KR20170006505A - Obstacle detection apparatus and obstacle detection system for screen-door using it - Google Patents

Obstacle detection apparatus and obstacle detection system for screen-door using it Download PDF

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Publication number
KR20170006505A
KR20170006505A KR1020150097200A KR20150097200A KR20170006505A KR 20170006505 A KR20170006505 A KR 20170006505A KR 1020150097200 A KR1020150097200 A KR 1020150097200A KR 20150097200 A KR20150097200 A KR 20150097200A KR 20170006505 A KR20170006505 A KR 20170006505A
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KR
South Korea
Prior art keywords
light
obstacle
screen
door
unit
Prior art date
Application number
KR1020150097200A
Other languages
Korean (ko)
Inventor
구영욱
Original Assignee
(주)휴엔텍
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Publication date
Application filed by (주)휴엔텍 filed Critical (주)휴엔텍
Priority to KR1020150097200A priority Critical patent/KR20170006505A/en
Publication of KR20170006505A publication Critical patent/KR20170006505A/en

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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
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F15/74—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using photoelectric cells
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F15/76—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects responsive to devices carried by persons or objects, e.g. magnets or reflectors

Abstract

The present invention relates to an obstacle detection apparatus, which includes: a screen sensor formed by refracting a laser beam injected from a laser emitting part at a predetermined angle through a rotary reflector; and a vision sensor capturing an image of a measured point to detect an obstacle, and an obstacle detection system for a screen door using the same. According to the present invention, the obstacle detection apparatus comprises: a light screen sensor and a vision sensor. The light screen sensor comprises a light emitting part, a rotary reflector, a rotation driving part, a light receiving part and a first obstacle determination part. The vision sensor comprises a camera and a second obstacle determination part. The light emitting part emits light. The rotary reflector reflects light of the light emitting part and is rotationally installed to allow a light screen to be formed by the reflected light in a range of a predetermined angle in such a manner that light reflection is achieved while a reflection angle of the light is changed. The rotation driving part rotates a rotary reflector. The light receiving part receives the emitted light returning after being reflected by the rotary reflector. The first obstacle determination part calculates the incident time of the reflected light received in the light receiving part after emitting light by the light emitting part to determine the introduction of an obstacle in a section where a screen is formed by the light. The camera photographs the detection area where the obstacle is detected by the light screen sensor. The second obstacle determination part determines whether an obstacle exists in the detection area through the image captured by the camera.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an obstacle detection apparatus and a screen door obstacle detection system using the same,

The present invention relates to an obstacle detection apparatus and a screen door obstacle detection system using the same, and more particularly, to a screen sensor which is formed by refracting a laser beam emitted from a laser emission unit through a rotating reflector at a predetermined angle, And a vision sensor for sensing an obstacle, and a system for detecting an obstacle for a screen door using the same.

If the current train (national railway, subway, train, etc.) enters the platform in the station, a screen door is installed on the platform for the safety of the passengers. If the train users board or get off the train, Safety footrests are installed in order to ensure their safety.

Typically, these screen doors and safety footrests are operated by communication with the train, which is controlled by an ATO (Automatic Train Operation) device. The ATO device includes a PSM (Precision Stop Marker: stop position preceding display) for indicating a distance to a train stop position in the reverse direction, a TWC (Driverless Mode), Automatic Operation Mode (Automatic Mode), and Manual Operation Mode (Manual Mode) by collecting information necessary for train operation from peripherals such as train to wayside communication ), An on-premise operation mode (Yard Mode), and an emergency operation mode (Emergency Mode).

A conventional screen door system (PSD) is provided with a screen door installed at a front end of a platform to block a platform and a line portion, a driving unit for driving the screen door, a display unit for displaying the open / closed state of the screen door, The sensor unit senses an obstacle such as a person or an animal in the screen door between the sensor unit and the sensor unit, opens the screen door, and detects the presence or absence of an obstacle, It serves to delay the departure.

The sensor unit is normally installed so that one pair of the sensor unit is opposed to both sides of the door frame of the screen door. At this time, each sensor unit forms a body extending in the longitudinal direction, and a plurality of light emission and light reception sensors are arranged in the longitudinal direction at equal intervals in the body.

The sensor unit is provided with a fixing bracket on the upper / lower end thereof and is coupled to the door frame of the screen door using the fixing bracket. The pair of sensor units installed as described above mutually exchange signals with the light emission / light reception sensors of the opposite sensor unit, thereby detecting whether or not an obstacle exists in the middle.

However, since the conventional sensor unit must include a plurality of water light emitting sensors, it is structurally complicated and difficult to maintain. Especially, when some sensors fail, it is difficult to detect obstacles between screen doors. .

An object of the present invention is to provide an obstacle detection device having a simple structure and a high detection efficiency of an obstacle by forming a sensor of an optical screen type through a laser beam and a rotating reflector reflecting the laser beam, And an object of the present invention is to provide a system for detecting obstacles for a fisherman.

The obstacle detecting apparatus according to the present invention comprises a light irradiating unit for irradiating light and a light reflecting unit for reflecting light of the light irradiating unit and reflecting light while varying the angle of reflection of light, A light receiving unit for receiving reflected light reflected by the rotating reflector and returning the light; and a light receiving unit for receiving the light reflected from the light receiving unit, And a first obstacle determining unit for determining an incident time of the reflected light received by the light receiving unit and determining that an obstacle has flowed into the forming interval of the screen by the light, and a sensing area for sensing an obstacle in the optical screen sensor And a control unit for controlling the camera And a vision sensor including a second obstacle determining unit that determines the presence or absence of obstacles.

The optical screen sensor includes a plurality of light irradiating portions spaced apart from each other by a predetermined distance, and the rotating reflector has a plurality of reflecting surfaces formed to reflect light emitted from the plurality of light irradiating portions, It is preferable that a plurality of optical screens are formed.

The rotating reflector may be formed such that the plurality of reflecting surfaces are spaced apart from each other by a predetermined angle.

The obstacle detection system for a screen door according to the present invention includes a screen door installed at one side of a landing platform, a door opening / closing control unit for controlling the opening and closing of the screen door according to a control signal, Wherein the door opening / closing control unit is configured to open or close the screen door according to a set manual when an obstacle is detected in the obstacle detecting device.

When an obstacle is detected in the obstacle detection device, the image captured by the vision sensor of the obstacle detection device may be output through a central control center or a display of an adjustment room that controls the operation of the vehicle.

The obstacle detecting device may be installed on one side of a door frame of the screen door, or on a floor or a ceiling of the screen so as to scan a space between the sprin door and the entrance of a vehicle stopped at the platform.

The obstacle detecting device may be installed on a wall of a platform or a structure around a line so that a vehicle traveling space in which a line is formed can be scanned.

The obstacle detecting apparatus according to the present invention can efficiently detect an obstacle through an optical screen and can simplify and simplify maintenance because the apparatus is simple and simple in configuration.

1 is a diagram showing the configuration of an embodiment of an obstacle sensing apparatus of the present invention,
FIG. 2 is a conceptual diagram showing the operation principle of the optical screen sensor,
3 is a conceptual diagram showing another embodiment of an optical screen sensor capable of forming a plurality of optical screens,
4 is a perspective view showing an embodiment of the obstacle detecting device of the present invention,
FIG. 5 is a mounting state diagram showing a state where the obstacle sensing apparatus of the present invention is installed on a screen door,
6 is a block diagram illustrating a configuration of an obstacle detection system for a screen door using the obstacle detection device according to the present invention.

Hereinafter, an obstacle sensing apparatus according to the present invention and a screen door obstacle sensing system using the same will be described in detail with reference to the accompanying drawings.

FIG. 1 shows a configuration of an obstacle sensing apparatus according to the present invention.

Referring to the drawings, an obstacle sensing device includes a light screen sensor 120 and a vision sensor 130.

The optical screen sensor 120 forms a screen by spreading light in a curtain shape and includes a light irradiating unit 121, a rotating reflector 122, a rotation driving unit 123, a light receiving unit 124, 125).

The light irradiation unit 121 irradiates light for detecting an obstacle, and is formed to irradiate light such as infrared rays or laser light. The outer surface of the rotating reflector 122 is formed in a hexahedron so as to reflect the light. And four sides of the hexahedron can reflect light of the light irradiation unit 121, respectively.

2, the rotation driving unit 123 rotates the rotating reflector 122. The rotation driving unit 123 rotates the rotating reflector 122 such that the rotating reflector 122 rotates by the rotation driving unit 123, A light screen capable of sensing a predetermined angle region is formed while the reflection angle is gradually changed. The light receiving unit 124 receives the light reflected by the light irradiating unit 121 after passing through the rotating reflector 122 to the sensing area.

The first obstacle determining unit 125 determines whether an obstacle exists in the sensing area through the time from when the light is irradiated from the light irradiating unit 121 to when the light is received by the light receiving unit 124. That is, when there is no obstacle, the light returns to the floor surface of the landing platform or the frame 21 of the screen door 20, and the light receiving time of the reflected light at this time can be stored. When an obstacle is present in the sensing area, if the light receiving time of the reflected light changes due to the obstacle, the presence of the obstacle can be determined.

As described above, the optical screen sensor 120 forms a light screen by reflecting the light irradiated from the light irradiating unit 121 through the rotating reflector 122 in a predetermined angle range. When an obstacle exists in the light screen, The light screen sensor 120 may be formed to have a plurality of light screens as shown in FIG. 3, a plurality of light irradiating units 121 are spaced apart from each other at a predetermined interval, and the rotating reflector 122 is also provided with a light irradiating unit 121 for individually reflecting light irradiated from each light irradiating unit 121. [ As shown in FIG.

In particular, the rotating reflectors 122 may be formed such that the light reflection surfaces corresponding to the respective light irradiating portions 121 are spaced apart from each other by a predetermined angle so that a difference in the light screen due to the light irradiated from the respective light irradiating portions 121 .

In addition, it is preferable that when the light is received by the light receiving unit 124, the wavelength of the light irradiated by each light irradiating unit 121 is different so that the reflected light can be distinguished from the light irradiated from the light irradiating unit 121.

In the case of the optical screen sensor 120 constructed as in the present embodiment, a plurality of optical screens are formed, and the interval of the respective optical screens is determined by the interval of the light irradiation portions 121 and the reflection angle of the rotating reflector 122.

If only one optical screen is formed, it may be regarded as an obstacle even in the case of an obstacle which may be neglected, for example, a fly or a small foreign object. In the case of forming a plurality of optical screens spaced apart at a predetermined interval as in the present embodiment, For example, if two or three or more optical screens detect obstacles, it is possible to discriminate the obstacles from the optical screens, thereby increasing the discrimination ability of the actual obstacles.

The vision sensor 130 includes a camera 131 and a second obstacle determination unit 132.

The camera 131 is capable of photographing a sensing area sensed by the optical screen sensor 120. The second obstacle determining unit 132 stores the basic image in the absence of the obstacle. If there is an obstacle, the obstacle is different from the basic image due to the obstacle, so that the existence of the obstacle can be recognized .

The obstacle sensing apparatus according to the present invention includes an optical screen sensor 120 for forming an optical screen through a rotating reflector 122 and a vision sensor 130 for identifying an obstacle through an image captured by the camera 131. [ And the two sensors complement each other, thereby enhancing the identification efficiency of the obstacle.

That is, when the obstacle is primarily sensed by the optical screen sensor 120, the presence of an obstacle is checked through the image captured by the vision sensor 130, and the sensed image of the vision sensor 130 is displayed on the display of the manager So that the manager can make a final decision. Such an obstacle sensing apparatus may be applied to obstacle sensing systems 10 in various fields. For example, the obstacle sensing system 10 may be applied to a screen door.

Referring to FIG. 4, the screen door 20 can be applied to an obstacle detection system 10 for controlling the opening and closing operations of a screen door 20 installed in a subway platform. The obstacle detecting device described above is installed and it is detected whether there is any obstacle in the space between the screen door 20 and the door of the subway. An embodiment of the obstacle sensing apparatus 100 formed as shown in FIG.

The obstacle detecting apparatus 100 of the present embodiment includes a body 110 formed in a fan shape so as to be mounted on the corner of the frame 21 of the screen door 20. Both side walls of the body 110 are connected to the frame 21 And a light transmitting hole 111 through which the light irradiated from the light irradiating unit 121 can be emitted is formed in the circular arc portion. Although not shown, a light irradiating unit 121, a rotating reflector 122, and a rotation driving unit 123 are provided in the main body 110. A light transmitting window for emitting light may be formed in the light transmitting hole 111 or may be formed in an open structure without a separate window. A light receiving portion 124 for receiving light is provided at one side of the body 110, And a camera 131 for photographing a sensing area is provided at a lower portion of the light receiving unit 124.

A first obstacle determining unit 125 and a second obstacle determining unit 132 for determining the presence or absence of an obstacle on the basis of the sensing information of the optical screen sensor 120 and the vision sensor 130, ).

The first obstacle determining unit 125 and the second obstacle determining unit 132 may be formed as separate processing means. However, in the present embodiment, one information processing means includes the optical screen sensor 120 and the vision sensor 130 The door open / close control unit transmits a detection result to the door open / close control unit so that the detected result of the obstacle can be associated with the open / close operation of the door, and the door open / The controller of the central control center can receive the information and the image information of the vision sensor 130 is transmitted to the image processing unit through the image information processing unit It is transmitted to the central control center and the captured image of the corresponding detection area can be checked at the central control center.

In addition, the detection result of the obstacle determination unit and the photographed image information of the vision sensor 130 may be outputted through a display so that they can be confirmed also in a cockpit of a driving vehicle, so that the corresponding information may be utilized for operation of the electric vehicle according to the information.

Although the obstacle sensing apparatus 100 is shown as being mounted on the frame 21 of the screen door 20 in the present embodiment, the obstacle sensing apparatus 100 may be installed on a side wall of a ceiling or a platform of the building have.

The obstacle detecting apparatus 100 may be installed on a sidewall of the platform to detect an area between an entrance of a train and a screen door. However, the obstacle sensing apparatus 100 may be installed to detect obstacles that might obstruct the operation of a person or other train have.

The 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 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 presented herein.

10; Obstacle detection system for screen door
20; Screen door 21; frame
100; Obstacle detection device
110; A body 111; Flood hole
120; Optical screen sensor 121; Light irradiation unit
122; A rotating reflector 123; The rotation-
124; A light receiving unit 125; The first obstacle judgment unit
130; Vision sensor 131; camera
132; The second obstacle judgment unit

Claims (7)

A light irradiation unit for irradiating light;
A rotating reflector for reflecting the light of the light irradiating unit and rotatably installed so that a light screen is formed by the reflected light in a range of a predetermined angle by reflecting light while varying a reflection angle of light;
A rotation driving unit for rotating the rotating reflector;
A light receiving unit for receiving reflected light reflected by the rotating reflector; And
And a first obstacle determining unit for calculating an incidence time of the reflected light received by the light receiving unit after the light is irradiated by the light irradiating unit and determining that an obstacle has entered the forming period of the screen by the light;
A camera for photographing a sensing area where an obstacle is detected in the optical screen sensor;
And a second obstacle determining unit for determining whether an obstacle exists in the sensing area through an image captured by the camera.
The method according to claim 1,
The optical screen sensor includes a plurality of light irradiating portions spaced apart from each other by a predetermined distance, and the rotating reflector has a plurality of reflecting surfaces formed to reflect light emitted from the plurality of light irradiating portions, Wherein the plurality of light screens are formed so as to correspond to the plurality of light screens.
The obstacle detecting apparatus according to claim 2, wherein the rotating reflector is formed such that the plurality of reflection surfaces are spaced apart from each other by a predetermined angle.
A screen door installed at one side of the platform;
A door open / close control unit for controlling opening and closing of the screen door according to a control signal;
The obstacle detecting apparatus according to any one of claims 1 to 3, wherein the door opening / closing control unit is configured to detect an obstacle by scanning the selected one area of the platform through an optical screen, And when the door is detected, the door is opened or closed according to a set manual.
5. The method of claim 4,
Wherein the obstacle detecting apparatus is configured to output an image photographed by the vision sensor of the obstacle detecting apparatus through a central control center or a display of an adjusting room for controlling the operation of the vehicle when the obstacle is detected in the obstacle detecting apparatus .
5. The method of claim 4,
Wherein the obstacle sensing device is installed on one side of the door frame of the screen door or on either the bottom floor or the ceiling of the screen door so as to scan a space between the sprin door and the entrance of the vehicle stopped at the platform. system.
5. The method of claim 4,
Wherein the obstacle sensing device is installed on a structure of a wall of a platform or a structure of a line around the line so that a vehicle traveling space in which a line is formed can be scanned.


KR1020150097200A 2015-07-08 2015-07-08 Obstacle detection apparatus and obstacle detection system for screen-door using it KR20170006505A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101937791B1 (en) * 2018-06-26 2019-04-11 김기철 Screen door system and operating method thereof
CN109878552A (en) * 2019-03-26 2019-06-14 广州地铁集团有限公司 Monitoring foreign bodies device between rail traffic platform door based on machine vision and train
CN110103993A (en) * 2019-05-10 2019-08-09 中铁第四勘察设计院集团有限公司 The gate laser anti-clipping system and its control method of rail traffic curve platform
KR20190133998A (en) 2018-05-24 2019-12-04 주식회사 에스케이디 하이테크 Occupant and obstacle sensing device on the train platform
US11035958B2 (en) 2018-11-15 2021-06-15 Bejing Didi Infinity Technology And Development Co., Ltd. Systems and methods for correcting a high-definition map based on detection of obstructing objects

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190133998A (en) 2018-05-24 2019-12-04 주식회사 에스케이디 하이테크 Occupant and obstacle sensing device on the train platform
KR101937791B1 (en) * 2018-06-26 2019-04-11 김기철 Screen door system and operating method thereof
US11035958B2 (en) 2018-11-15 2021-06-15 Bejing Didi Infinity Technology And Development Co., Ltd. Systems and methods for correcting a high-definition map based on detection of obstructing objects
CN109878552A (en) * 2019-03-26 2019-06-14 广州地铁集团有限公司 Monitoring foreign bodies device between rail traffic platform door based on machine vision and train
CN109878552B (en) * 2019-03-26 2021-08-13 广州地铁集团有限公司 Foreign matter monitoring devices between track traffic platform door and train based on machine vision
CN110103993A (en) * 2019-05-10 2019-08-09 中铁第四勘察设计院集团有限公司 The gate laser anti-clipping system and its control method of rail traffic curve platform
CN110103993B (en) * 2019-05-10 2024-01-16 中铁第四勘察设计院集团有限公司 Platform door laser anti-pinch system of track traffic curve platform and control method thereof

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