CN213986874U - Subway platform gap detection device based on attitude self-adaptation and area array laser - Google Patents

Abstract

The utility model discloses a subway platform clearance detecting device based on gesture self-adaptation and area array laser. The device includes: a housing; an image acquisition module is fixed on the front panel of the shell; the image acquisition module comprises an area array laser light source, an infrared camera, an infrared light supplement light source and an area array laser camera; a control module is arranged inside the shell; the control module is connected with the infrared camera and the area array laser camera; a signal transmission interface, an Ethernet interface and a power interface are arranged on the back panel of the shell; the signal transmission interface is connected with the control module; the Ethernet interface is connected with the control module; the power interface supplies power to the device through the power supply circuit; and an attitude sensor is also arranged in the shell and connected with the control module. Under the condition of strong light, the device can also accurately detect foreign matters in a gap between the subway and the platform; and the device can also detect whether the device is shifted or not.

Description

Subway platform gap detection device based on attitude self-adaptation and area array laser

Technical Field

The utility model relates to a track traffic clearance detects technical field, especially relates to a subway platform clearance detecting device based on gesture self-adaptation and area array laser.

Background

The gap detection between the subway platform door and the train is a key problem in the platform door system. A gap with the width of 10-35 cm exists between the subway platform door and the train, and in order to ensure safety, a driver needs to confirm that no people are clamped in the gap with the length of more than 100 meters before the train leaves. Current detection means are as follows: anti-pinch baffle, infrared grating, lookout lamp area etc. mode misstatement rate are high, easily cause driver fatigue, and the detection range is limited. In addition, a camera is also adopted for detection, but pure image feature matching is relied on, and due to the fact that subway stations in the city are provided with an aboveground platform and an underground platform, feature extraction and matching are difficult to perform when the illumination is dark or the overexposure scene effect is poor and the scene lacks textures. The illumination is darker can be solved through the light filling, but the too strong condition of light is difficult to solve, and simultaneously, strong mechanical high-frequency vibration makes the installation angle of this type of equipment change, easily causes the maintenance frequency of misreport and demand higher.

SUMMERY OF THE UTILITY MODEL

In order to solve the existing problems, the utility model provides a subway platform gap detection device based on attitude self-adaptation and area array laser, which can accurately detect the foreign matters in the gap between the subway and the platform under the condition of strong light; and the device can also detect whether the device is shifted or not.

In order to achieve the above purpose, the utility model adopts the following scheme,

the utility model provides a subway platform clearance detection device based on gesture self-adaptation and area array laser, includes remote monitoring's monitoring host computer and control box, its characterized in that, the device includes: a housing; an image acquisition module is fixed on the front panel of the shell and used for acquiring image information in a gap of a subway platform; the image acquisition module comprises an area array laser light source, an infrared camera, an infrared light supplement light source and an area array laser camera, and the area array laser light source, the infrared camera, the infrared light supplement light source and the area array laser camera are sequentially arranged on the front panel of the shell; the control module is arranged in the shell and used for processing the acquired image information; the control module is connected with the infrared camera and the area array laser camera; a signal transmission interface, an Ethernet interface and a power interface are arranged on the back panel of the shell; the signal transmission interface is connected with the control module through a signal circuit and is externally connected with the control box for controlling the transmission of signals; the Ethernet interface is connected with the control module, is externally connected with the monitoring host and is used for uploading image data to the monitoring host; the power interface supplies power to the device through the power supply circuit, and is externally connected with 220V mains supply; still install attitude sensor in the shell, attitude sensor connection control module.

Further, the power interface JP includes a pin 1, a pin 2, and a pin 3, and the pin 2 of the power interface is connected to a zero line of 220V commercial power, the pin 1 of the power interface is connected to a live line of 220V commercial power, and the pin 3 of the power interface is connected to a ground line of 220V commercial power; the power supply circuit comprises a metal key switch SW with a lamp, which is fixed on a rear panel of the shell, the metal key switch SW with the lamp is provided with a pin 1, a pin 2, a pin 3 and a pin 4, a normally open key switch S is connected in series between the pin 1 and the pin 2, and an LED lamp is connected in series between the pin 3 and the pin 4; the power supply circuit further comprises a first circuit capable of outputting 14.6V direct current, wherein the first circuit comprises a fuse F1, a piezoresistor VAR1, a piezoresistor VAR2, a piezoresistor VAR3, a negative temperature coefficient thermistor NTC, a resistor Rp1, a capacitor Cp1, a capacitor Cp2, a capacitor Cp3, a common mode filter inductor LCM, a discharge tube GDT, a voltage stabilizing chip Up1 of HS15P36SR, a differential mode filter inductor LDM, a polar capacitor Cp4, a polar capacitor Cp5, a capacitor Cp6, a polar capacitor Cp26, a capacitor 27, a positive temperature coefficient thermistor Cp, a transient suppression diode Dp4, a Schottky diode Dp1 and a Schottky diode Dp 2; one end of the fuse F1 is connected with a pin 1 of the power interface, the other end of the fuse F1 is connected with a pin 1 of the metal key switch SW with the lamp, and a pin 4 of the metal key switch SW with the lamp is connected with a pin 2 of the power interface; the 2 pins and the 3 pins of the metal key switch SW with the lamp are connected with one end of a piezoresistor VAR1, one end of a piezoresistor VAR2 and one end of a negative temperature coefficient thermistor NTC; the other end of the piezoresistor VAR2 is connected with one end of the piezoresistor VAR3 and a pin 1 of the discharge tube GDT; the other end of the negative temperature coefficient thermistor NTC is connected with one end of the resistor Rp1, one pole of the capacitor Cp1, one pole of the capacitor Cp2 and the 2-pin of the common-mode filter inductor LCM; the other pole of the capacitor Cp2 is connected with one pole of the capacitor Cp3, the pin 2 of the discharge tube GDT and the pin 3 of the power interface; the 2 pins of the power interface are connected with the other end of the piezoresistor VAR1, the other end of the piezoresistor VAR3, the other end of the resistor Rp1, the other pole of the capacitor Cp1, the other pole of the capacitor Cp3 and the 1 pin of the common-mode filter inductor LCM; a pin 1 of the voltage stabilizing chip Up1 is connected with a pin 4 of the common mode filter inductor LCM, and a pin 2 of the voltage stabilizing chip Up1 is connected with a pin 3 of the common mode filter inductor LCM; the 3 pins and the 4 pins of the voltage stabilizing chip Up1 are connected with the anode of the polarity capacitor Cp4 and the 1 pin of the differential mode filter inductor LDM; the 2 pins of the differential mode filter inductor LDM are connected with the anode of a polar capacitor Cp5, one electrode of a capacitor Cp6 and one end of a positive temperature coefficient thermistor PTC; the other end of the positive temperature coefficient thermistor PTC is connected with the cathode of the transient suppression diode Dp4, the anode of the Schottky diode Dp1 and the anode of the Schottky diode Dp 2; the cathode of the Schottky diode Dp1 is connected with the anode of a polar capacitor Cp26 and one electrode of a capacitor Cp 27; pins 5 and 6 of the voltage stabilizing chip Up1, the cathode of the polarity capacitor Cp4, the cathode of the polarity capacitor Cp5, the other electrode of the capacitor Cp6, the anode of the transient suppression diode Dp4, the cathode of the polarity capacitor Cp26 and the other electrode of the capacitor Cp27 are all grounded; the other end of the positive temperature coefficient thermistor PTC outputs 15V direct current; the cathode of the Schottky diode Dp1 and the cathode of the Schottky diode Dp2 both output 14.6V direct current.

Further, the power supply circuit also comprises a second circuit which can output 5V direct current, wherein the second circuit comprises a voltage stabilizing chip Up2 with the model number of TPS564201DDCR, a capacitor Cp7, a capacitor Cp8, a capacitor Cp9, a capacitor Cp10, a capacitor Cp11, an inductor Lp1, a resistor Rp2, a resistor Rp3, a Schottky diode Dp3, a Schottky diode Dp8, a polar capacitor Cp18 and a capacitor Cp 19; the pin 3 and the pin 5 of the voltage stabilizing chip Up2, one pole of the capacitor Cp7 and one pole of the capacitor Cp8 are connected with the other end of the positive temperature coefficient thermistor PTC and are connected with 15V direct current; the 2 pin of the voltage stabilizing chip Up2 is connected with one pole of a capacitor Cp9 and one end of an inductor Lp 1; the pin 6 of the voltage stabilizing chip Up2 is connected with the other pole of the capacitor Cp 9; the other end of the inductor Lp1 is connected with one end of a resistor Rp2, one pole of a capacitor Cp10, one pole of a capacitor Cp11, the anode of a Schottky diode Dp3 and the anode of a Schottky diode Dp 8; the other end of the resistor Rp2 is connected with the 4 pin of the voltage stabilizing chip Up2 and one end of the resistor Rp 3; the cathode of the Schottky diode Dp3 is connected with the anode of a polar capacitor Cp18 and one electrode of a capacitor Cp 19; the other pole of the capacitor Cp7, the other pole of the capacitor Cp8, the pin 1 of the voltage stabilizing chip Up2, the other end of the resistor Rp3, the other pole of the capacitor Cp10, the other pole of the capacitor Cp11, the negative pole of the polar capacitor Cp18 and the other pole of the capacitor Cp19 are all grounded; the other end of the inductor Lp1 outputs 5V direct current; the cathode of the Schottky diode Dp3 and the cathode of the Schottky diode Dp8 both output 4.6V direct current.

Further, the power supply circuit also comprises a third circuit which can output 3.3V direct current, wherein the third circuit comprises a voltage stabilizing chip Up3 with the model number of TPS564201DDCR, a capacitor Cp12, a capacitor Cp13, a capacitor Cp14, a capacitor Cp15, a capacitor Cp16, a capacitor Cp17, a polarity capacitor Cp22, a capacitor Cp23, an inductor Lp2, a resistor Rp4, a resistor Rp5 and a Schottky diode Dp 5; pins 3 and 5 of the voltage stabilizing chip Up3, one pole of the capacitor Cp12 and one pole of the capacitor Cp13 are connected with the cathode of the Schottky diode Dp2 and are connected with 14.6V direct current; the 2 pin of the voltage stabilizing chip Up3 is connected with one pole of a capacitor Cp14 and one end of an inductor Lp 2; the pin 6 of the voltage stabilizing chip Up3 is connected with the other pole of the capacitor Cp 14; the other end of the inductor Lp2 is connected with one end of a resistor Rp4, one pole of a capacitor Cp15, one pole of a capacitor Cp16, one pole of a capacitor Cp17 and the anode of a Schottky diode Dp 5; the cathode of the Schottky diode Dp5 is connected with the anode of a polar capacitor Cp22 and one electrode of a capacitor Cp 23; the other end of the resistor Rp4 is connected with the 4 pin of the voltage stabilizing chip Up3 and one end of the resistor Rp 5; the other pole of the capacitor Cp12, the other pole of the capacitor Cp13, the pin 1 of the voltage stabilizing chip Up3, the other end of the resistor Rp5, the other pole of the capacitor Cp15, the other pole of the capacitor Cp16, the other pole of the capacitor Cp17, the cathode of the polar capacitor Cp22 and the other pole of the capacitor Cp23 are all grounded; the other end of the inductor Lp2 outputs 3.3V direct current; the cathode of the schottky diode Dp5 outputs 2.9V dc.

Further, the control module adopts a raspberry pie with the model of BCM 2837; the raspberry pie is provided with four USB ports; and the raspberry pi comprises 40 standard pins, wherein pins 2 and 4 of the raspberry pi are connected with the cathode of the transient suppression diode Dp4 and are connected with 5V direct current, and pins 9, 25, 6, 14, 20, 30 and 34 of the raspberry pi are all grounded.

Further, the area-array laser camera adopts a solid-state laser radar sensor with the model of HPS-3D 160; the area-array laser camera is connected with a USB port JLA of the raspberry pi, and a pin 1 of the first USB port JLA is connected with the cathode of a Schottky diode Dp1 and is connected with 14.6V direct current; the infrared Camera adopts a raspberry type Camera with the model number of RPi Camera (H); the infrared camera is connected with the other USB port JUSB of the raspberry group, and a pin 1 of the second USB port JUSB is connected with the other end of the inductor Lp1 and is connected with 5V direct current.

Further, the area array laser light source is connected with a power supply terminal IFR1 with six pins, and the infrared supplementary lighting light source is connected with a power supply terminal IFR2 with six pins; the area array laser light source and the infrared light supplementing light source are both connected with a control circuit, and the control circuit comprises a resistor Rp7, a resistor Rp8, a resistor Rp9, a field effect transistor Q2, a triode Q3, a diode Dp9, a polar capacitor Cp20, a capacitor Cp21, a Schottky diode Dp6 and a Schottky diode Dp 7; one end of the resistor Rp7, one end of the resistor Rp9 and the source electrode of the field-effect transistor Q2 are connected with the other end of the inductor Lp2 and are connected with 3.3V direct current; the other end of the resistor Rp7 is connected with one end of a resistor Rp8, and the other end of the resistor Rp7 is connected with a pin 40 of a raspberry pi; the other end of the resistor Rp8 is connected with the base electrode of the triode Q3; the collector of the triode Q3 is connected with the cathode of the diode Dp9, the other end of the resistor Rp9 and the grid of the field-effect transistor Q2; the drain electrode of the field effect transistor Q2 is connected with the anode of a polar capacitor Cp20, one electrode of a capacitor Cp21, the anode of a Schottky diode Dp6 and the anode of a Schottky diode Dp 7; the emitter of the triode Q3, the anode of the diode Dp9, the cathode of the polar capacitor Cp20 and the other electrode of the capacitor Cp21 are all grounded; the cathode of the Schottky diode Dp6 and the cathode of the Schottky diode Dp7 both output 2.9V direct current; the negative electrode of the Schottky diode Dp6 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 2; the negative electrode of the Schottky diode Dp7 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 1; the pins 3 and 6 of the power supply terminal IFR1 and the pins 3 and 6 of the power supply terminal IFR2 are grounded.

Furthermore, the attitude sensor adopts an angle sensor U1 with the model number of JY60, and the 2 pin and the 11 pin of the attitude sensor U1 are both connected with the cathode of a Schottky diode Dp3 and are connected with 4.6V direct current; the 5 pin and the 8 pin of the attitude sensor U1 are both grounded; the 3 feet of the attitude sensor U1 are connected with the 8 feet of the raspberry pi, and the 4 feet of the attitude sensor U1 are connected with the 10 feet of the raspberry pi.

Further, a light emitting diode LED1 emitting red light and a light emitting diode LED2 emitting green light are arranged on the shell; the anode of the light emitting diode LED1 is connected with the 36 feet of the raspberry pie, and a resistor R1 is connected in series between the anode of the light emitting diode LED1 and the 36 feet of the raspberry pie; the anode of the light emitting diode LED2 is connected with the 38 feet of the raspberry pie, and a resistor R2 is connected in series between the anode of the light emitting diode LED2 and the 38 feet of the raspberry pie; the cathode of the light emitting diode LED1 and the cathode of the light emitting diode LED1 are both grounded.

Furthermore, a fan is further arranged on the shell, the fan is connected with a power supply terminal Jf2 with two pins, and a pin 1 of the power supply terminal Jf2 is connected with the negative electrode of the Schottky diode Dp5 and is connected with 2.9V direct current; the 2-pin of the power supply terminal Jf2 is grounded.

When the device is used, the device is firstly arranged right above a rail side shielding door, an Ethernet interface is externally connected with a monitoring host, a signal transmission interface is externally connected with a control box, and a power supply interface is externally connected with 220V commercial power; turning on a metal key switch with a lamp, switching on a power supply, and starting the device; the control box sends a detection signal to the control module through the signal transmission interface, the control module controls the area array laser light source and the infrared light supplement light source to emit light, and the area array laser camera and the infrared camera acquire image information and transmit the image information to the control module; in addition, the angle sensor detects the angle variation of the device at regular time and transmits the angle variation to the control module; the control module judges the size of the variable quantity of the angle, and when the variable quantity of the angle is a slight change, the control module adapts to the background according to a self-adjusting algorithm so as to accurately judge whether foreign matters exist between the subway and the platform; if foreign matters exist between the subway and the platform, the LED1 emits red light; and the control module sends out an alarm signal through the signal transmission interface, and the control box receives the alarm signal and sends out sound-light alarm. When the angle sensor detects that the variation of the angle reaches or exceeds a threshold value, the control module sends out an alarm signal through the signal transmission interface, and the control box receives the alarm signal and sends out sound-light alarm.

Detection device's advantage lie in: 1) the device measures distance through an area array laser Time of Flight (TOF), a light source can emit modulated near infrared light, the light is reflected after meeting an object and is received by an area array laser camera again, the distance of a shot scene is converted by calculating the phase difference and the Time difference between the emission and the reception of the light, a depth image of a detected space is established, the device is suitable for a scene with weak ambient light and strong ambient light interference, foreign matters can be reliably identified when a detected area lacks textures, the anti-strong light reaches 80 uKLx, and the interference of the ambient light and a high-reflectivity object to detection is effectively improved; 2) the device is internally provided with the attitude sensor, so that the device has an attitude change self-adaption function, the problem of detection background change caused by equipment displacement caused by vibration can be effectively solved, and the false alarm rate caused by mechanical vibration is effectively reduced.

Drawings

Fig. 1 is a schematic diagram of the detecting device of the present invention.

Fig. 2 is a wiring diagram of the power interface of the detecting device of the present invention.

Fig. 3 is a wiring diagram of the metal push-button switch with lamp of the detection device of the present invention.

Figure 4 circuit diagram of a first circuit of a supply circuit of a detection device

Fig. 5 is a circuit diagram of a second circuit of the power supply circuit of the detection device according to the present invention.

Fig. 6 is a circuit diagram of a third circuit of the power supply circuit of the detection device of the present invention.

Fig. 7 is a circuit diagram of a raspberry group of the detection device of the present invention.

Fig. 8 is a wiring diagram of the area-array laser camera of the detecting device of the present invention.

Fig. 9 is a wiring diagram of the infrared camera of the detection device of the present invention.

Fig. 10 is a circuit diagram of a control circuit of the detecting device according to the present invention.

Fig. 11 is a wiring diagram of the attitude sensor of the detecting device of the present invention.

Fig. 12 is a power supply terminal diagram of the area array laser light source of the detection device of the present invention.

Fig. 13 is a power supply terminal diagram of the infrared light-compensating light source of the detection device.

Fig. 14 is a power supply terminal diagram of the fan of the detecting device of the present invention.

Fig. 15 is a wiring diagram of a signal transmission interface of the detecting device of the present invention.

Fig. 16 is a circuit diagram of a signal input circuit of the detecting device according to the present invention.

Fig. 17 is a circuit diagram of a signal output circuit of the detecting device according to the present invention.

Fig. 18 is a schematic diagram of the principle of detecting foreign matters by area array laser of the detecting device of the present invention.

Fig. 19 is a schematic top view of the installation structure of the detecting device according to the present invention.

Fig. 20 is a schematic view of the plane a-a in fig. 18.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience of description and simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or integral parts; either mechanically or electrically; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1, a subway platform gap detection device based on attitude self-adaptation and area array laser, includes monitoring host computer and control box of remote monitoring, its characterized in that, the device includes: a housing; an image acquisition module is fixed on the front panel of the shell and used for acquiring image information in a gap of a subway platform; the image acquisition module comprises an area array laser light source, an infrared camera, an infrared light supplement light source and an area array laser camera, and the area array laser light source, the infrared camera, the infrared light supplement light source and the area array laser camera are sequentially arranged on the front panel of the shell; the control module is arranged in the shell and used for processing the acquired image information; the control module is connected with the infrared camera and the area array laser camera; a signal transmission interface, an Ethernet interface and a power interface are arranged on the back panel of the shell; the signal transmission interface is connected with the control module through a signal circuit and is externally connected with the control box for controlling the transmission of signals; the Ethernet interface is connected with the control module, is externally connected with the monitoring host and is used for uploading image data to the monitoring host; the power interface supplies power to the device through the power supply circuit, and is externally connected with 220V mains supply; still install attitude sensor in the shell, attitude sensor connection control module. When the device is used, the device is firstly installed right above the rail side shielding door, and then the power supply interface, the Ethernet interface and the signal transmission interface are connected with external equipment; the control box controls the device to detect through a signal transmission interface after the subway arrives at a station after the power supply is switched on and the passengers get on or off the subway, namely the control module controls the light source to emit light, the area array laser camera and the infrared camera acquire image information of a gap between the subway and a platform door and transmit the image information to the control module, and the control module judges whether foreign matters exist or not; if foreign matters exist, the control module uploads the detection result and the image to the monitoring host through the Ethernet interface, and sends a signal to the control box through the signal transmission interface, and the control box is assisted with sound and light alarm to remind a driver in time; if no foreign matter exists, the control module uploads the detection result to the monitoring host through the Ethernet interface, and the train driver can normally send the train. In addition, the attitude sensor detects the angle variation of the device at the moment and transmits the angle variation to the control module, so that the control module can correct the angle variation when judging whether foreign matters exist or not, and the foreign matters can be accurately judged; when the angle variation exceeds the threshold value, the control module sends a signal to the control box through the signal transmission interface, and is assisted with sound and light alarm to timely remind a driver.

As shown in fig. 2, the power interface JP includes a pin 1, a pin 2, and a pin 3, and the pin 2 of the power interface is connected to a zero line of 220V commercial power, the pin 1 of the power interface is connected to a live line of 220V commercial power, and the pin 3 of the power interface is connected to a ground line of 220V commercial power; the power supply circuit comprises a metal key switch SW with a lamp, which is fixed on the rear panel of the shell, as shown in fig. 3, the metal key switch SW with the lamp is provided with a pin 1, a pin 2, a pin 3 and a pin 4, a normally open key switch S is connected in series between the pin 1 and the pin 2, and an LED lamp is connected in series between the pin 3 and the pin 4; as shown in fig. 4, the power supply circuit further includes a first circuit capable of outputting 14.6V dc power, the first circuit includes a fuse F1, a varistor VAR1, a varistor VAR2, a varistor VAR3, a negative temperature coefficient thermistor NTC, a resistor Rp1, a capacitor Cp1, a capacitor Cp2, a capacitor Cp3, a common mode filter inductor LCM, a discharge tube GDT, a voltage stabilization chip Up1 of type HS15P36SR, a differential mode filter inductor LDM, a polar capacitor Cp4, a polar capacitor Cp5, a capacitor Cp6, a polar capacitor Cp26, a capacitor Cp27, a positive temperature coefficient thermistor PTC, a transient suppression diode Dp4, a schottky diode Dp1, and a schottky diode Dp 2; one end of the fuse F1 is connected with a pin 1 of the power interface, the other end of the fuse F1 is connected with a pin 1 of the metal key switch SW with the lamp, and a pin 4 of the metal key switch SW with the lamp is connected with a pin 2 of the power interface; the 2 pins and the 3 pins of the metal key switch SW with the lamp are connected with one end of a piezoresistor VAR1, one end of a piezoresistor VAR2 and one end of a negative temperature coefficient thermistor NTC; the other end of the piezoresistor VAR2 is connected with one end of the piezoresistor VAR3 and a pin 1 of the discharge tube GDT; the other end of the negative temperature coefficient thermistor NTC is connected with one end of the resistor Rp1, one pole of the capacitor Cp1, one pole of the capacitor Cp2 and the 2-pin of the common-mode filter inductor LCM; the other pole of the capacitor Cp2 is connected with one pole of the capacitor Cp3, the pin 2 of the discharge tube GDT and the pin 3 of the power interface; the 2 pins of the power interface are connected with the other end of the piezoresistor VAR1, the other end of the piezoresistor VAR3, the other end of the resistor Rp1, the other pole of the capacitor Cp1, the other pole of the capacitor Cp3 and the 1 pin of the common-mode filter inductor LCM; a pin 1 of the voltage stabilizing chip Up1 is connected with a pin 4 of the common mode filter inductor LCM, and a pin 2 of the voltage stabilizing chip Up1 is connected with a pin 3 of the common mode filter inductor LCM; the 3 pins and the 4 pins of the voltage stabilizing chip Up1 are connected with the anode of the polarity capacitor Cp4 and the 1 pin of the differential mode filter inductor LDM; the 2 pins of the differential mode filter inductor LDM are connected with the anode of a polar capacitor Cp5, one electrode of a capacitor Cp6 and one end of a positive temperature coefficient thermistor PTC; the other end of the positive temperature coefficient thermistor PTC is connected with the cathode of the transient suppression diode Dp4, the anode of the Schottky diode Dp1 and the anode of the Schottky diode Dp 2; the cathode of the Schottky diode Dp1 is connected with the anode of a polar capacitor Cp26 and one electrode of a capacitor Cp 27; pins 5 and 6 of the voltage stabilizing chip Up1, the cathode of the polarity capacitor Cp4, the cathode of the polarity capacitor Cp5, the other electrode of the capacitor Cp6, the anode of the transient suppression diode Dp4, the cathode of the polarity capacitor Cp26 and the other electrode of the capacitor Cp27 are all grounded; the other end of the positive temperature coefficient thermistor PTC outputs 15V direct current; the cathode of the Schottky diode Dp1 and the cathode of the Schottky diode Dp2 both output 14.6V direct current.

The power interface JP is externally connected with 220v commercial power, and when a metal key switch with a lamp is pressed down, the negative temperature coefficient thermistor NTC in the circuit can effectively prevent surge current; in addition, the piezoresistor and the fuse can form overvoltage protection; in the first circuit, under the action of a voltage stabilizing chip Up1, 15V direct current can be output, and then 14.6V direct current is output through a Schottky diode Dp1, so that power can be supplied to the area array laser camera; the capacitor and the inductor in the circuit mainly play a role in filtering and stabilizing current.

As shown in fig. 5, the power supply circuit further includes a second circuit capable of outputting 5V dc power, the second circuit includes a voltage regulator chip Up2 of model number TPS564201DDCR, a capacitor Cp7, a capacitor Cp8, a capacitor Cp9, a capacitor Cp10, a capacitor Cp11, an inductor Lp1, a resistor Rp2, a resistor Rp3, a schottky diode Dp3, a schottky diode Dp8, a polarity capacitor Cp18 and a capacitor Cp 19; the pin 3 and the pin 5 of the voltage stabilizing chip Up2, one pole of the capacitor Cp7 and one pole of the capacitor Cp8 are connected with the other end of the positive temperature coefficient thermistor PTC and are connected with 15V direct current; the 2 pin of the voltage stabilizing chip Up2 is connected with one pole of a capacitor Cp9 and one end of an inductor Lp 1; the pin 6 of the voltage stabilizing chip Up2 is connected with the other pole of the capacitor Cp 9; the other end of the inductor Lp1 is connected with one end of a resistor Rp2, one pole of a capacitor Cp10, one pole of a capacitor Cp11, the anode of a Schottky diode Dp3 and the anode of a Schottky diode Dp 8; the other end of the resistor Rp2 is connected with the 4 pin of the voltage stabilizing chip Up2 and one end of the resistor Rp 3; the cathode of the Schottky diode Dp3 is connected with the anode of a polar capacitor Cp18 and one electrode of a capacitor Cp 19; the other pole of the capacitor Cp7, the other pole of the capacitor Cp8, the pin 1 of the voltage stabilizing chip Up2, the other end of the resistor Rp3, the other pole of the capacitor Cp10, the other pole of the capacitor Cp11, the negative pole of the polar capacitor Cp18 and the other pole of the capacitor Cp19 are all grounded; the other end of the inductor Lp1 outputs 5V direct current; the cathode of the Schottky diode Dp3 and the cathode of the Schottky diode Dp8 both output 4.6V direct current. Under the action of the voltage stabilizing chip Up2, 5V direct current can be output, and then 4.6V direct current is output through a Schottky diode Dp3 to supply power for the attitude sensor; then the 4.6V direct current is output through a Schottky diode Dp8 to supply power for the signal output circuit.

As shown in fig. 6, the power supply circuit further includes a third circuit capable of outputting 3.3V dc power, the third circuit includes a voltage stabilizing chip Up3 of model TPS564201DDCR, a capacitor Cp12, a capacitor Cp13, a capacitor Cp14, a capacitor Cp15, a capacitor Cp16, a capacitor Cp17, a polarity capacitor Cp22, a capacitor Cp23, an inductor Lp2, a resistor Rp4, a resistor Rp5 and a schottky diode Dp 5; pins 3 and 5 of the voltage stabilizing chip Up3, one pole of the capacitor Cp12 and one pole of the capacitor Cp13 are connected with the cathode of the Schottky diode Dp2 and are connected with 14.6V direct current; the 2 pin of the voltage stabilizing chip Up3 is connected with one pole of a capacitor Cp14 and one end of an inductor Lp 2; the pin 6 of the voltage stabilizing chip Up3 is connected with the other pole of the capacitor Cp 14; the other end of the inductor Lp2 is connected with one end of a resistor Rp4, one pole of a capacitor Cp15, one pole of a capacitor Cp16, one pole of a capacitor Cp17 and the anode of a Schottky diode Dp 5; the cathode of the Schottky diode Dp5 is connected with the anode of a polar capacitor Cp22 and one electrode of a capacitor Cp 23; the other end of the resistor Rp4 is connected with the 4 pin of the voltage stabilizing chip Up3 and one end of the resistor Rp 5; the other pole of the capacitor Cp12, the other pole of the capacitor Cp13, the pin 1 of the voltage stabilizing chip Up3, the other end of the resistor Rp5, the other pole of the capacitor Cp15, the other pole of the capacitor Cp16, the other pole of the capacitor Cp17, the cathode of the polar capacitor Cp22 and the other pole of the capacitor Cp23 are all grounded; the other end of the inductor Lp2 outputs 3.3V direct current; the cathode of the schottky diode Dp5 outputs 2.9V dc. Under the action of the voltage stabilizing chip Up3, 3.3V direct current can be output, and 2.9V direct current is output through the Schottky diode Dp5 to supply power for the light source.

As shown in fig. 7, the control module is a raspberry pi with model number BCM 2837; the raspberry pie is provided with four USB ports; and the raspberry pi comprises 40 standard pins, wherein pins 2 and 4 of the raspberry pi are connected with the cathode of the transient suppression diode Dp4 and are connected with 5V direct current, and pins 9, 25, 6, 14, 20, 30 and 34 of the raspberry pi are all grounded. 40 pins of the raspberry group are connected through double rows of nuts. In this embodiment, the raspberry group can receive image information acquired by the area-array laser camera and the infrared camera, then compare the image information with background image information, and analyze whether foreign matters exist or not; in addition, the attitude sensor also can transmit the angle variation of the current device to the raspberry group, and the raspberry group corrects the background image information according to the angle variation, so that the accuracy of foreign matter judgment is improved.

As shown in fig. 8, the area-array laser camera adopts a solid-state laser radar sensor with model number HPS-3D 160; the area-array laser camera is connected with a USB port JLA of the raspberry pi, and a pin 1 of the first USB port JLA is connected with the cathode of a Schottky diode Dp1 and is connected with 14.6V direct current; as shown in fig. 9, the infrared Camera adopts a raspberry-shaped Camera with a model number RPi Camera (H); the infrared camera is connected with the other USB port JUSB of the raspberry group, and a pin 1 of the second USB port JUSB is connected with the other end of the inductor Lp1 and is connected with 5V direct current.

In this embodiment, as shown in fig. 10, the area array laser light source is connected to a power supply terminal IFR1 with six pins, and the Infrared supplementary light source is a raspberry-type camera photosensitive Infrared lamp with the model number of Infrared LED Board (B); as shown in fig. 11, the infrared supplementary lighting light source is connected to a six-pin power supply terminal IFR 2; the area array laser light source and the infrared supplementary light source are both connected with a control circuit, as shown in fig. 12, the control circuit comprises a resistor Rp7, a resistor Rp8, a resistor Rp9, a field effect transistor Q2, a triode Q3, a diode Dp9, a polar capacitor Cp20, a capacitor Cp21, a schottky diode Dp6 and a schottky diode Dp 7; one end of the resistor Rp7, one end of the resistor Rp9 and the source electrode of the field-effect transistor Q2 are connected with the other end of the inductor Lp2 and are connected with 3.3V direct current; the other end of the resistor Rp7 is connected with one end of a resistor Rp8, and the other end of the resistor Rp7 is connected with a pin 40 of a raspberry pi; the other end of the resistor Rp8 is connected with the base electrode of the triode Q3; the collector of the triode Q3 is connected with the cathode of the diode Dp9, the other end of the resistor Rp9 and the grid of the field-effect transistor Q2; the drain electrode of the field effect transistor Q2 is connected with the anode of a polar capacitor Cp20, one electrode of a capacitor Cp21, the anode of a Schottky diode Dp6 and the anode of a Schottky diode Dp 7; the emitter of the triode Q3, the anode of the diode Dp9, the cathode of the polar capacitor Cp20 and the other electrode of the capacitor Cp21 are all grounded; the cathode of the Schottky diode Dp6 and the cathode of the Schottky diode Dp7 both output 2.9V direct current; the negative electrode of the Schottky diode Dp6 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 2; the negative electrode of the Schottky diode Dp7 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 1; the pins 3 and 6 of the power supply terminal IFR1 and the pins 3 and 6 of the power supply terminal IFR2 are grounded. Because area array laser source and infrared light filling light source belong to the electron device of relative good point, and mainly need use when surveying the foreign matter, consequently, when the raspberry group received the detection signal, among the control circuit, the raspberry group sends triode Q3 base output activation signal to for triode Q3's emitter and collecting electrode switch on, then field effect transistor Q2 drain output 3.3V direct current, supply terminal IFR1 and supply terminal IFR2 are normally supplied power, area array laser source and infrared light filling light source work of getting electricity.

As shown in fig. 13, the attitude sensor adopts an angle sensor U1 of model JY60, and the 2 and 11 pins of the attitude sensor U1 are both connected to the cathode of a schottky diode Dp3 and switched into a 4.6V dc current; the 5 pin and the 8 pin of the attitude sensor U1 are both grounded; the 3 feet of the attitude sensor U1 are connected with the 8 feet of the raspberry pi, and the 4 feet of the attitude sensor U1 are connected with the 10 feet of the raspberry pi. In the present embodiment, when the device is displaced from the mounting position perpendicularly to the mounting surface or displaced from the mounting position parallel to the mounting surface due to vibration or the like, the attitude sensor detects the amount of angular change of the device at a predetermined timing and transmits the amount of angular change to the control module.

In this embodiment, the housing is further provided with a light emitting diode LED1 emitting red light and a light emitting diode LED2 emitting green light; the anode of the light emitting diode LED1 is connected with the 36 feet of the raspberry pie, and a resistor R1 is connected in series between the anode of the light emitting diode LED1 and the 36 feet of the raspberry pie; the anode of the light emitting diode LED2 is connected with the 38 feet of the raspberry pie, and a resistor R2 is connected in series between the anode of the light emitting diode LED2 and the 38 feet of the raspberry pie; the cathode of the light emitting diode LED1 and the cathode of the light emitting diode LED1 are both grounded. When the device is powered on, the device enters a normal working state, the raspberry group controls the light emitting diode LED2 to be normally on and emit green light, and when the control module of the device judges that foreign matters exist, the raspberry group controls the light emitting diode LED1 to flicker and emit red light for warning, and controls the light emitting diode LED2 to be extinguished.

As shown in fig. 14, the housing is further provided with a fan, the fan is connected to a two-pin power supply terminal Jf2, and a pin 1 of the power supply terminal Jf2 is connected to a negative electrode of a schottky diode Dp5 and is connected to a 2.9V direct current; the 2-pin of the power supply terminal Jf2 is grounded. Because each electronic component in this equipment can produce heat in work, especially area array laser light source and infrared light filling light source, the fan is the whole device cooling, guarantees that each electronic component normally works.

As shown in fig. 15, the signal transmission interface JIO has seven pins, and pin 1, pin 2, and pin 3 of the signal transmission interface JIO are connected to the raspberry pi through a signal output circuit for signal output; pins 5 and 6 of the signal transmission interface JIO are connected with the raspberry pi through a signal input circuit to receive signals; pins 4 and 7 of the signal transmission interface JIO are common terminals. As shown in fig. 16, the signal input circuit includes a resistor Ri1, a resistor Ri2, a resistor Ri3, a resistor Ri4, a diode Di1, a capacitor Ci1, a photocoupler Ui1, a resistor Ri5, a resistor Ri6, a resistor Ri7, a resistor Ri8, a diode Di2, a capacitor Ci2, and a photocoupler Ui 2; one end of the resistor Ri1 is connected with a pin 6 of the signal transmission interface JIO; the other end of the Ri1 is connected with one end of a resistor Ri2, the negative electrode of a diode Di1 and the positive electrode of a light emitting diode in a photocoupler Ui 1; the other end of the resistor Ri2, the anode of the diode Di1 and the cathode of the light emitting diode in the photocoupler Ui1 are connected with a pin 7 of the signal transmission interface JIO; the collector of the photosensitive triode in the optoelectronic coupler Ui1 is connected with one end of a resistor Ri3 and one end of a resistor Ri 4; the other end of the resistor Ri3 is connected with the other end of the inductor Lp2 and is connected with 3.3V direct current; the other end of the resistor Ri4 is connected with one pole of a capacitor Ci1 and a pin 31 of a raspberry pie; one end of the resistor Ri5 is connected with a pin 5 of the signal transmission interface JIO; the other end of the Ri5 is connected with one end of a resistor Ri6, the negative electrode of a diode Di2 and the positive electrode of a light emitting diode in a photocoupler Ui 2; the other end of the resistor Ri6, the anode of the diode Di2 and the cathode of the light emitting diode in the photocoupler Ui2 are connected with the 4 pins of the signal transmission interface JIO; the collector of the photosensitive triode in the optoelectronic coupler Ui2 is connected with one end of a resistor Ri7 and one end of a resistor Ri 8; the other end of the resistor Ri7 is connected with the other end of the inductor Lp2 and is connected with 3.3V direct current; the other end of the resistor Ri8 is connected with one pole of a capacitor Ci2 and a pin 29 of a raspberry pie; the other pole of the capacitor Ci2, the emitter of the phototransistor in the photoelectric coupler Ui2, the other pole of the capacitor Ci1 and the emitter of the phototransistor in the photoelectric coupler Ui1 are all grounded. As shown in fig. 17, a signal output circuit. When the raspberry reader works, the signal transmission interface JIO is externally connected with a control box, and the control box sends detection signals to the raspberry group through the pins 5 and 6 of the signal transmission interface JIO; when a detection signal is input, the light emitting diode in the photoelectric coupler emits light to enable the phototriode to be conducted, and the pins 31 and 33 of the raspberry group receive the detection signal.

As shown in fig. 18, the device measures distance by using a Time of Flight (TOF) method, a light source emits modulated near-infrared light, the light is reflected after encountering an object and is received by a laser camera again, the distance of a shot scene is converted by calculating the phase difference and the Time difference between the emission and the reception of the light, a depth image of a measured space is established, and then graphic information is transmitted to a control module.

As shown in fig. 19 and 20, the edge of the bottom plate of the housing 1 of the device according to the present embodiment extends horizontally to form a first plate 11 and a second plate 12, the first plate 11 and the second plate 12 are symmetrically located at two sides of the housing 1, and both the first plate 11 and the second plate 12 are provided with a first long hole 111 parallel to the housing 1, a first L-shaped connecting plate 2 is arranged below the first plate 11, a second L-shaped connecting plate 3 is arranged below the second plate 12, and the first connecting plate 2 and the second connecting plate 3 are symmetrically arranged; the first connecting plate 2 comprises a first horizontal plate 21 parallel to the first flat plate 11 and a first vertical plate 22 perpendicular to the first flat plate 11, the first horizontal plate 21 and the first vertical plate 22 are both provided with through holes, and the first flat plate 11 is fixed with the first horizontal plate 21 at the position of a first long hole 111 of the first flat plate through a bolt connecting pair; the second connecting plate 3 comprises a second horizontal plate 31 parallel to the second flat plate 12 and a second vertical plate 32 perpendicular to the second flat plate 12, the second horizontal plate 31 is provided with a through hole, and the second flat plate 12 is fixed with the second horizontal plate 31 at the position of the first long hole 111 of the second flat plate through a bolt connecting pair; a rectangular mounting plate 4 is arranged below the first connecting plate 2 and the second connecting plate 3, two long edges of the mounting plate 4 extend upwards to form a fixed plate 41 and a limiting plate 42 which are symmetrical, and second long holes 411 which are perpendicular to the mounting plate 4 are arranged on the fixed plate 41 and the limiting plate 42; the first vertical plate 22 and the second vertical plate 32 are located between the fixed plate 41 and the limit plate 42, and the fixed plate 41 is fixed with the first vertical plate 22 at the position of the second long hole 411 through a bolt connection pair; the position of the limit plate 42 at the second long hole 411 is fixed with the second vertical plate 32 through a bolt connection pair; the shell 1 is positioned above one end of the mounting plate 4, and the other end of the mounting plate 4 is provided with a third long hole 43 parallel to the fixing plate 41, a fourth long hole 44 perpendicular to the fixing plate 41 and a positioning round hole 45; the mounting plate 4 is fixed to the platform screen door by screws at the third long hole 43, the fourth long hole 44 and the positioning round hole 45 at the end portions thereof. The mounting structure of the embodiment adopts long holes, so that the position of the device can be conveniently adjusted; in addition, the vibration interference detection device also has the function of reducing vibration interference.

When the device is used, the device is firstly arranged right above a rail side shielding door, an Ethernet interface is externally connected with a monitoring host, a signal transmission interface is externally connected with a control box, and a power supply interface is externally connected with 220V commercial power; turning on a metal key switch with a lamp, switching on a power supply, and starting the device; the control box sends a detection signal to the control module through the signal transmission interface, the control module controls the area array laser light source and the infrared light supplement light source to emit light, and the area array laser camera and the infrared camera acquire image information and transmit the image information to the control module; in addition, the angle sensor detects the angle variation of the device at regular time and transmits the angle variation to the control module; the control module judges the size of the variable quantity of the angle, and when the variable quantity of the angle is a slight change, the control module adapts to the background according to a self-adjusting algorithm so as to accurately judge whether foreign matters exist between the subway and the platform; if foreign matters exist between the subway and the platform, the LED1 emits red light; and the control module sends out an alarm signal through the signal transmission interface, and the control box receives the alarm signal and sends out sound-light alarm. When the angle sensor detects that the variation of the angle reaches or exceeds a threshold value, the control module sends out an alarm signal through the signal transmission interface, and the control box receives the alarm signal and sends out sound-light alarm.

Claims (10)

1. The utility model provides a subway platform clearance detection device based on gesture self-adaptation and area array laser, includes remote monitoring's monitoring host computer and control box, its characterized in that, the device includes: a housing; an image acquisition module is fixed on the front panel of the shell; the image acquisition module comprises an area array laser light source, an infrared camera, an infrared light supplement light source and an area array laser camera, and the area array laser light source, the infrared camera, the infrared light supplement light source and the area array laser camera are sequentially arranged on the front panel of the shell; a control module is arranged inside the shell; the control module is connected with the infrared camera and the area array laser camera; a signal transmission interface, an Ethernet interface and a power interface are arranged on the back panel of the shell; the signal transmission interface is connected with the control module through a signal circuit and is externally connected with the control box; the Ethernet interface is connected with the control module and is externally connected with the monitoring host; the power interface supplies power to the device through the power supply circuit, and is externally connected with 220V mains supply; still install attitude sensor in the shell, attitude sensor connection control module.

2. The subway platform gap detection device based on attitude self-adaptation and area array laser according to claim 1, wherein: the power interface JP comprises a pin 1, a pin 2 and a pin 3, wherein the pin 2 of the power interface is connected with a zero line of 220V commercial power, the pin 1 of the power interface is connected with a live line of the 220V commercial power, and the pin 3 of the power interface is connected with a ground wire of the 220V commercial power; the power supply circuit comprises a metal key switch SW with a lamp, which is fixed on a rear panel of the shell, the metal key switch SW with the lamp is provided with a pin 1, a pin 2, a pin 3 and a pin 4, a normally open key switch S is connected in series between the pin 1 and the pin 2, and an LED lamp is connected in series between the pin 3 and the pin 4; the power supply circuit further comprises a first circuit capable of outputting 14.6V direct current, wherein the first circuit comprises a fuse F1, a piezoresistor VAR1, a piezoresistor VAR2, a piezoresistor VAR3, a negative temperature coefficient thermistor NTC, a resistor Rp1, a capacitor Cp1, a capacitor Cp2, a capacitor Cp3, a common mode filter inductor LCM, a discharge tube GDT, a voltage stabilizing chip Up1 of HS15P36SR, a differential mode filter inductor LDM, a polar capacitor Cp4, a polar capacitor Cp5, a capacitor Cp6, a polar capacitor Cp26, a capacitor 27, a positive temperature coefficient thermistor Cp, a transient suppression diode Dp4, a Schottky diode Dp1 and a Schottky diode Dp 2; one end of the fuse F1 is connected with a pin 1 of the power interface, the other end of the fuse F1 is connected with a pin 1 of the metal key switch SW with the lamp, and a pin 4 of the metal key switch SW with the lamp is connected with a pin 2 of the power interface; the 2 pins and the 3 pins of the metal key switch SW with the lamp are connected with one end of a piezoresistor VAR1, one end of a piezoresistor VAR2 and one end of a negative temperature coefficient thermistor NTC; the other end of the piezoresistor VAR2 is connected with one end of the piezoresistor VAR3 and a pin 1 of the discharge tube GDT; the other end of the negative temperature coefficient thermistor NTC is connected with one end of the resistor Rp1, one pole of the capacitor Cp1, one pole of the capacitor Cp2 and the 2-pin of the common-mode filter inductor LCM; the other pole of the capacitor Cp2 is connected with one pole of the capacitor Cp3, the pin 2 of the discharge tube GDT and the pin 3 of the power interface; the 2 pins of the power interface are connected with the other end of the piezoresistor VAR1, the other end of the piezoresistor VAR3, the other end of the resistor Rp1, the other pole of the capacitor Cp1, the other pole of the capacitor Cp3 and the 1 pin of the common-mode filter inductor LCM; a pin 1 of the voltage stabilizing chip Up1 is connected with a pin 4 of the common mode filter inductor LCM, and a pin 2 of the voltage stabilizing chip Up1 is connected with a pin 3 of the common mode filter inductor LCM; the 3 pins and the 4 pins of the voltage stabilizing chip Up1 are connected with the anode of the polarity capacitor Cp4 and the 1 pin of the differential mode filter inductor LDM; the 2 pins of the differential mode filter inductor LDM are connected with the anode of a polar capacitor Cp5, one electrode of a capacitor Cp6 and one end of a positive temperature coefficient thermistor PTC; the other end of the positive temperature coefficient thermistor PTC is connected with the cathode of the transient suppression diode Dp4, the anode of the Schottky diode Dp1 and the anode of the Schottky diode Dp 2; the cathode of the Schottky diode Dp1 is connected with the anode of a polar capacitor Cp26 and one electrode of a capacitor Cp 27; pins 5 and 6 of the voltage stabilizing chip Up1, the cathode of the polarity capacitor Cp4, the cathode of the polarity capacitor Cp5, the other electrode of the capacitor Cp6, the anode of the transient suppression diode Dp4, the cathode of the polarity capacitor Cp26 and the other electrode of the capacitor Cp27 are all grounded; the other end of the positive temperature coefficient thermistor PTC outputs 15V direct current; the cathode of the Schottky diode Dp1 and the cathode of the Schottky diode Dp2 both output 14.6V direct current.

3. The subway platform gap detection device based on attitude self-adaptation and area array laser according to claim 2, wherein: the power supply circuit also comprises a second circuit capable of outputting 5V direct current, wherein the second circuit comprises a voltage stabilizing chip Up2 with the model number of TPS564201DDCR, a capacitor Cp7, a capacitor Cp8, a capacitor Cp9, a capacitor Cp10, a capacitor Cp11, an inductor Lp1, a resistor Rp2, a resistor Rp3, a Schottky diode Dp3, a Schottky diode Dp8, a polar capacitor Cp18 and a capacitor Cp 19; the pin 3 and the pin 5 of the voltage stabilizing chip Up2, one pole of the capacitor Cp7 and one pole of the capacitor Cp8 are connected with the other end of the positive temperature coefficient thermistor PTC and are connected with 15V direct current; the 2 pin of the voltage stabilizing chip Up2 is connected with one pole of a capacitor Cp9 and one end of an inductor Lp 1; the pin 6 of the voltage stabilizing chip Up2 is connected with the other pole of the capacitor Cp 9; the other end of the inductor Lp1 is connected with one end of a resistor Rp2, one pole of a capacitor Cp10, one pole of a capacitor Cp11, the anode of a Schottky diode Dp3 and the anode of a Schottky diode Dp 8; the other end of the resistor Rp2 is connected with the 4 pin of the voltage stabilizing chip Up2 and one end of the resistor Rp 3; the cathode of the Schottky diode Dp3 is connected with the anode of a polar capacitor Cp18 and one electrode of a capacitor Cp 19; the other pole of the capacitor Cp7, the other pole of the capacitor Cp8, the pin 1 of the voltage stabilizing chip Up2, the other end of the resistor Rp3, the other pole of the capacitor Cp10, the other pole of the capacitor Cp11, the negative pole of the polar capacitor Cp18 and the other pole of the capacitor Cp19 are all grounded; the other end of the inductor Lp1 outputs 5V direct current; the cathode of the Schottky diode Dp3 and the cathode of the Schottky diode Dp8 both output 4.6V direct current.

4. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 3, wherein: the power supply circuit also comprises a third circuit which can output 3.3V direct current and comprises a voltage stabilizing chip Up3 with the model of TPS564201DDCR, a capacitor Cp12, a capacitor Cp13, a capacitor Cp14, a capacitor Cp15, a capacitor Cp16, a capacitor Cp17, a polarity capacitor Cp22, a capacitor Cp23, an inductor Lp2, a resistor Rp4, a resistor Rp5 and a Schottky diode Dp 5; pins 3 and 5 of the voltage stabilizing chip Up3, one pole of the capacitor Cp12 and one pole of the capacitor Cp13 are connected with the cathode of the Schottky diode Dp2 and are connected with 14.6V direct current; the 2 pin of the voltage stabilizing chip Up3 is connected with one pole of a capacitor Cp14 and one end of an inductor Lp 2; the pin 6 of the voltage stabilizing chip Up3 is connected with the other pole of the capacitor Cp 14; the other end of the inductor Lp2 is connected with one end of a resistor Rp4, one pole of a capacitor Cp15, one pole of a capacitor Cp16, one pole of a capacitor Cp17 and the anode of a Schottky diode Dp 5; the cathode of the Schottky diode Dp5 is connected with the anode of a polar capacitor Cp22 and one electrode of a capacitor Cp 23; the other end of the resistor Rp4 is connected with the 4 pin of the voltage stabilizing chip Up3 and one end of the resistor Rp 5; the other pole of the capacitor Cp12, the other pole of the capacitor Cp13, the pin 1 of the voltage stabilizing chip Up3, the other end of the resistor Rp5, the other pole of the capacitor Cp15, the other pole of the capacitor Cp16, the other pole of the capacitor Cp17, the cathode of the polar capacitor Cp22 and the other pole of the capacitor Cp23 are all grounded; the other end of the inductor Lp2 outputs 3.3V direct current; the cathode of the schottky diode Dp5 outputs 2.9V dc.

5. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 4, wherein: the control module is a raspberry pie with the model of BCM 2837; the raspberry pie is provided with four USB ports; and the raspberry pi comprises 40 standard pins, wherein pins 2 and 4 of the raspberry pi are connected with the cathode of the transient suppression diode Dp4 and are connected with 5V direct current, and pins 9, 25, 6, 14, 20, 30 and 34 of the raspberry pi are all grounded.

6. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 5, wherein: the area-array laser camera adopts a solid laser radar sensor with the model of HPS-3D 160; the area-array laser camera is connected with a USB port JLA of the raspberry pi, and a pin 1 of the first USB port JLA is connected with the cathode of a Schottky diode Dp1 and is connected with 14.6V direct current; the infrared Camera adopts a raspberry type Camera with the model number of RPi Camera (H); the infrared camera is connected with the other USB port JUSB of the raspberry group, and a pin 1 of the second USB port JUSB is connected with the other end of the inductor Lp1 and is connected with 5V direct current.

7. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 6, wherein: the area array laser light source is connected with a power supply terminal IFR1 with six pins, and the infrared supplementary lighting light source is connected with a power supply terminal IFR2 with six pins; the area array laser light source and the infrared light supplementing light source are both connected with a control circuit, and the control circuit comprises a resistor Rp7, a resistor Rp8, a resistor Rp9, a field effect transistor Q2, a triode Q3, a diode Dp9, a polar capacitor Cp20, a capacitor Cp21, a Schottky diode Dp6 and a Schottky diode Dp 7; one end of the resistor Rp7, one end of the resistor Rp9 and the source electrode of the field-effect transistor Q2 are connected with the other end of the inductor Lp2 and are connected with 3.3V direct current; the other end of the resistor Rp7 is connected with one end of a resistor Rp8, and the other end of the resistor Rp7 is connected with a pin 40 of a raspberry pi; the other end of the resistor Rp8 is connected with the base electrode of the triode Q3; the collector of the triode Q3 is connected with the cathode of the diode Dp9, the other end of the resistor Rp9 and the grid of the field-effect transistor Q2; the drain electrode of the field effect transistor Q2 is connected with the anode of a polar capacitor Cp20, one electrode of a capacitor Cp21, the anode of a Schottky diode Dp6 and the anode of a Schottky diode Dp 7; the emitter of the triode Q3, the anode of the diode Dp9, the cathode of the polar capacitor Cp20 and the other electrode of the capacitor Cp21 are all grounded; the cathode of the Schottky diode Dp6 and the cathode of the Schottky diode Dp7 both output 2.9V direct current; the negative electrode of the Schottky diode Dp6 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 2; the negative electrode of the Schottky diode Dp7 is connected with the 1 pin and the 4 pin of the power supply terminal IFR 1; the pins 3 and 6 of the power supply terminal IFR1 and the pins 3 and 6 of the power supply terminal IFR2 are grounded.

8. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 5, wherein: the attitude sensor adopts an angle sensor U1 with the model number of JY60, and a pin 2 and a pin 11 of the attitude sensor U1 are both connected with the cathode of a Schottky diode Dp3 and are connected with 4.6V direct current; the 5 pin and the 8 pin of the attitude sensor U1 are both grounded; the 3 feet of the attitude sensor U1 are connected with the 8 feet of the raspberry pi, and the 4 feet of the attitude sensor U1 are connected with the 10 feet of the raspberry pi.

9. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 5, wherein: the shell is also provided with a light-emitting diode LED1 emitting red light and a light-emitting diode LED2 emitting green light; the anode of the light emitting diode LED1 is connected with the 36 feet of the raspberry pie, and a resistor R1 is connected in series between the anode of the light emitting diode LED1 and the 36 feet of the raspberry pie; the anode of the light emitting diode LED2 is connected with the 38 feet of the raspberry pie, and a resistor R2 is connected in series between the anode of the light emitting diode LED2 and the 38 feet of the raspberry pie; the cathode of the light emitting diode LED1 and the cathode of the light emitting diode LED1 are both grounded.

10. The subway platform gap detection device based on attitude self-adaptation and area array laser of claim 4, wherein: the shell is also provided with a fan, the fan is connected with a two-pin power supply terminal Jf2, and a pin 1 of the power supply terminal Jf2 is connected with the negative electrode of a Schottky diode Dp5 and is connected with 2.9V direct current; the 2-pin of the power supply terminal Jf2 is grounded.

Images