle between a train door and a platform screen door of the present invention;
FIG. 2 is a circuit diagram of a method of detecting an obstacle between a train door and a platform screen door according to the present invention;
FIG. 3 is an enlarged view of a portion of the circuit diagram of FIG. 2;
fig. 4 is a message from a train control unit to a host processor in accordance with the present invention.
Detailed Description
One embodiment of the present invention will be described in detail below with reference to the attached drawings, but it should be understood that the scope of the present invention is not limited by the embodiment.
Example 1
As shown in fig. 1 to 4, the method for detecting an obstacle between a train door and a platform screen door according to the embodiment of the present invention includes the following steps:
step one: before the train enters the station a to open the door, the train control unit (i.e., TCMS, hereinafter expressed by this term) sends a station a door-opening side signal to the host processor (i.e., ODSH, hereinafter expressed by this term);
step two: after the train enters the station A and parks, a camera at the same side as the door opening side of the station A shoots a door opening picture of an area between a vehicle door and a shielding door in a radiation angle range, and sends the door opening picture information to an OSDH (open mode control system) through an exchanger (ODSRS) for storage, and then the vehicle door is opened;
step three: after the stop time is over, the ODSH receives all the door closing instructions sent by the TCMS, closes all the doors, and the camera shoots the closed picture of the area between the doors within the radiation angle range and the shielding door again, and sends the closed picture information to the OSDH for storage;
step four: the ODSH compares the picture information before and after the door is closed through a differential image processing algorithm, and judges whether an obstacle exists in the area between the vehicle door and the shielding door according to the picture information comparison result;
step five: if the comparison result shows that the differential pixel point is lower than the set threshold value of the computer, the host processor judges that no obstacle is found and the train is pulled normally;
if the comparison result shows that the differential pixel point is not lower than the set threshold value of the computer, the host processor judges that an obstacle is found, the ODSH sends an obstacle signal to the TCMS, the TCMS outputs an obstacle intrusion alarm instruction and controls an obstacle intrusion alarm relay in a train traction authorization loop to be disconnected, so that the train traction authorization loop is invalid, and the train is blocked and pulled;
the K contact of the obstacle intrusion alarm relay is connected into the traction authorization loop, and when no obstacle is found, the K contact in the traction authorization loop is in a closed state, so that the train can be normally towed; when an obstacle is found, the TCMS receives an obstacle signal sent by the ODSH, outputs an obstacle intrusion alarm instruction and controls the K contact in the traction authorization loop to be disconnected, so that the traction authorization loop is invalid, and the traction of the train is blocked, thereby achieving the purpose of intervening in the traction of the train, blocking the train at the first time, and effectively preventing the train from running compared with the mode that the train is started due to misjudgment easily caused by artificial observation reminding in the prior art, and avoiding influencing the personal and property safety of passengers;
when the ODSH sends an obstacle signal to the TCMS, the ODSH sends the obstacle signal and the obstacle image information to a train Operation Control Center (OCC), the OCC displays an alarm and informs a station worker of the previous obstacle treatment, the station worker finds the obstacle through the obstacle image information and clears the obstacle, the train operation control center remotely removes the alarm after clearing the obstacle, the TCMS controls an obstacle intrusion alarm relay to reset, if all the car doors are closed again, a camera shoots a picture after closing the door and a region between the shielding doors after clearing the obstacle again, the picture information after closing the door is sent to an OSDH for storage, the ODSH compares the picture information before opening the door with the picture information after closing the door through a differential image processing algorithm, whether the obstacle exists in the region between the car door and the shielding door is judged again according to a comparison result, if the comparison result is that the differential pixel point is not lower than a set threshold value of a computer, the obstacle is found, and the steps four and five are repeated, if the differential pixel point is lower than the set threshold value of the computer, the obstacle is not found, and the train is pulled normally.
The technical names involved in the present invention are explained as follows:
TcCar: cab head car; mp Car: a motor car with a pantograph; m Car: a motor car without a pantograph; ODSH: a host processor; ODSRS: a switch; TCMS: a train control unit; CAM1/2/3/4 is a hemispherical high-definition camera, K is an obstacle intrusion alarm relay; EMTS, train emergency traction switch; TDACS: an obstacle intrusion alert bypass switch; OCC: and the train operation control center.
Example two
The embodiment of the invention provides a system for detecting obstacles between a train door and a platform screen door, which comprises the following components:
the image information acquisition units are connected with the carriages in a one-to-one correspondence manner and are used for acquiring image information of the area between each vehicle door and the shielding door;
the train control unit is used for controlling the on-off of the train traction authorization loop;
the host processor is used for communicating with the image information acquisition unit and the train control unit, storing the picture information before opening the door and the picture information after opening the door, which are shot by the image information acquisition unit, comparing the picture information before opening the door with the picture information after closing the door through a differential image processing algorithm, and judging whether an obstacle exists in the area between the vehicle door and the shielding door according to the comparison result of the picture information;
if the comparison result is that the differential pixel point is lower than the set threshold value of the computer, judging that no obstacle exists, and if the comparison result is that the differential pixel point is not lower than the set threshold value of the computer, judging that the obstacle exists;
the threshold value can be determined according to on-site image learning and debugging, and is related to the actual project line design and even the position of a camera, so that a determined numerical value cannot be given;
specifically, the number of the host processors is two, the two host processors are respectively arranged at the head carriage and the tail carriage of the train, redundancy is reserved between the two host processors, reliable transmission of video signals is guaranteed through an Ethernet switch self-organizing ring network, the two host processors are in redundancy communication with the train control unit, the normal use of the whole system is not affected by any host processor fault, and the host processors are also in communication with the train control unit through an RS485 protocol;
the train control unit TCMS to host processor ODSH data protocol includes: "next station door opening side information ods_cxnextsnndoropenl/R, all door closing information ods_cxalldorcopsed, door opening instruction signal ods_cxopendorcmd, train speed signal ods_cuitrainspeed", etc., as shown in fig. 4, the host processor ODSH receives a train control unit TCMS instruction and performs corresponding control;
the image information acquisition unit comprises two groups of camera units which are respectively arranged in the middle parts of two sides of the carriage, and each group of camera units comprises at least two hemispherical high-definition cameras so as to reduce dead angles and ensure that the area between all doors and shielding doors of the whole train can be covered and monitored.
Example III
On the basis of the method for detecting the obstacle between the train door and the platform screen door provided by the embodiment I, when an obstacle intrusion instruction is accessed in a traction authorization loop, and when an electronic device fault or network abnormality is considered, an obstacle intrusion alarm bypass switch TDACS and a train emergency traction switch EMTS (shown in figure 3) are connected in parallel in the traction authorization loop in the step five of the embodiment I;
when the network communication is normal or the obstacle intrusion alarm relay works normally, the TDACS and the EMTS are in a disconnection state;
when network communication is abnormal, the EMTS is in a closed state; when the obstacle limit intrusion alarm relay is in fault, the TDACS is in a closed state, and a driver can correspondingly operate the TDACS and the EMTS to ensure that the train normally operates.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
1. The method for detecting the obstacle between the train door and the platform screen door is characterized by comprising the following steps of:
step one: before a train enters an A station to open a door, the train control unit sends a signal of the A station on the door opening side to a host processor;
step two: after the train enters the station A and parks, a camera on the same side as the door opening side of the station A shoots a door opening picture of an area between a vehicle door and a shielding door in a radiation angle range, and sends the door opening picture information to a host processor through a switch for storage, and then the vehicle door is opened;
step three: after the stop time is over, the host processor receives all the commands for closing the doors sent by the train control unit, closes all the doors, and the camera shoots the closed picture of the area between the doors within the radiation angle range and the shielding door again, and sends the closed picture information to the host processor for storage;
step four: the host processor compares the picture information before and after the door is opened by a differential image processing algorithm, and judges whether an obstacle exists in the area between the vehicle door and the shielding door according to the picture information comparison result;
step five: if the comparison result is that the differential pixel point is not lower than the set threshold value, the host processor judges that the obstacle exists, the host processor sends an obstacle signal to the train control unit, and the train outputs an obstacle intrusion alarm instruction and controls an obstacle intrusion alarm relay in the train traction authorization loop to be disconnected, so that the train traction authorization loop is invalid, and the train is blocked from traction;
if the comparison result is that the differential pixel point is lower than the set threshold value, the host processor judges that no obstacle is found and the train is pulled normally.
2. The method for detecting the obstacle between the train door and the platform screen door according to claim 1, wherein in the fifth step, after the train is blocked and pulled, after the obstacle is cleared, the warning is remotely released, if all the commands for closing the doors are received again, the camera shoots the post-closing picture of the area between the door and the screen door after the obstacle is cleared again, and sends the post-closing picture information to the host processor for storage, and the fourth step and the fifth step are performed again in a circulating way.
3. The method for detecting the obstacle between the train door and the platform screen door according to claim 1, wherein in the fifth step, the host processor simultaneously sends the obstacle image information and the obstacle signal to the train operation control center, the train operation control center displays an alarm and notifies the related personnel to go forward to process the obstacle, after the obstacle is cleared, the alarm is remotely released, if all the cameras receive the command of closing the doors again, the cameras shoot the post-closing pictures of the area between the doors and the screen door after the obstacle is cleared again, and the post-closing picture information is sent to the host processor for storage, and the fourth step and the fifth step are performed again in a circulating manner.
4. The method for detecting the obstacle between the train door and the platform screen door according to claim 1, wherein the obstacle intrusion alarm bypass switch and the train emergency traction switch are connected in parallel in the traction authorization loop in the fifth step;
when the network communication is normal or the obstacle intrusion alarm relay works normally, the obstacle intrusion alarm bypass switch and the train emergency traction switch are in an off state;
when the network communication is abnormal, the train emergency traction switch is in a closed state; when the obstacle intrusion alarm relay fails, the obstacle intrusion alarm bypass switch is in a closed state.
5. A system for detecting an obstacle between a train door and a platform screen door, comprising:
the image information acquisition units are connected with the carriages in a one-to-one correspondence manner and are used for acquiring image information of the area between each vehicle door and the shielding door;
the train control unit is used for controlling the on-off of the train traction authorization loop;
the host processor is used for communicating with the image information acquisition unit and the train control unit, storing the picture information before opening the door and the picture information after opening the door, which are shot by the image information acquisition unit, comparing the picture information before opening the door with the picture information after closing the door through a differential image processing algorithm, and judging whether an obstacle exists in the area between the vehicle door and the shielding door according to the comparison result of the picture information;
if the comparison result is that the differential pixel point is lower than the set threshold value, the obstacle is judged to be absent, and if the comparison result is that the differential pixel point is not lower than the set threshold value, the obstacle is judged to be present.
6. The system for detecting obstacles between a train door and a platform screen door according to claim 5, wherein the image information acquisition unit comprises two groups of camera units respectively arranged in the middle of two sides of the carriage, and the camera units comprise at least two hemispherical high-definition cameras.
7. A system for detecting an obstacle between a train door and a platform screen door as recited in claim 5 wherein the number of host processors is two and is disposed in the head car and the tail car of the train, respectively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211069103.4A CN116092043A (en) | 2022-09-02 | 2022-09-02 | Method and system for detecting obstacle between train door and platform shielding door |
| PCT/CN2022/122361 WO2024045254A1 (en) | 2022-09-02 | 2022-09-29 | Method and system for detecting obstacle between train doors and platform screen doors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211069103.4A CN116092043A (en) | 2022-09-02 | 2022-09-02 | Method and system for detecting obstacle between train door and platform shielding door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116092043A true CN116092043A (en) | 2023-05-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211069103.4A Pending CN116092043A (en) | 2022-09-02 | 2022-09-02 | Method and system for detecting obstacle between train door and platform shielding door |
Country Status (2)
| Country | Link |
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| CN (1) | CN116092043A (en) |
| WO (1) | WO2024045254A1 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090074103A (en) * | 2008-01-01 | 2009-07-06 | 명관 이 | Platform screen door system and method to monitor a door of train |
| CN104847211B (en) * | 2015-03-24 | 2017-01-25 | 江苏科技大学 | Auxiliary system for safety of platform safety doors and train door sections and implementation method thereof |
| CN104691559B (en) * | 2015-03-24 | 2017-06-23 | 江苏科技大学 | Monitoring station platform safety door and car door interval safe accessory system and its implementation |
| CN110703350A (en) * | 2019-11-01 | 2020-01-17 | 深圳大学 | Train door and shield door gap foreign matter detection system and method |
| CN113591626A (en) * | 2021-07-16 | 2021-11-02 | 南京苏莱瑞新技术有限公司 | Obstacle detection system based on vision sensor |
| CN114261425B (en) * | 2022-01-12 | 2022-08-30 | 广东铁信通科技有限公司 | Subway clearance safety precaution system |
-
2022
- 2022-09-02 CN CN202211069103.4A patent/CN116092043A/en active Pending
- 2022-09-29 WO PCT/CN2022/122361 patent/WO2024045254A1/en unknown
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| WO2024045254A1 (en) | 2024-03-07 |
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Effective date of registration: 20230705 Address after: 601-5, No. 33, Qiuyun Road, Pukou District, Nanjing, Jiangsu 210000 Applicant after: Nanjing Rail Transit Industry Development Co.,Ltd. Address before: No. 68, Puzhu North Road, Taishan Park, Jiangbei New District, Nanjing, Jiangsu 211500 Applicant before: CRRC NANJING PUZHEN Co.,Ltd. |