CN104777522B - Foreign matter detection system and detection method between a kind of Train door and platform screen door based on compound detection - Google Patents
Foreign matter detection system and detection method between a kind of Train door and platform screen door based on compound detection Download PDFInfo
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- CN104777522B CN104777522B CN201510131046.1A CN201510131046A CN104777522B CN 104777522 B CN104777522 B CN 104777522B CN 201510131046 A CN201510131046 A CN 201510131046A CN 104777522 B CN104777522 B CN 104777522B
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Abstract
The invention discloses the foreign matter detection system between a kind of Train door and platform screen door based on compound detection and its detection method, system includes shooting part, laser scanning component and processor, and the shooting part and laser scanning component are arranged above platform screen door and carry out signal with processor respectively and be connected.The present invention is comprehensive to carry out combined type detection using laser scanning component and shooting part to the foreign matter between Train door and platform screen door, both comprehensive detection data, the shortcomings that so as to avoid single detection method, recall rate is high, false drop rate is low, improves the reliability of system and the safety concerns of passenger.
Description
Technical field
The present invention relates to a kind of train shield door safety protection equipment, belongs to subway train safe operation equipment and technology neck
Domain, refer in particular to the foreign matter detection system between a kind of Train door and platform screen door based on compound detection and detection side
Method.
Background technology
Since subway begins to use shield door, security when subway train is out of the station is greatly improved,
But also occur therewith because pressing from both sides safety problem caused by people presss from both sides thing between platform screen door and underground automobile door.Upper Haiti in 2007
Even there occurs because passenger is sandwiched in the train that is actuated between Train door and shield door and extrudes dead major accident for iron.
Therefore, in order to prevent the generation again of similar accident, research and development using between detection subway train car door and platform screen door whether
The detection means that people or thing be present is imperative.
According to the difference of field condition, the detection mode that can be used at present be broadly divided into for passage detection method and
For the detection method of car door.
Sensor directly is laid in train head and the tailstock for the detection method of passage, detects all car door-shield doors
Between whether with the presence of foreign matter, photo-electric, image-type are divided into according to the difference of sensor type.For the detection method of passage
Straight line platform can be applied to, can not be applicable for curve platform.
Detection method for car door is then that the space being directed between each Train door-platform screen door is examined
Survey, the program is detected for each shield door, and all Train doors-platform screen door region foreign bodies detection all passes through
Just allow to dispatch a car.It can be also applicable for curve platform for the detection method of car door, adaptability is stronger.
Mechanical, photo-electric and image-type can be divided into according to detection means for the detection method of car door：
Mechanical detection method, by increasing a baffle plate perpendicular to shield door surface in shield door, by platform screen
The mechanical reduction in space between door and Train door, so as to avoid larger object such as human body from being closed when closing the door
Between shield door and car door.Subject matter existing for the program is possible to cause clamping to injure to human body, may also be made in addition
Into intrusion train operation boundary, it is also possible to which the object small to bodies such as children can not detect that defect is very big.
Photo-electric detection method, is detected using normal light or laser sensor, includes two schemes, wherein one
Kind is the infrared light detection device in shield door closing face increase elevator curtain correlation, and detection shield door whether there is in the plane
Foreign matter is present, but the program can not detect for coming into the pedestrian between shield door and car door and foreign matter；Another
It is that laser range sensor is set at the top of car door, the distance surveyed when detection zone has foreign matter can change, foreign matter
Size is inversely proportional with measured distance, and foreign matter alarm can be triggered when reaching examination criteria.The program is disadvantageous in that,
The retroreflection capacity variance of different colours and surface smoothness material to laser is very big, when the material is for laser retroreflection
It is too small to cross weak or foreign matter volume, will result in laser sensor missing inspection makes thrashing.
Image-type detection method, between the top of shield door installation camera shooting Train door-platform screen door
Region, specific marker is set as object of reference in sections bottom, or directly background modeling passes through detection as object of reference
With reference to the observability and integrality of object image, to judge whether the region between the Train door-platform screen door has foreign matter
In the presence of having higher precision.But due between Train door-platform screen door ground be passenger traffic areas, frequent quilt
Trample, easily leave to be stained and cause with reference to change in pattern, so as to produce image-type detection erroneous judgement, cause system false-alarm probability mistake
Height, influence the availability of system.
The content of the invention
It is an object of the invention to overcome shortcoming and deficiency of the prior art, there is provided a kind of train based on compound detection
Foreign matter detection system between car door and platform screen door, the foreign matter detection system are based on laser scanning and image recognition, comprehensive
Treatment Analysis, the respective advantage of two kinds of detection methods is combined, highly reliable, flase drop is low with loss, has ensured Metro Passenger
Safety.
Second object of the present invention is to provide between above-mentioned Train door and platform screen door based on compound detection
Foreign matter detection system detection method.
In order to realize first purpose, the present invention realizes according to following technical scheme：
Foreign matter detection system between a kind of Train door and platform screen door based on compound detection, includes image pickup part
Part, laser scanning component and processor, the shooting part and laser scanning component are arranged above platform screen door and difference
Signal is carried out with processor to be connected.
Further, secondary light source is laid in region between the Train door and platform screen door.
Further, the laser scanning component uses LASER Light Source safe to the human body.
Further, the processor uses distributed arrangement structure, and the distributed arrangement structure is each platform screen door
Top is equipped with a processor, and the processor is connected with the shooting part above the platform screen door and laser scanning component respectively
And receive and analyze its signal message.
Further, the processor uses Centralized layout structure, and the Centralized layout structure is in train controlling center
Or platform control centre is separately provided a processor, shooting part and laser scanning component difference above all platform screen doors
Access the processor.
In order to realize second purpose, the present invention realizes according to following technical scheme：
The detection method of foreign matter detection system, described between a kind of Train door and platform screen door based on compound detection
Processor synthesis the shooting part COLOR COMPOSITION THROUGH DISTRIBUTION detected and the range distribution that laser scanning component detects judge detection zone
In whether there is foreign matter.
Further, the foreign matter discriminant function of the processor is
G (x, y)=a*ImgF (x, y)+b*DisF (x)+c*ImgF (x, y) * DisF (x)>D, wherein, a, b, c are respectively
Weight, d are threshold value；
Above-mentioned ImgF (x, y)=| Img (x, y)-ImgB (x, y) |, wherein, ImgF (x, y) is detection zone COLOR COMPOSITION THROUGH DISTRIBUTION
Difference, Img (x, y) are detection zone COLOR COMPOSITION THROUGH DISTRIBUTION, and ImgB (x, y) is detection zone standard picture；
Above-mentioned DisF (x)=| Dis (x)-DisB (x) |, wherein, DisF (x) is detection zone range distribution difference, Dis
(x) it is detection zone range distribution, DisB (x) is detection zone standard profile.
Further, during the foreign bodies detection judges, for point all in a detection zone, G (x, y) is calculated respectively,
Maximum is taken as discriminant function, as Max (g (x, y))>When d is set up, illustrate foreign matter in image-region be present, it is aobvious to carry out alarm
Show.
Compared with prior art, its advantage is the present invention：
The present invention is comprehensive to use laser scanning component and shooting part to the foreign matter between Train door and platform screen door
Carry out combined type detection, both comprehensive detection data, the shortcomings that so as to avoid single detection method, recall rate is high, false drop rate
It is low, improve the reliability of system and the safety concerns of passenger.
In order to the apparent understanding present invention, embodiment of the invention is illustrated below with reference to brief description of the drawings.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front arrangement figure of shooting part and laser scanning component in the present invention.
Fig. 3 is the functional arrangement of image color distribution and scanning distance distribution in the present invention.
Fig. 4 is the operation principle block diagram of the present invention.
Embodiment
As shown in Figure 1, 2, between a kind of Train door 2 and platform screen door 1 based on compound detection of the present invention
Foreign matter detection system, include shooting part 3, laser scanning component 4 and processor.
Above-mentioned shooting part 3 and laser scanning component 4 are arranged above platform screen door 1 towards the side of Train door 2,
Wherein, shooting part 3 overlooks shooting from top to bottom, obtains the image color distribution in shooting area, with two-dimensional matrix Img (x,
Y) describe, laser scanning component 4 scans from top to bottom, obtains range distribution, is described with one-dimensional matrix D is (x).More than moreover,
Shooting part 3 and laser scanning component 4 carry out signal with processor respectively and are connected.
Above-mentioned processor uses distributed arrangement structure, and the distributed arrangement structure is equal above each platform screen door 1
Be equipped with a processor, the processor be connected respectively with the shooting part 3 and laser scanning component 4 of the top of the platform screen door 1 and
Receive and analyze its signal message；Or above-mentioned processor uses Centralized layout structure, the Centralized layout structure is in train control
Center processed or platform control centre are separately provided a processor, the shooting part 3 of all tops of platform screen door 1 and laser scanning
Part 4 is respectively connected to the processor
It is further to above-mentioned technical proposal below to expand as described below as the preferred scheme of the present embodiment：
Further, between the Train door 2 and platform screen door 1 region laying secondary light source, for illuminate and
Mark is set；The laser scanning component 4 uses LASER Light Source safe to the human body.
As shown in Figures 2 to 4, detection of the invention judges that principle is as described below：
When carrying out the foreign bodies detection in region between platform screen door and Train door, shooting part 3 shoots platform screen
Image between door and Train door in detection zone, obtains COLOR COMPOSITION THROUGH DISTRIBUTION Img (x, y)；When train arrival and when not opening the door, base
Originally it can determine there is no foreign matter in the region, the image obtained in this period is modeled as background image by Gaussian Background
Form standard picture ImgB (x, y)；After train enabling, foreign matter is might have in the region, it is necessary to be detected, color point
Cloth Img (x, y) and standard picture ImgB (x, y) carries out difference computing, determines whether COLOR COMPOSITION THROUGH DISTRIBUTION changes, obtains COLOR COMPOSITION THROUGH DISTRIBUTION
Difference describes ImgF (x, y).
ImgF (x, y)=| Img (x, y)-ImgB (x, y) |
At the same time, corresponding laser scanning component 4 detects the range distribution in the region, obtains range distribution Dis
(x)；When train arrival and when not opening the door, it can determine there is no foreign matter in region substantially, the range distribution obtained in this period
As background distributions, model to form standard profile DisB (x) by Gaussian Background；, may in region after train enabling
There is foreign matter, it is necessary to be detected, then the range distribution Dis (x) of acquisition and gauged distance are distributed into DisB (x) carries out difference fortune
Calculate, it is determined that whether range distribution below changes, obtain range distribution difference and describe DisF (x).
DisF (x)=| Dis (x)-DisB (x) |
For any one point (x, y) in the detection zone, judge that it can be described as it with the presence or absence of the standard of foreign matter
It is more than some threshold value with the difference of background.In order to consider both influences, using general polynomial expansion form conduct
Discriminant function, only take first order and mixed term：
G (x, y)=a*ImgF (x, y)+b*DisF (x)+c*ImgF (x, y) * DisF (x), wherein a, b, c is respectively to weigh
Weight.
Then the discriminant function of foreign matter can be set to：
G (x, y)=a*ImgF (x, y)+b*DisF (x)+c*ImgF (x, y) * DisF (x)>D, wherein d are threshold value.
For point all in a detection zone, G (x, y) is calculated respectively, takes maximum to work as Max as discriminant function
(g(x,y))>When d is set up, illustrate foreign matter be present in the detection zone.When detecting foreign matter, can directly export acousto-optic and its
His form warning message.
It parameter a, b, c, d in above formula, can be generally determined, but be to be able to more smart by empirical value
True makes differentiation, is determined preferably with the mode of training, such as artificial neural network training etc., herein without repeating.
The invention is not limited in above-mentioned embodiment, if not departing from the present invention to the various changes or modifications of the present invention
Spirit and scope, if these changes and modification belong within the scope of the claim and equivalent technologies of the present invention, then this hair
It is bright to be also intended to comprising these changes and modification.
Claims (8)
1. foreign matter detection system between a kind of Train door and platform screen door based on compound detection, includes shooting part,
It is characterized in that：Also include laser scanning component and processor, the shooting part and laser scanning component are arranged at platform
Above shield door and signal is carried out with processor respectively to be connected；
And the foreign matter discriminant function of the processor is
G (x, y)=a*ImgF (x, y)+b*DisF (x)+c*ImgF (x, y) * DisF (x)>D, wherein, a, b, c are respectively weight,
D is threshold value；
Above-mentioned ImgF (x, y)=| Img (x, y)-ImgB (x, y) |, wherein, ImgF (x, y) is detection zone COLOR COMPOSITION THROUGH DISTRIBUTION difference,
Img (x, y) is detection zone COLOR COMPOSITION THROUGH DISTRIBUTION, and ImgB (x, y) is detection zone standard picture；
Above-mentioned DisF (x)=| Dis (x)-DisB (x) |, wherein, DisF (x) is detection zone range distribution difference, and Dis (x) is
Detection zone range distribution, DisB (x) are detection zone standard profile.
2. foreign bodies detection system between a kind of Train door and platform screen door based on compound detection according to claim 1
System, it is characterised in that：Secondary light source is laid in region between the Train door and platform screen door.
3. foreign bodies detection between a kind of Train door and platform screen door based on compound detection according to claim 1 or claim 2
System, it is characterised in that：The laser scanning component uses LASER Light Source safe to the human body.
4. foreign bodies detection between a kind of Train door and platform screen door based on compound detection according to claim 1 or claim 2
System, it is characterised in that：The processor uses distributed arrangement structure, and the distributed arrangement structure is each platform screen door
Top is equipped with a processor, and the processor is connected with the shooting part above the platform screen door and laser scanning component respectively
And receive and analyze its signal message.
5. foreign bodies detection between a kind of Train door and platform screen door based on compound detection according to claim 1 or claim 2
System, it is characterised in that：The processor uses Centralized layout structure, and the Centralized layout structure is in train controlling center
Or platform control centre is separately provided a processor, shooting part and laser scanning component difference above all platform screen doors
Access the processor.
6. foreign matter detection system as claimed in claim 1 between a kind of Train door and platform screen door based on compound detection
Detection method, it is characterised in that：The COLOR COMPOSITION THROUGH DISTRIBUTION that the processor synthesis shooting part detects detects with laser scanning component
To range distribution judge to whether there is foreign matter in detection zone.
7. foreign matter detection system between a kind of Train door and platform screen door based on compound detection according to claim 6
Detection method, it is characterised in that：The foreign matter discriminant function of the processor is
G (x, y)=a*ImgF (x, y)+b*DisF (x)+c*ImgF (x, y) * DisF (x)>D, wherein, a, b, c are respectively weight,
D is threshold value；
Above-mentioned ImgF (x, y)=| Img (x, y)-ImgB (x, y) |, wherein, ImgF (x, y) is detection zone COLOR COMPOSITION THROUGH DISTRIBUTION difference,
Img (x, y) is detection zone COLOR COMPOSITION THROUGH DISTRIBUTION, and ImgB (x, y) is detection zone standard picture；
Above-mentioned DisF (x)=| Dis (x)-DisB (x) |, wherein, DisF (x) is detection zone range distribution difference, and Dis (x) is
Detection zone range distribution, DisB (x) are detection zone standard profile.
8. foreign matter detection system between a kind of Train door and platform screen door based on compound detection according to claim 7
Detection method, it is characterised in that：During the foreign bodies detection judges, for point all in a detection zone, G is calculated respectively
(x, y), maximum is taken as discriminant function, as Max (G (x, y))>When d is set up, illustrate foreign matter in image-region be present, carry out
Alarm indication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510131046.1A CN104777522B (en) | 2015-03-24 | 2015-03-24 | Foreign matter detection system and detection method between a kind of Train door and platform screen door based on compound detection |
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| CN201510131046.1A CN104777522B (en) | 2015-03-24 | 2015-03-24 | Foreign matter detection system and detection method between a kind of Train door and platform screen door based on compound detection |
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| CN104777522B true CN104777522B (en) | 2018-01-19 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242614A (en) * | 2015-11-17 | 2016-01-13 | 广州新科佳都科技有限公司 | Platform screen door safety protection control method and system |
| CN108805912B (en) * | 2018-04-11 | 2019-03-22 | 上海中中龙达智能科技有限公司 | Shield door foreign bodies detection alarm method |
| CN108372861B (en) * | 2018-04-16 | 2024-03-22 | 北京瑞途科技有限公司 | Foreign matter detection device based on laser or infrared detection scanning |
| CN109447090B (en) * | 2018-10-17 | 2021-12-03 | 宁波中车时代传感技术有限公司 | Shield door obstacle detection method and system |
| CN110501699A (en) * | 2019-09-09 | 2019-11-26 | 中车南京浦镇车辆有限公司 | Obstacle detection system and detection method between a kind of shield door and car body |
| CN114379596B (en) * | 2020-10-20 | 2023-11-17 | 宁波中车时代传感技术有限公司 | Device and method for detecting foreign matters in gap between train door and platform door |
| CN112507998B (en) * | 2021-02-08 | 2021-04-27 | 南京信息工程大学 | Shielding door pedestrian waiting reminding system and method based on machine vision |
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