CN114044005A - Device and method for detecting and disposing foreign matters between platform screen door and train - Google Patents
Device and method for detecting and disposing foreign matters between platform screen door and train Download PDFInfo
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Abstract
The invention provides a foreign matter detection and disposal device between a platform screen door and a train, which is electrically connected with an original platform system, an interlocking device and a train control system of a subway station and is used for detecting and automatically disposing the foreign matter between the platform screen door and the train, and comprises the following components: the device comprises a detection module, a data preprocessing module, a real-time data acquisition and processing module, a data processing module, a decision and treatment module and a maintenance learning module. Meanwhile, the invention also provides a foreign matter detection and disposal method between the platform screen door and the train. The invention is applied to a platform screen door signal control system, is used for controlling the subway platform screen door, is linked with a platform system, interlocking equipment and a train control system, can avoid serious casualties, quickly responds to handling accidents and reduces the influence on operation.
Description
Technical Field
The invention relates to the technical field of obstacle detection, in particular to a device and a method for detecting and disposing foreign matters between a platform screen door and a train.
Background
Subways become the main transportation means for daily commuting of people in big cities, and in order to prevent accidents that passengers fall into a train running line when a big passenger flows down, most subway stations are provided with a shielding door between a platform and a tunnel. A gap with the width of 10-35 cm exists between a subway platform screen door and a train, and when passengers are in on-duty and off-duty peak, due to the fact that the passengers are overcrowded or some passengers are in a door-rushing state, the passengers or the passengers carrying articles are clamped in the gap between the two doors, and the life of the passengers is damaged in some cases.
Foreign matter detection between a subway platform screen door and a train is a difficult problem, and the conventional detection means mainly comprises manual observation, laser detection, a point-to-point camera and the like, wherein the manual observation mode is easily influenced by weather conditions and has certain pressure on the working strength of workers; the laser detection mode is not suitable for the situation of a curve platform; the subway platform screen door and train door mounting point to point camera mode on the one hand is shot image feature extraction and matching comparatively difficult under dark illumination or overexposure, is influenced by service environment and easily causes the wrong report, on the other hand, because the camera use amount of shooing is very big, then has provided huge challenge to the installation cost of detection equipment. In addition, for the condition that foreign matters exist in the platform screen door and the train, the foreign matters are mainly disposed by adopting a manual intervention mode at present, but the occurrence of some subway accidents cannot be avoided due to the hysteresis of the manual disposing mode. The existing shielding door foreign matter detection and treatment technology is difficult to meet the safety requirement of SIL4(safety integrity level 4, safety integrity level authentication level 4).
Disclosure of Invention
The invention aims to provide a device and a method for detecting and disposing foreign matters between a platform screen door and a train based on multi-data fusion and a self-adaptive learning algorithm, which are applied to a platform screen door signal control system and used for controlling a subway platform screen door and are linked with a platform system, an interlocking device and a train control system, so that the occurrence of serious casualties can be avoided, processing accidents can be responded quickly, and the influence on operation can be reduced.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a foreign matter detects processing apparatus between platform screen door and train, sets up in the subway station, is connected with original platform system, interlock equipment and the train control system electricity in subway station, carries out the information interaction with the platform information of platform system output, the interlock information of interlock equipment output, the train control system information of train control system output for detect the foreign matter between platform screen door and train and deal with automatically, include:
the detection module is used for detecting foreign matters between the platform screen door and the train;
the data preprocessing module is electrically connected with the detection module, the platform system and the interlocking equipment respectively and is used for carrying out initialization setting when a train does not enter the station, extracting parameters of the detection module, part of platform information and interlocking information and generating initialized station yard state information;
the real-time data acquisition processing module is electrically connected with the detection module and is used for processing the output information of the detection module to generate a detection identification result;
the data processing module is electrically connected with the detection module, the data preprocessing module and the real-time data acquisition and processing module respectively and is used for analyzing and processing the detection and identification result to generate a foreign matter identification and analysis result;
and the decision and disposal module is electrically connected with the platform system, the interlocking equipment, the train control system, the data preprocessing module and the data processing module respectively and is used for performing data fusion processing on the foreign matter identification analysis result, the initialized station yard state information, the platform information, the interlocking information and the train control system information to generate a disposal decision and correspondingly dispose.
Preferably, the detection module comprises:
the laser range finder is a reflective laser range finder, is arranged in a gap between a platform shielding wall and a train body which stops close to the platform shielding wall and comprises a transmitting end, a receiving end and a reflector, wherein the transmitting end and the receiving end are both arranged at the same end of a stopped train, the reflector is arranged at the other end of the stopped train, the transmitting end horizontally transmits laser to the direction of the reflector, and a laser light path is a transmitting end-reflector-receiving end and is used for detecting whether foreign matters exist between a platform shielding door and the train and outputting laser range finder information;
the infrared camera is arranged in a gap between the platform shielding wall and a train body which stops close to the platform shielding wall, is close to the position of a train head for stopping the train, and shoots horizontally in the direction of the tail of the train; or the infrared camera is arranged at the position close to the tail of the train for stopping the train, shoots the infrared image approximately horizontally in the direction of the head of the train and is used for shooting the infrared image between the platform screen door and the train and outputting the information of the infrared camera.
Preferably, the laser range finder includes 4 the same laser range finders, each laser range finder terrain clearance is different, 2 wherein the transmitting terminal and the receiving terminal of laser range finder all set up in the locomotive position of berthhing the train, 2 in addition the transmitting terminal and the receiving terminal of laser range finder all set up in the rear of a vehicle position of berthhing the train.
Preferably, the infrared cameras include 2 same infrared cameras respectively arranged at the head position and the tail position of the parked train.
Preferably, the laser range finder is a linear array laser detector with a rotating platform, and can realize a 3D scanning function.
Preferably, the initialization setting function of the data preprocessing module comprises adjusting the filtering parameters of the laser range finder and the angles of the transmitter and the receiver.
Preferably, the initialization setting function of the data preprocessing module includes adjusting a shooting angle and a background noise filtering parameter of the infrared camera.
Preferably, the real-time data acquisition processing module includes:
the laser range finder acquisition module is electrically connected with the laser range finder and used for processing the information of the laser range finder to generate a laser range finding identification result;
the infrared camera acquisition module is electrically connected with the infrared camera and used for processing the information of the infrared camera and generating an infrared camera shooting identification result;
the detection identification result comprises the laser ranging identification result and an infrared camera identification result.
Preferably, the data processing module performs weighted 2oo2 voting on the laser ranging identification result and the infrared camera identification result in combination with the initialized station yard state information, and generates a foreign matter identification analysis result according to the voting result.
Preferably, the device for detecting and handling foreign objects between the platform screen door and the train further comprises:
and the maintenance learning module is electrically connected with the detection module, the data preprocessing module, the data processing module and the decision and disposal module respectively and is used for storing historical data, processing and learning the historical data after operation is finished, and performing online self-checking, software updating and parameter updating.
A foreign matter detection and disposal method between a platform screen door and a train is realized by the foreign matter detection and disposal device between the platform screen door and the train, and comprises the following steps:
s1: during the period that the train does not enter the station, performing system initialization setting through the data preprocessing module to generate initialized station yard state information;
s2: identifying foreign matters based on the laser range finder and the infrared camera, and generating a foreign matter identification analysis result through the data processing module;
s3: and generating a disposal decision through the decision and disposal module and correspondingly disposing based on the foreign matter identification and analysis result, the initialized station yard state information and information output by the platform system, the interlocking equipment and the train control system.
Preferably, step S1 includes:
s11: the data preprocessing module extracts partial information output by the interlocking device to generate initialized interlocking information;
s12: the data preprocessing module adjusts system parameters of the laser range finder;
s13: the data preprocessing module adjusts system parameters of the infrared camera;
s14: the data preprocessing module f extracts partial information output by the platform system to generate initialized platform information;
s15: and based on the initialized interlocking information, the system parameters of the laser range finder, the system parameters of the infrared camera and the initialized platform information, the data preprocessing module performs fusion processing to generate the initialized station yard state information.
Preferably, step S2 includes:
s21: based on the information of the laser range finder, the real-time data acquisition processing module generates the laser range finding identification result;
s22: based on the infrared camera information, the real-time data acquisition and processing module generates the infrared camera identification result;
s23: based on the laser ranging recognition result and the infrared camera shooting recognition result, the data processing module performs fusion calculation to generate the foreign matter recognition analysis result.
Preferably, in step S21, the laser range finder has a 3D scanning detection function, and the laser range recognition result includes the contour information of the foreign object line between the platform screen door and the train and the distance information thereof.
Preferably, in step S22, the infrared camera recognition result includes an image of the foreign object and distance information thereof, and preliminarily determines an attribute and a probability of the foreign object.
Preferably, step S23 further includes: and voting 2oo2 with weights on the laser ranging identification result and the infrared camera shooting identification result by combining the state information of the initialization station yard, wherein the foreign matter identification analysis result comprises the attribute, behavior and distance information of the foreign matter between the platform screen door and the train which are identified according to the voting result.
Preferably, step S3 includes:
s31: generating a preliminary disposal strategy by a decision and disposal module based on the foreign matter identification analysis result, the initialized station yard state information and the station platform information;
s32: and performing data fusion processing by the decision and processing module based on the preliminary processing strategy, the foreign matter identification and analysis result, the platform information, the interlocking information and the train control system information to generate a processing decision and perform corresponding processing.
Preferably, the method further comprises the step S4:
s41: the attendant feeds the foreign matter treatment result back to the decision and treatment module;
s42: and the decision and handling module stores the laser ranging identification result, the infrared camera identification result, the foreign matter identification analysis result, the foreign matter handling result, the platform information, the interlocking information and the train control system information as historical data records in the maintenance learning module.
Preferably, the method further comprises a maintenance learning method in the non-operation period:
f1: learning historical data by the maintenance learning module;
f2: and self-checking, updating and maintaining are carried out through the maintenance learning module.
In summary, compared with the prior art, the device and the method for detecting and disposing the foreign matters between the platform screen door and the train provided by the invention have the following beneficial effects:
1. the data of two different types of detectors are subjected to fusion processing and weighted 2oo2 comparison algorithm voting, so that the false alarm rate and the false negative rate of the system are reduced, the reliability and the safety of the algorithm are improved, and the correctness of the detection result of the system meets the requirements of a safety system;
2. through the learning of the self-adaptive algorithm, the system can intelligently meet the conditions of different subway stations, the adaptability and the safety of the whole system are improved, and the accidents caused by the missed detection of the clamped personnel are avoided;
3. through the linkage with the platform system, the interlocking equipment and the train control system, the real-time performance of accident handling is improved, serious casualties can be avoided, accidents are quickly responded and handled, and the influence on operation is reduced.
Drawings
FIG. 1 is a structural view of a foreign matter detecting and handling device between a platform screen door and a train according to the present invention;
FIG. 2 is a flow chart of the method for detecting and disposing of foreign objects between a platform screen door and a train according to the present invention;
fig. 3 is a flowchart of a non-operation period maintenance learning method of the maintenance learning module according to the present invention.
Detailed Description
The following describes a device and a method for detecting and disposing foreign objects between a platform screen door and a train according to the present invention in detail with reference to the accompanying drawings and the detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are simplified in form and not to precise scale, and are only used for convenience and clarity to assist in describing the embodiments of the present invention, but not for limiting the conditions of the embodiments of the present invention, and therefore, the present invention is not limited by the technical spirit, and any structural modifications, changes in the proportional relationship, or adjustments in size, should fall within the scope of the technical content of the present invention without affecting the function and the achievable purpose of the present invention.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the present embodiment provides a device for detecting and disposing foreign objects between a platform screen door and a train, which is used for detecting and automatically disposing the foreign objects between the platform screen door and the train; the device is respectively and electrically connected with an original platform system c, an interlocking device d and a train control system e of a subway station, wherein the platform system c outputs platform information, the interlocking device d outputs interlocking information, and the train control system e outputs train control system information; the device comprises:
laser range finder group a sets up in the gap between the train automobile body that platform screen wall and this platform screen wall of adjacent berth stop for whether there is the foreign matter and output laser range finder information between surveying each platform screen door and the train, including 4 same reflective laser range finder: the system comprises a first laser range finder, a second laser range finder, a third laser range finder and a fourth laser range finder; each laser range finder comprises a transmitting end, a receiving end and a reflector, wherein the transmitting end and the receiving end are arranged at one end of the train body, the reflector is arranged at the other end of the train body, the transmitting end horizontally transmits laser to the other end of a parked train, and a laser light path is transmitting end-reflector-receiving end; the emitting end and the receiving end of the first laser range finder and the second laser range finder are both arranged at the head position of a parked train, the reflector is arranged at the tail position of the parked train, and the ground clearance of the first laser range finder and the second laser range finder is 0.5 meter and 1.25 meter respectively; the transmitting end and the receiving end of the third laser range finder and the fourth laser range finder are both arranged at the tail position of a parked train, the reflector is arranged at the head position of the parked train, and the ground clearance of the third laser range finder and the fourth laser range finder is 0.75 meter and 1.5 meter respectively; in the embodiment, each laser range finder adopts a linear array laser detector with a rotating platform, so that a 3D scanning function can be realized;
infrared camera group b, including 2 same infrared cameras: the first infrared camera and the second infrared camera are both arranged in a gap between the platform shielding wall and a train body which is parked adjacent to the platform shielding wall, and the ground clearance is 1 meter, wherein the first infrared camera is arranged at the position of a train head where the train is parked and shoots horizontally in the direction of the train tail; the second infrared camera is arranged at the tail position of the parked train and shoots horizontally in the direction of the head of the train; the infrared camera set b is used for shooting infrared images between each platform screen door and the train and outputting infrared camera information;
the data preprocessing module f is arranged in a subway station, is respectively and electrically connected with the laser range finder group a, the infrared camera group b, the platform system c, the interlocking device d and the train control system e, and has the functions of: firstly, when a train does not enter a station, system parameter initialization setting is carried out: initializing communication configuration parameters of a data communication interface, such as data transmission intervals, data formats and the like; the filtering parameters of the laser range finder group a, the angles of the transmitters and the receivers and the like are adjusted so as to improve the detection efficiency, reduce the interference caused by the station yard environment and reduce the omission factor and the false alarm rate; adjusting the shooting angle of the infrared camera set b, background noise filtering parameters and the like so as to reduce interference caused by station environment and improve the shooting effect; secondly, generating initial station yard state information when the train does not enter the station: extracting part of interlocking information output by the interlocking device d into initialized interlocking information, extracting part of platform information output by the platform system c into initialized platform information, and fusing the extracted and set system parameters of the laser range finder group a, the system parameters of the infrared camera group b, the initialized interlocking information and the initialized platform information to generate initialized site state information as a basis for subsequent information processing; thirdly, regulating and controlling the task processes: initializing a task queue, monitoring whether the task time is delayed, and adjusting the monitoring period in time to avoid request blocking;
the real-time data acquisition and processing module g is arranged in a subway station and comprises a laser range finder acquisition module g1 and an infrared camera acquisition module g2, wherein the laser range finder acquisition module g1 is electrically connected with the laser range finder group a and is used for processing the information of the laser range finder, generating a laser range finding identification result and outputting the laser range finding identification result; the infrared camera acquisition module g2 is electrically connected with the infrared camera set b and is used for processing the infrared camera information, generating an infrared camera identification result and outputting the infrared camera identification result;
the data processing module h is arranged in a subway station, is respectively and electrically connected with the laser range finder group a, the infrared camera group b, the data preprocessing module f and the real-time data acquisition and processing module g, is used for analyzing and processing a laser range finding identification result and an infrared camera identification result, acquiring a foreign object image between the platform screen door and the train, comparing and identifying the foreign object image with a known database, carrying out weighted 2oo2 voting on the laser range finding identification result and the infrared camera identification result by combining with initialized station state information (a redundant voting structure is used for improving the reliability or usability of a safety related system), identifying the attribute, behavior and distance information of the foreign object between the platform screen door and the train according to the voting result, and generating and outputting a foreign object identification and analysis result;
the decision and handling module i is arranged in the subway station, is electrically connected with the platform system c, the interlocking equipment d, the train control system e, the data preprocessing module f and the data processing module h respectively, and is used for carrying out data fusion processing according to the foreign matter identification and analysis result, the initialized station state information, the platform information, the interlocking information and the train control system information to generate a handling decision and correspondingly handle the handling decision;
the maintenance learning module j is arranged in a subway station, is electrically connected with the laser range finder group a, the infrared camera group b, the data preprocessing module f, the data processing module h and the decision and disposal module i respectively, and is used for storing historical data: laser ranging recognition results, infrared camera recognition results, foreign matter recognition analysis results, foreign matter treatment results, platform information, interlocking information, train control system information and the like during operation, and historical data are processed and learned after operation is finished; and carrying out online self-checking, software updating and parameter updating.
As shown in fig. 2, the present embodiment further provides a method for detecting and disposing foreign objects between a platform screen door and a train, which is implemented by the apparatus for detecting and disposing foreign objects between a platform screen door and a train, and includes the steps of:
and (3) an operation period data acquisition and processing stage:
y1: the system initialization is carried out during the non-arrival of the train:
y11: based on the partial interlocking information output by the interlocking device d, the data preprocessing module f extracts the initialization interlocking information:
the data preprocessing module f extracts partial interlocking information of signal control, turnout control, access control and the like output by the interlocking device d to generate initialized interlocking information;
y12: the data preprocessing module f adjusts the system parameters of the laser range finder group a:
the data preprocessing module f adjusts the filtering parameters of the laser range finder group a and the angles of each transmitter and each receiver so as to improve the detection efficiency, reduce the interference caused by the station yard environment and reduce the omission factor and the false alarm rate;
y13: the data preprocessing module f adjusts system parameters of the infrared camera set b:
the data preprocessing module f adjusts the shooting angle and the background noise filtering parameters of the infrared camera set b so as to reduce interference caused by station environment and improve the shooting effect;
y14: based on part of the station information output by the station system c, the data preprocessing module f extracts the initialized station information:
the data preprocessing module f extracts part of platform information such as train exit and entrance and platform screen door switch from the platform system c to generate initialized platform information;
y15: based on the initialized interlocking information, the system parameters of the laser range finder group a, the system parameters of the infrared camera group b and the initialized platform information, the data preprocessing module f performs fusion processing to generate initialized station yard state information:
the data preprocessing module f performs fusion algorithm processing on the data obtained by the data preprocessing module f in the steps Y11-Y14 to generate initialized station yard state information serving as a basis for subsequent information processing;
y2: foreign matter identification:
y21: based on the information of the laser range finder, the real-time data acquisition and processing module g processes and generates a laser range finding identification result:
the method comprises the following steps that a laser range finder group a carries out 3D scanning detection on a space between a platform screen door and a train, a real-time data acquisition and processing module g acquires laser range finder information in real time, carries out data processing through algorithms such as median filtering and edge extraction, extracts foreign matter line section outline information and distance information between the platform screen door and the train, further identifies whether foreign matters exist between the platform screen door and the train, generates and outputs a laser range finding identification result;
y22: based on the information of the infrared camera, the real-time data acquisition and processing module g processes and generates an infrared camera shooting identification result:
the real-time data acquisition and processing module g acquires information of the infrared camera in real time, performs data processing through algorithms such as gray scale stretching, image segmentation, mode recognition and the like, extracts images and distance information between the foreign matters and the train and the platform screen door, preliminarily judges the attribute and probability (such as whether the foreign matters are personnel or not and the probability), generates an infrared camera shooting recognition result and outputs the infrared camera shooting recognition result;
y23: based on the laser ranging identification result, the infrared camera identification result and the initialized station yard state information, the data processing module h processes and generates a foreign matter identification analysis result:
the data processing module h performs fusion calculation on the laser ranging recognition result, the infrared camera shooting recognition result and the like, performs weighted 2oo2 voting on the laser ranging recognition result and the infrared camera shooting recognition result by combining with the initialized station yard state information, recognizes the attribute, behavior and distance information of the foreign matters between the platform screen door and the train according to the voting result, generates a foreign matter recognition analysis result and outputs the foreign matter recognition analysis result;
y3: disposing;
y31: based on the foreign matter identification analysis result, the initialized station yard state information and the station platform information, the decision and handling module i generates a preliminary handling strategy:
the decision and disposal module i generates different preliminary disposal strategies according to whether foreign matters exist or not by combining the initialized station yard state information and the station platform information according to the foreign matter identification analysis result output by the data processing module h, but does not perform actual disposal, wherein the preliminary disposal strategies are as follows:
if no foreign matter exists, starting or operating the train according to a normal program;
if foreign matters exist, the train immediately stops starting or running, and the platform screen door is opened;
y32: based on the preliminary disposal strategy, the foreign matter identification and analysis result, the platform information, the interlocking information and the train control system information, a decision and disposal module i generates a disposal decision and actually disposes:
the decision and handling module i performs data fusion processing on the preliminary handling strategy, the foreign matter identification and analysis result, the platform information, the interlocking information and the train control system information to generate a handling decision, and handles according to corresponding actions of a handling decision control platform system c, an interlocking device d and a train control system e;
y4: feeding back and recording;
y41: treatment condition feedback:
the attendant feeds the foreign matter treatment result back to the decision and treatment module i;
y42: and (3) historical data record storage:
and the decision and handling module i stores the laser ranging identification result, the infrared camera identification result, the foreign matter identification analysis result, the foreign matter handling result, the platform information, the interlocking information, the train control system information and the like as historical data records in the maintenance learning module j.
Non-operational maintenance learning phase (fig. 3):
f1: learning historical data:
after the operation of every day is finished, the maintenance learning module j processes and learns the historical data stored on the day, the historical data are used as a basis for adjusting various parameters of the laser range finder group a, the infrared camera group b, the data processing module h, the data preprocessing module f and the like, the system can be more intelligently adapted to the environment of the station yard through the learning of statistical data, and the adaptability and the safety of the whole system are improved;
f2: self-checking, updating and maintaining:
the maintenance learning module j carries out online self-checking, software updating and parameter updating on the laser range finder group a, the infrared camera group b, each module and the like, and records the checking and updating results into a log record; if the update or self-check error is found, the platform system c is notified to perform maintenance.
In summary, according to the device and the method for detecting and handling the foreign matter between the platform screen door and the train, provided by the invention, the data of two different types of detectors are subjected to fusion processing and weighted 2oo2 comparison algorithm voting, so that the false alarm rate and the false failure rate of the system are reduced, the reliability and the safety of the algorithm are improved, and the correctness of the detection result of the system meets the requirements of a safety system; through the learning of the self-adaptive algorithm, the system can intelligently meet the conditions of different subway stations, the adaptability and the safety of the whole system are improved, and the accidents caused by the missed detection of the clamped personnel are avoided; through the linkage with the platform system, the interlocking equipment and the train control system, the real-time performance of accident handling is improved, serious casualties can be avoided, accidents are quickly responded and handled, and the influence on operation is reduced.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (19)
1. The utility model provides a foreign matter detects processing apparatus between platform screen door and train, sets up in the subway station, is connected with original platform system of subway station, interlock equipment and train control system electricity, carries out the information interaction with the platform information of platform system output, the interlock information of interlock equipment output, the train control system information of train control system output for detect the foreign matter between platform screen door and train and deal with automatically, its characterized in that includes:
the detection module is used for detecting foreign matters between the platform screen door and the train;
the data preprocessing module is electrically connected with the detection module, the platform system and the interlocking equipment respectively and is used for carrying out initialization setting when a train does not enter the station, extracting parameters of the detection module, part of platform information and interlocking information and generating initialized station yard state information;
the real-time data acquisition processing module is electrically connected with the detection module and is used for processing the output information of the detection module to generate a detection identification result;
the data processing module is electrically connected with the detection module, the data preprocessing module and the real-time data acquisition and processing module respectively and is used for analyzing and processing the detection and identification result to generate a foreign matter identification and analysis result;
and the decision and disposal module is electrically connected with the platform system, the interlocking equipment, the train control system, the data preprocessing module and the data processing module respectively and is used for performing data fusion processing on the foreign matter identification analysis result, the initialized station yard state information, the platform information, the interlocking information and the train control system information to generate a disposal decision and correspondingly dispose.
2. The apparatus of claim 1, wherein the detection module comprises:
the laser range finder is a reflective laser range finder, is arranged in a gap between a platform shielding wall and a train body which stops close to the platform shielding wall and comprises a transmitting end, a receiving end and a reflector, wherein the transmitting end and the receiving end are both arranged at the same end of a stopped train, the reflector is arranged at the other end of the stopped train, the transmitting end horizontally transmits laser to the direction of the reflector, and a laser light path is a transmitting end-reflector-receiving end and is used for detecting whether foreign matters exist between a platform shielding door and the train and outputting laser range finder information;
the infrared camera is arranged in a gap between the platform shielding wall and a train body which stops close to the platform shielding wall, is close to the position of a train head for stopping the train, and shoots horizontally in the direction of the tail of the train; or the infrared camera is arranged at the position close to the tail of the train for stopping the train, shoots the infrared image approximately horizontally in the direction of the head of the train and is used for shooting the infrared image between the platform screen door and the train and outputting the information of the infrared camera.
3. The device as claimed in claim 2, wherein the laser range finder comprises 4 identical laser range finders, each of which has a different ground clearance, wherein the transmitting end and the receiving end of 2 laser range finders are disposed at the head of the train, and the transmitting end and the receiving end of the other 2 laser range finders are disposed at the tail of the train.
4. The apparatus according to claim 2, wherein the infrared cameras include 2 identical infrared cameras respectively disposed at a head position and a tail position of the parked train.
5. The device as claimed in claim 3, wherein the laser range finder is a linear array laser detector with a rotary platform, which can realize 3D scanning function.
6. The device of claim 1, wherein the initialization function of the data preprocessing module includes adjusting the filter parameters of the laser range finder and the angles of the transmitter and receiver.
7. The device of claim 1, wherein the initialization function of the data preprocessing module comprises adjusting the shooting angle of the infrared camera and the background noise filtering parameters.
8. The apparatus of claim 2, wherein the real-time data acquisition and processing module comprises:
the laser range finder acquisition module is electrically connected with the laser range finder and used for processing the information of the laser range finder to generate a laser range finding identification result;
the infrared camera acquisition module is electrically connected with the infrared camera and used for processing the information of the infrared camera and generating an infrared camera shooting identification result;
the detection identification result comprises the laser ranging identification result and an infrared camera identification result.
9. The device as claimed in claim 8, wherein the data processing module performs weighted 2oo2 voting on the laser ranging recognition result and the infrared camera recognition result in combination with the initialized yard status information, and generates a foreign object recognition analysis result according to the voting result.
10. The apparatus of claim 1, further comprising:
and the maintenance learning module is electrically connected with the detection module, the data preprocessing module, the data processing module and the decision and disposal module respectively and is used for storing historical data, processing and learning the historical data after operation is finished, and performing online self-checking, software updating and parameter updating.
11. A method for detecting and disposing foreign matter between a platform screen door and a train, which is implemented by the device for detecting and disposing foreign matter between a platform screen door and a train according to any one of claims 1 to 10, comprising the steps of:
s1: during the period that the train does not enter the station, performing system initialization setting through the data preprocessing module to generate initialized station yard state information;
s2: identifying foreign matters based on the laser range finder and the infrared camera, and generating a foreign matter identification analysis result through the data processing module;
s3: and generating a disposal decision through the decision and disposal module and correspondingly disposing based on the foreign matter identification and analysis result, the initialized station yard state information and information output by the platform system, the interlocking equipment and the train control system.
12. The method of claim 11, wherein step S1 includes:
s11: the data preprocessing module extracts partial information output by the interlocking device to generate initialized interlocking information;
s12: the data preprocessing module adjusts system parameters of the laser range finder;
s13: the data preprocessing module adjusts system parameters of the infrared camera;
s14: the data preprocessing module f extracts partial information output by the platform system to generate initialized platform information;
s15: and based on the initialized interlocking information, the system parameters of the laser range finder, the system parameters of the infrared camera and the initialized platform information, the data preprocessing module performs fusion processing to generate the initialized station yard state information.
13. The method of claim 11, wherein step S2 includes:
s21: based on the information of the laser range finder, the real-time data acquisition processing module generates the laser range finding identification result;
s22: based on the infrared camera information, the real-time data acquisition and processing module generates the infrared camera identification result;
s23: based on the laser ranging recognition result and the infrared camera shooting recognition result, the data processing module performs fusion calculation to generate the foreign matter recognition analysis result.
14. The method according to claim 13, wherein in step S21, the laser range finder has a 3D scanning function, and the laser range recognition result includes the contour information of the foreign object line between the platform screen door and the train and the distance information thereof.
15. The method according to claim 13, wherein in step S22, the infrared camera recognition result includes an image of the foreign object and distance information thereof, and the attribute and probability of the foreign object are preliminarily determined.
16. The method of claim 13, wherein step S23 further comprises: and voting 2oo2 with weights on the laser ranging identification result and the infrared camera shooting identification result by combining the state information of the initialization station yard, wherein the foreign matter identification analysis result comprises the attribute, behavior and distance information of the foreign matter between the platform screen door and the train which are identified according to the voting result.
17. The method of claim 11, wherein step S3 includes:
s31: generating a preliminary disposal strategy by a decision and disposal module based on the foreign matter identification analysis result, the initialized station yard state information and the station platform information;
s32: and performing data fusion processing by the decision and processing module based on the preliminary processing strategy, the foreign matter identification and analysis result, the platform information, the interlocking information and the train control system information to generate a processing decision and perform corresponding processing.
18. The method of claim 11, further comprising step S4:
s41: the attendant feeds the foreign matter treatment result back to the decision and treatment module;
s42: and the decision and handling module stores the laser ranging identification result, the infrared camera identification result, the foreign matter identification analysis result, the foreign matter handling result, the platform information, the interlocking information and the train control system information as historical data records in the maintenance learning module.
19. The method of claim 11, further comprising a maintenance learning method during non-operational periods:
f1: learning historical data by the maintenance learning module;
f2: and self-checking, updating and maintaining are carried out through the maintenance learning module.
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