CN105242614A - Platform screen door safety protection control method and system - Google Patents
Platform screen door safety protection control method and system Download PDFInfo
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- CN105242614A CN105242614A CN201510795049.5A CN201510795049A CN105242614A CN 105242614 A CN105242614 A CN 105242614A CN 201510795049 A CN201510795049 A CN 201510795049A CN 105242614 A CN105242614 A CN 105242614A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2628—Door, window
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention relates to a platform screen door safety protection control method and a platform screen door safety protection control system. The platform screen door safety protection control method comprises the steps that: a platform screen door PEDC receives a door opening signal from a signal system on a train and sends the door opening signal to a monitoring unit so as to make the monitoring unit operate; the monitoring unit shoots an image signal of a gap between the platform screen door and the train, and respectively sends the image signal to a storage module and an image analysis module in a host; and the platform screen door PEDC sends a platform screen door locking signal to the monitoring unit when detecting that the platform screen door is closed and locked, so that the image analysis module judges whether an obstacle exists in the gap between the platform screen door and the train according to the image signal, if so, sends an alarm signal to an audible and visual alarm and a display, and if not, sends a safety signal to the platform screen door PEDC. The platform screen door safety protection control method and the platform screen door safety protection control system are used for monitoring the gap between the platform screen door and the train in real time through the monitoring unit, are suitable for both curve and straight line station platforms, and have high detection accuracy and fast response speed.
Description
Technical field
The present invention relates to shield door control technology field, particularly relate to shield door safety protection control method and system.
Background technology
In recent years, along with the lasting fast development of track traffic industry, become the main traffic instrument of people's trip, passenger flow is on the increase, and gauze is day by day complicated.In order to ensure that passenger rides safety, there is accident by bus under preventing a large amount of crowded passenger flow situation, a shield door is mostly set between current subway platform and train.The spacing of 10-15 centimetre is had between the shield door of straight line platform and subway train, gap between the shield door of curve platform and subway train is more than 20 centimetres, and train operator cannot be relied on to pass through object that whether the human eye gap directly observed between shield door and train exists delay, if there is passenger to be detained, serious personal injury can be there is especially.
The product mainly laser detection system in current this field of application, gap between shield door and train goes out to install additional security protection sniffer, comprise generating laser, transmitter turns and receive detent mechanism, light system, transmitter protection cabinet and laser pickoff, receiver turns receipts detent mechanism, receiver protection cabinet.Before launch train, close shield door, Laser Detecting Set is started working, laser transmitter projects laser, and laser pickoff processes the laser beam received and differentiates, send transmission normal or have barrier, passenger is detained blocking alerting signal.But this product laser need be parallel to train, for curve platform, need many complete equipments are installed, and sensing range is narrow, need to arrange multiple tracks laser, large by external environment influence, whole side platform cannot drop into detection when a failure occurs, cannot have the shield door of barrier by precise positioning.
Summary of the invention
For above-mentioned technical matters, an object of the present invention is to provide shield door safety protection control method, and it can carry out real time monitoring to the gap between train and shield door.
One of for achieving the above object, the present invention adopts following technical scheme:
Shield door safety protection control method, comprises the steps:
Step one: shield door PEDC receives from the enabling signal of the signal system on train, and enabling signal is sent to monitoring means and makes monitoring means work;
Step 2: the picture signal in gap between monitoring means shooting shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module;
Step 3: shield door PEDC detects and sends shield door locking signal to monitoring means after shield door closes locking, judge whether the gap between shield door and train exists barrier to make image analysis module according to picture signal, if, then send alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
Preferably, step 3 comprises following sub-step:
Step 31: shield door PEDC detects and sends shield door locking signal to monitoring means after shield door closes locking;
Step 32: the rgb pixel value of image analysis module picture signal according to image signal acquisition, described rgb pixel value comprises R component, G component and B component;
Step 33: according to formula
obtain the average weight of R component and G component, wherein,
represent the average weight of R component and G component,
represent the pixel value of R component, I
g(x, y) represents the pixel value of G component;
Step 34: according to formula
Obtain the absolute value of each pixel difference of B component to obtain difference image, wherein, I
b(x, y) represents the pixel value of B component, and d (x, y) represents the absolute value of each pixel difference of B component;
Step 35: difference image and default template image being compared, it is consistent to judge whether, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
Preferably, described monitoring means comprises camera and light bar.
Two of object of the present invention is to provide a kind of shield door security protection system, and it can realize an object of the present invention.
For achieving the above object two, the present invention adopts following technical scheme:
Shield door safety control system, comprise main frame, shield door PEDC, monitoring means and display, described main frame comprises memory module, image analysis module and audible-visual annunciator, described monitoring means and image analysis module are all connected with shield door PEDC, described memory module, image analysis module are all connected with monitoring means, and described audible-visual annunciator is all connected with image analysis module with display;
Described shield door PEDC, for receiving the enabling signal from the signal system on train, and is sent to monitoring means by described enabling signal, and sends shield door locking signal to monitoring means for detecting after shield door closes locking; Described monitoring means, for taking the picture signal in gap between shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module; Described image analysis module, for judging according to picture signal whether the gap between shield door and train exists barrier, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
Preferably, described monitoring means comprises camera and light bar.
Compared to existing technology, beneficial effect of the present invention is:
The present invention is monitored the gap between shield door and train in real time by monitoring means, and be applicable to curve platform and straight line platform, Detection accuracy is high, fast response time simultaneously.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of shield door safety protection control method of the present invention;
Fig. 2 is the function structure chart of shield door security protection system of the present invention.
Embodiment
Below, by reference to the accompanying drawings and embodiment, the present invention is described further:
See Fig. 1, shield door safety protection control method provided by the invention comprises the steps:
Step S1: shield door PEDC receives from the enabling signal of the signal system on train, and this enabling signal is sent to monitoring means makes monitoring means work; Shield door PEDC is connected with train signal system interface, can carry out information interaction with train, and train opens the door, closing the door all sends corresponding signal to shield door PEDC, and shield door PEDC is sent to monitoring means after receiving signal transacting; When train enters the station, car door opened by train, and now monitoring means works on power, the situation in the gap in real time between monitoring shield door and train; More than one of the quantity of monitoring means, is preferably each shield door place and installs a monitoring means, make monitoring range wider;
Above-mentioned monitoring means preferably includes a light bar and a camera, camera is arranged at above shield door, the situation in gap between shield door and train can be monitored at any time, light bar is arranged at platform lateral surface bottom shield door, due to the corresponding monitoring means of a shield door, so the length of light bar is set to the length of shield door.Another kind of situation, also can share a monitoring means, but this monitoring means comprises multiple camera and a light bar, now the quantity of camera is corresponding with shield door quantity, and the length of light bar arranges the entire length with platform; The effect of camera gathers image information, and the effect of light bar is auxiliary monitoring, provides image definition;
Step S2: the picture signal in gap between monitoring means shooting shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module; Memory module stores described picture signal, can transfer image whenever necessary later;
Step S3: shield door PEDC detects that sending shield door locking signal after shield door closes locking is sent to monitoring means, judge whether the gap between shield door and train exists barrier to make image analysis module according to picture signal, if, then send alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.After shield door is closed and locked, image analysis module just carries out concrete image comparison judgement work.
Aforementioned display device is arranged at the terminal of subway concourse, and namely the staff of subway concourse can notice the image information in shield door and train gap by this display, thus takes measures in time.In fact, be judged as in step S3 existing that barrier is concurrent send alerting signal to perform step S3 again to audible-visual annunciator and display to carry out cycle criterion again, when being judged as clear and stop alarm, and there is safety signal to shield door PEDC, shield door PEDC train notified can be closed the door.
Computer vision technique is a study hotspot in current field of video image processing, the shield door video analysis security protection system of the present embodiment is exactly be based upon on the basis of this technology, in conjunction with the actual conditions of rail traffic platform, safety protection control method is proposed.Replace human eye by camera, and whether have barrier in conjunction with difference algorithm automatic decision, accuracy rate is high.
The color of object includes a large amount of information that can be used for being different from other objects, and therefore, be subject to extensive concern in image processing field, color is divided into different color spaces, as RGB color space etc.In the present embodiment, undertaken judging the detection of barrier by carrying out object detection to RGB color space and following the tracks of.
In the present embodiment, the color of light belt is preferably blue, and utilize the B component of RGB color space to detect the position of light belt, from factors such as other illumination on the angle of the impact of light belt identification, step S3 comprises following sub-step:
S31: shield door PEDC detects that sending shield door after shield door closes locking locks signal to monitoring means;
S32: the rgb pixel value of image analysis module picture signal according to image signal acquisition, described rgb pixel value comprises R component, G component and B component;
S33: according to formula
obtain the average weight of R component and G component, wherein,
represent the average weight of R component and G component, I
r(x, y) represents the pixel value of R component, I
g(x, y) represents the pixel value of G component;
S34: according to formula
obtain the absolute value of each pixel difference of B component to obtain difference image, wherein, I
b(x, y) represents the pixel value of B component, and d (x, y) represents the absolute value of each pixel difference of B component;
S35: difference image and default template image being compared, it is consistent to judge whether, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.In this step, indeed through formula
Carry out threshold function table calculating and judge in difference image, whether each pixel belongs to color of object, the each pixel belonging to color of object the most at last forms bianry image, the threshold value of the reference of mentioning when the structure that threshold function table calculates is less than or equal to pre-service, represent that in image, each pixel belongs to color of object, foreign exists.If the result calculated exceeds the threshold values of reference, represent that larger change occurs this area pixel value, namely have foreign matter to exist.
Described pre-service stores light band area image after referring to and opening light bar, and is extracted by the pixel value preserving image, and calculate corresponding threshold value, pretreatment operation can reduce calculated amount and the noise effect of subsequent operation.In acquisition difference image process, meeting introducing portion noise, in order to increase sensitivity and the accuracy of detection algorithm herein, passes through formula to bianry image
carry out opening operation to disconnect narrow discontinuous point.Wherein, B is structural element, and A is geometry to be operated, and Θ represents etching operation,
represent expansive working
See Fig. 2, on the other hand, the present invention also provides shield door security protection system, comprise main frame, shield door PEDC, monitoring means and display, described main frame comprises memory module, image analysis module and audible-visual annunciator, described monitoring means and image analysis module are all connected with shield door PEDC, and described memory module, image analysis module are all connected with monitoring means, and described audible-visual annunciator is all connected with image analysis module with display;
Shield door PEDC, for receiving the enabling signal from the signal system on train, and is sent to monitoring means by described enabling signal, and sends shield door locking signal to monitoring means for detecting after shield door closes locking; Described monitoring means, for taking the picture signal in gap between shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module; Described image analysis module, for judging according to picture signal whether the gap between shield door and train exists barrier, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
Equally, as an embodiment, the quantity of monitoring means is multiple, and its quantity is equal with shield door quantity, and now monitoring means comprises a camera and a light bar.
As another embodiment, the quantity of monitoring means is one, and it comprises multiple camera and a light bar, and the length of this light bar and the entire length of platform match, and camera quantity is equal with shield door quantity.
To one skilled in the art, according to technical scheme described above and design, other various corresponding change and deformation can be made, and all these change and deformation all should belong within the protection domain of the claims in the present invention.
Claims (5)
1. shield door safety protection control method, is characterized in that, comprises the steps:
Step one: shield door PEDC receives from the enabling signal of the signal system on train, and this enabling signal is sent to monitoring means makes monitoring means work;
Step 2: the picture signal in gap between monitoring means shooting shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module;
Step 3: shield door PEDC detects and sends shield door locking signal to monitoring means after shield door closes locking, judge whether the gap between shield door and train exists barrier to make image analysis module according to picture signal, if, then send alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
2. shield door safety protection control method as claimed in claim 1, it is characterized in that, step 3 comprises following sub-step:
Step 31: shield door PEDC detects and sends shield door locking signal to monitoring means after shield door closes locking;
Step 32: the rgb pixel value of image analysis module picture signal according to image signal acquisition, described rgb pixel value comprises R component, G component and B component;
Step 33: according to formula
obtain the average weight of R component and G component, wherein,
represent the average weight of R component and G component, I
r(x, y) represents the pixel value of R component, I
g(x, y) represents the pixel value of G component;
Step 34: according to formula
Obtain the absolute value of each pixel difference of B component to obtain difference image, wherein, I
b(x, y) represents the pixel value of B component, and d (x, y) represents the absolute value of each pixel difference of B component;
Step 35: difference image and default template image being compared, it is consistent to judge whether, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
3. shield door safety protection control method as claimed in claim 1, it is characterized in that, described monitoring means comprises camera and light bar.
4. shield door safety control system, it is characterized in that, comprise main frame, shield door PEDC, monitoring means and display, described main frame comprises memory module, image analysis module and audible-visual annunciator, described monitoring means and image analysis module are all connected with shield door PEDC, described memory module, image analysis module are all connected with monitoring means, and described audible-visual annunciator is all connected with image analysis module with display;
Described shield door PEDC, for receiving enabling signal from the signal system on train and by described enabling signal monitoring means, and sends shield door locking signal to monitoring means for detecting after shield door closes locking; Described monitoring means, for taking the picture signal in gap between shield door and train, and the memory module this picture signal is sent to respectively in main frame and image analysis module; Described image analysis module, for judging according to picture signal whether the gap between shield door and train exists barrier, if so, then sends alerting signal to audible-visual annunciator and display, otherwise, send safety signal to shield door PEDC.
5. shield door security protection system as claimed in claim 4, it is characterized in that, described monitoring means comprises camera and light bar.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106939747A (en) * | 2017-05-22 | 2017-07-11 | 薛青 | Safety door anti-pinch platform |
| CN106948698A (en) * | 2017-05-22 | 2017-07-14 | 薛青 | Intelligent safety door anti-clamping method |
| CN108646663A (en) * | 2018-05-09 | 2018-10-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of radiation Calibration Experiment room safety interlocking is cleared out a gathering place the control method of system |
| CN108805912A (en) * | 2018-04-11 | 2018-11-13 | 钱文浩 | Shield door foreign bodies detection alarm method |
| CN109816909A (en) * | 2019-02-26 | 2019-05-28 | 北京疯马科技有限公司 | One kind being based on video identification subway shield door security protection early warning system |
| CN110562295A (en) * | 2018-06-06 | 2019-12-13 | 株式会社京三制作所 | Vehicle device |
| CN110816597A (en) * | 2019-10-29 | 2020-02-21 | 交控科技股份有限公司 | Method, apparatus, device and medium for controlling gap detection |
| CN110939342A (en) * | 2018-09-25 | 2020-03-31 | 武汉云象智能科技有限公司 | System and method for early warning of people clamped between subway car door and shielding door based on lamp strip detection |
| CN110944134A (en) * | 2018-09-25 | 2020-03-31 | 武汉云象智能科技有限公司 | System for detecting barrier between subway shield door and train door based on computer vision |
| WO2020155294A1 (en) * | 2019-02-01 | 2020-08-06 | 方大智创科技有限公司 | Machine vision technology-based obstacle detection and early-warning system for subway platform door |
| CN111523386A (en) * | 2020-03-24 | 2020-08-11 | 北京全路通信信号研究设计院集团有限公司 | Machine vision-based high-speed railway platform door monitoring and protecting method and system |
| CN112580432A (en) * | 2020-11-23 | 2021-03-30 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
| CN113589305A (en) * | 2021-07-23 | 2021-11-02 | 广东智通睿新智能科技有限公司 | Railway platform clearance foreign matter detecting system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106939747A (en) * | 2017-05-22 | 2017-07-11 | 薛青 | Safety door anti-pinch platform |
| CN106948698A (en) * | 2017-05-22 | 2017-07-14 | 薛青 | Intelligent safety door anti-clamping method |
| CN106948698B (en) * | 2017-05-22 | 2018-03-23 | 安徽安旺门业股份有限公司 | Intelligent safety door anti-clamping method |
| CN106939747B (en) * | 2017-05-22 | 2018-05-11 | 北京顺顺通科技有限公司 | Safety door anti-pinch platform |
| CN108805912A (en) * | 2018-04-11 | 2018-11-13 | 钱文浩 | Shield door foreign bodies detection alarm method |
| 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 |
| CN108646663A (en) * | 2018-05-09 | 2018-10-12 | 中国船舶重工集团公司第七〇九研究所 | A kind of radiation Calibration Experiment room safety interlocking is cleared out a gathering place the control method of system |
| CN108646663B (en) * | 2018-05-09 | 2020-05-15 | 中国船舶重工集团公司第七一九研究所 | Control method of radiation scale laboratory safety interlock clearing system |
| CN110562295B (en) * | 2018-06-06 | 2022-04-29 | 株式会社京三制作所 | Vehicle device |
| CN110562295A (en) * | 2018-06-06 | 2019-12-13 | 株式会社京三制作所 | Vehicle device |
| CN110939342A (en) * | 2018-09-25 | 2020-03-31 | 武汉云象智能科技有限公司 | System and method for early warning of people clamped between subway car door and shielding door based on lamp strip detection |
| CN110944134A (en) * | 2018-09-25 | 2020-03-31 | 武汉云象智能科技有限公司 | System for detecting barrier between subway shield door and train door based on computer vision |
| WO2020155294A1 (en) * | 2019-02-01 | 2020-08-06 | 方大智创科技有限公司 | Machine vision technology-based obstacle detection and early-warning system for subway platform door |
| CN109816909A (en) * | 2019-02-26 | 2019-05-28 | 北京疯马科技有限公司 | One kind being based on video identification subway shield door security protection early warning system |
| CN110816597A (en) * | 2019-10-29 | 2020-02-21 | 交控科技股份有限公司 | Method, apparatus, device and medium for controlling gap detection |
| CN110816597B (en) * | 2019-10-29 | 2021-11-12 | 交控科技股份有限公司 | Method, apparatus, device and medium for controlling gap detection |
| CN111523386A (en) * | 2020-03-24 | 2020-08-11 | 北京全路通信信号研究设计院集团有限公司 | Machine vision-based high-speed railway platform door monitoring and protecting method and system |
| CN111523386B (en) * | 2020-03-24 | 2023-10-17 | 北京全路通信信号研究设计院集团有限公司 | High-speed railway platform door monitoring and protecting method and system based on machine vision |
| CN112580432A (en) * | 2020-11-23 | 2021-03-30 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
| CN112580432B (en) * | 2020-11-23 | 2023-09-22 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
| CN113589305A (en) * | 2021-07-23 | 2021-11-02 | 广东智通睿新智能科技有限公司 | Railway platform clearance foreign matter detecting system |
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