CN212723416U - Subway shield door obstacle detector based on radar and visual detection - Google Patents
Subway shield door obstacle detector based on radar and visual detection Download PDFInfo
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- CN212723416U CN212723416U CN202021601528.1U CN202021601528U CN212723416U CN 212723416 U CN212723416 U CN 212723416U CN 202021601528 U CN202021601528 U CN 202021601528U CN 212723416 U CN212723416 U CN 212723416U
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Abstract
The utility model discloses a subway shield door obstacle detector based on radar and visual detection, include: a first processor; the visual detection processing module is connected with the first processor through a first input interface; the radar detection processing module is connected with the first processor through a second input interface; the second processor is in communication connection with the first processor through a communication interface; the utility model discloses a multisensor of radar + vision fuses the technique and detects, provides the guarantee for train unmanned driving system operation safety.
Description
Technical Field
The utility model relates to a barrier detects technical field, and more specifically the subway shield door barrier detector that says so relates to a based on radar and visual detection.
Background
At present, a screen door is a device which surrounds a railway platform and a train landing space on the platform in a glass curtain wall mode, is usually installed on the side edge of a subway platform close to a rail and isolates a platform area from a rail area. When the train arrives, the electric door on the glass curtain wall is opened for passengers to get on or off the train.
However, there is a gap with a certain width between the train and the screen door, and when the train is running, a safety accident is easily caused in the gap, thereby causing a great economic loss. In order to avoid the occurrence of the accidents, most subways mainly depend on the mode that a driver drives to advance for manual lookout, the luminous lamp strip of the tail of the vehicle is watched through the head of the vehicle, and whether pedestrians are clamped or foreign matters invade in the middle area or not is judged according to the integrity of the lamp strip. However, in a narrow and long area of more than 100 meters, it is difficult to judge by only manual means, firstly, the requirement for the driver's eyesight is high, and secondly, the driver is easily fatigued, so that the driver can make misjudgment due to subjectivity. In fact, some subway platforms adopt a curve platform, so that a driver cannot judge by looking out the tail of the vehicle through a head of the vehicle. In addition, the gap between the shielding door and the vehicle body is reduced by installing the rubber strip and the flexible baffle on the side, close to the track, of the shielding door of part of the subway, and passengers are prevented from sinking into the gap due to unexpected feet. The method can prevent people-trapping accidents to a certain extent, but the method cannot detect small objects which bring potential safety hazards in driving, has no alarm prompting function, can only prevent the shielding door from being closed, and has poor adaptability.
Therefore, how to provide an intelligent subway platform screen door foreign object detector capable of solving the above problems is a problem that needs to be solved urgently by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a subway shield door obstacle detector based on radar and visual detection adopts the multisensor fusion technique of radar + vision, is the reliable technological detection means of obstacle between solving subway shield door and the train, provides the guarantee for the unmanned driving system operation safety of train.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a subway shield door obstacle detector based on radar and vision detection, comprising:
a first processor;
the visual detection processing module is connected with the first processor through a first input interface;
the radar detection processing module is connected with the first processor through a second input interface;
and the second processor is in communication connection with the first processor through a communication interface.
Preferably, the visual inspection processing module includes:
an image sensor;
the input end of the driving amplification circuit is connected with the image sensor;
and the input end of the image processor is connected with the driving amplification circuit, and the output end of the image processor is connected with the first processor through a first input interface.
Preferably, the radar detection processing module includes:
a transmitting antenna;
a radar transceiver front end connected to the transmit antenna;
a receiving antenna; the receiving antenna is connected with the radar transmitting and receiving front end;
the input end of the A/D converter is connected with the radar transceiving front end;
the control circuit is connected with the radar transmitting and receiving front end;
and the input end of the signal processor is connected with the output end of the A/D converter, the output end of the signal processor is connected with the control circuit, and the output end of the signal processor is connected with the first processor through a second input interface.
Preferably, the method further comprises the following steps: the first alarm device is connected with the first processor through the first alarm interface.
Preferably, the method further comprises the following steps: the second alarm device is connected with the second processor through the second alarm interface.
Can know via foretell technical scheme, compare with prior art, the utility model discloses a subway shield door obstacle detector based on radar and visual detection adopts the multi-sensor fusion technique of radar + vision, is the reliable technological detection means of obstacle between solving subway shield door and the train, provides the guarantee for train unmanned driving system operation safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a subway shield door obstacle detector based on radar and visual detection provided by the present invention;
fig. 2 is a schematic block diagram of a visual inspection processing module according to the present invention;
fig. 3 is a schematic block diagram of a structure of a radar detection processing module provided by the present invention;
in fig. 1-3:
1-a first processor, 2-a visual detection processing module, 3-a radar detection processing module, 4-a second processor, 21-an image sensor, 22-a driving amplifying circuit, 23-an image processor, 31-a transmitting antenna, 32-a radar transmitting and receiving front end, 33-a receiving antenna, 34-an A/D converter, 35-a control circuit, 36-a signal processor, 5-a first alarm interface, 6-a second alarm interface, 7-a first alarm device and 8-a second alarm device.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to the attached figure 1, the embodiment of the utility model discloses subway shield door obstacle detector based on radar and visual detection, include:
a first processor 1;
the visual detection processing module 2 is connected with the first processor 1 through a first input interface;
the radar detection processing module 3 is connected with the first processor 1 through a second input interface;
and the second processor 4 is in communication connection with the first processor 1 through a communication interface.
In a specific embodiment, the visual inspection processing module 2 includes:
an image sensor 21;
a drive amplifier circuit 22, an input terminal of the drive amplifier circuit 22 being connected to the image sensor 21;
and an image processor 23, wherein the input end of the image processor 23 is connected with the driving amplification circuit 22, and the output end of the image processor 23 is connected with the first processor 1 through a first input interface.
In a specific embodiment, the radar detection processing module 3 includes:
a transmitting antenna 31;
a radar transmit-receive front end 32, the radar transmit-receive front end 32 being connected to the transmitting antenna 31;
a receiving antenna 33; the receiving antenna 33 is connected to the radar transmitting/receiving front end 32;
the input end of the A/D converter 34 is connected with the radar transceiving front end 32;
a control circuit 35, the control circuit 35 being connected to the radar transceiver front end 32;
and the input end of the signal processor 36 is connected with the output end of the A/D converter 34, the output end of the signal processor 36 is connected with the control circuit 35, and the output end of the signal processor is connected with the first processor 1 through a second input interface.
In a specific embodiment, the method further comprises the following steps: the first alarm device 7 is connected with the first processor 1 through the first alarm interface 5.
In a specific embodiment, the method further comprises the following steps: a second alarm interface 6 and a second alarm device 8, wherein the second alarm device 8 is connected with the second processor 4 through the second alarm interface 6.
Specifically, the first alarm interface 5 may be an IO interface, and the second alarm interface 6 may be an RJ45 port.
Specifically, the processor, the detection module, and the corresponding support circuit and device are all in the prior art.
The utility model discloses a subway shield door obstacle detector based on radar and visual detection, detect the foreign matter at during operation radar detection processing module 3 and visual detection processing module 2, simultaneously through the detection distance, if detect the foreign matter then with alarm signal transmission to first treater 1, first treater 1 sends alarm prompt to first alarm device 7 through first alarm interface 5, send alarm signal to second treater 4 simultaneously, second treater 4 sends the signal to second alarm device 8 through second alarm interface 6, send out alarm prompt teleworker and handle.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The utility model provides a subway shield door obstacle detector based on radar and visual detection which characterized in that includes:
a first processor (1);
the visual detection processing module (2), the visual detection processing module (2) is connected with the first processor (1) through a first input interface;
the radar detection processing module (3), the radar detection processing module (3) is connected with the first processor (1) through a second input interface;
a second processor (4), wherein the second processor (4) is connected with the first processor (1) in a communication mode through a communication interface.
2. A subway screen door obstacle detector based on radar and vision detection according to claim 1, characterized in that said vision detection processing module (2) comprises:
an image sensor (21);
a drive amplification circuit (22), wherein the input end of the drive amplification circuit (22) is connected with the image sensor (21);
the input end of the image processor (23) is connected with the driving amplification circuit (22), and the output end of the image processor (23) is connected with the first processor (1) through a first input interface.
3. A subway screen door obstacle detector based on radar and vision detection according to claim 1, characterized in that said radar detection processing module (3) comprises:
a transmitting antenna (31);
a radar transceiver front-end (32), the radar transceiver front-end (32) being connected to the transmit antenna (31);
a receiving antenna (33); the receiving antenna (33) is connected with the radar transceiving front end (32);
an A/D converter (34), an input end of the A/D converter (34) is connected with the radar transceiving front end (32);
a control circuit (35), the control circuit (35) being connected to the radar transmit receive front end (32);
and the input end of the signal processor (36) is connected with the output end of the A/D converter (34), the output end of the signal processor (36) is connected with the control circuit (35), and the output end of the signal processor is connected with the first processor (1) through a second input interface.
4. The subway platform door obstacle detector based on radar and vision detection as claimed in claim 2, further comprising: the alarm device comprises a first alarm interface (5) and a first alarm device (7), wherein the first alarm device (7) is connected with the first processor (1) through the first alarm interface (5).
5. The subway platform door obstacle detector based on radar and vision detection as claimed in claim 1, further comprising: the second alarm interface (6) and the second alarm device (8), wherein the second alarm device (8) is connected with the second processor (4) through the second alarm interface (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021601528.1U CN212723416U (en) | 2020-08-04 | 2020-08-04 | Subway shield door obstacle detector based on radar and visual detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021601528.1U CN212723416U (en) | 2020-08-04 | 2020-08-04 | Subway shield door obstacle detector based on radar and visual detection |
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| Publication Number | Publication Date |
|---|---|
| CN212723416U true CN212723416U (en) | 2021-03-16 |
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| CN202021601528.1U Active CN212723416U (en) | 2020-08-04 | 2020-08-04 | Subway shield door obstacle detector based on radar and visual detection |
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| Country | Link |
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| CN (1) | CN212723416U (en) |
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