CN114312853B - System, method, device and storage medium for target detection - Google Patents
System, method, device and storage medium for target detection Download PDFInfo
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- CN114312853B CN114312853B CN202111472456.4A CN202111472456A CN114312853B CN 114312853 B CN114312853 B CN 114312853B CN 202111472456 A CN202111472456 A CN 202111472456A CN 114312853 B CN114312853 B CN 114312853B
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Abstract
The application discloses a system, a method, a device and a storage medium for target detection, and belongs to the technical field of intelligent monitoring. The system comprises: the laser radar device comprises a mounting bracket, a driving motor and a laser radar device, wherein the mounting bracket comprises a fixing seat and a swinging arm. The fixed seat is arranged at the top appointed position of the inner side of the shielding door on the train platform, and the inner side is one side close to the rail of the mobile traffic train. The driving motor is positioned on the fixed seat. The rotating shaft of the driving motor is fixedly connected with the swing arm so as to drive the swing arm to do arc swing in a clearance area between the shielding door and the train door during rotation, wherein the tangential direction of an arc track of the arc swing is perpendicular to the advancing direction of the mobile traffic train. The laser radar device is positioned on the inner wall of the swing arm and is used for detecting targets in the swing process of the swing arm. The laser radar device is used for realizing target detection, and compared with the anti-pinch baffle, the laser radar system has higher detection effectiveness and can avoid missed detection as much as possible.
Description
Technical Field
The present application relates to the field of intelligent monitoring technologies, and in particular, to a system, a method, an apparatus, and a storage medium for target detection.
Background
Currently, mobile traffic trains such as subway trains, high-speed rail trains, and motor trains are increasingly popular choices for people to travel. In some scenarios, to ensure passenger safety, a screening door is typically set up on the train platform. A certain gap exists between the shielding door and the train door, and a person clamping object event needs to be avoided in the process of getting on or off passengers.
In the related art, in order to prevent the pinching of the article, a pinching prevention baffle having a height of about 60 cm and a width of 15 cm is generally installed under the inner side of the shielding door. If a passenger is clamped between the shielding door and the train door, the anti-clamping baffle can be blocked by the leg of the passenger when the shielding door is closed, so that the shielding door cannot be closed.
However, if a passenger bypasses the detection at the pinch-resistant barrier, being forced out of the train door from the mobile traffic train end, a pinching event may be initiated when between gaps. As such, this solution, while simple and low cost, is prone to missed detection.
Disclosure of Invention
The embodiment of the application provides a system, a method, a device and a storage medium for target detection. The problem that detection is easy to cause missing through anti-pinch baffle detection in the related art can be solved. The technical scheme is as follows:
In a first aspect, there is provided a system for object detection, the system comprising: the laser radar device comprises a mounting bracket, a driving motor and a laser radar device, wherein the mounting bracket comprises a fixed seat and a swinging arm;
the fixed seat is arranged at a top appointed position of the inner side of the shielding door on the train platform, and the inner side is one side close to a rail of the mobile traffic train;
the driving motor is positioned on the fixed seat;
the rotating shaft of the driving motor is fixedly connected with the swing arm so as to drive the swing arm to do arc swing in a clearance area between the shielding door and the train door during rotation, wherein the tangential direction of an arc track of the arc swing is perpendicular to the advancing direction of the mobile traffic train;
the laser radar device is positioned on the inner wall of the swing arm and is used for detecting an object in the swing process of the swing arm.
In a second aspect, based on the system provided in the first aspect, the present application provides a method of target detection, the lidar device throwing a light curtain downward along the travel direction, the method comprising:
in the process of target detection by the laser radar device, constructing a three-dimensional scene according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions to obtain a first three-dimensional scene;
Determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the gap area;
and if the existence of the target in the gap area is determined according to the point cloud set of the gap area, early warning prompt is carried out.
As an example of the present application, the determining that the gap region exists as a target according to the point cloud of the gap region includes:
clustering the point clouds in the gap area to obtain at least one point cloud block;
determining a three-dimensional size of each point cloud block in the at least one point cloud block, wherein the three-dimensional size comprises a length, a width and a height;
if the corresponding point cloud block with the three-dimensional size meeting the target size condition exists in the at least one point cloud block, determining that the target exists in the gap area, wherein the three-dimensional size meeting the target size condition means that: the length in the three-dimensional dimension is greater than or equal to a length dimension threshold, and/or the width in the three-dimensional dimension is greater than or equal to a width dimension threshold, and/or the height in the three-dimensional dimension is greater than or equal to a height dimension threshold.
As an example of the present application, the determining manner of the target boundary information includes:
controlling the laser radar device to swing within a preset angle range at a specified speed;
in the rotating process of the laser radar device, constructing a three-dimensional scene according to second detection data of the laser radar device and second swing angles of the laser radar device at all swing positions to obtain a second three-dimensional scene;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area from the second three-dimensional scene to obtain the target boundary information.
As an example of the present application, the second detection data includes ranging values of respective ranging points within each of a plurality of frames, each of the frames corresponds to a second swing angle, and the constructing a three-dimensional scene according to the second detection data of the lidar device and the second swing angle of the lidar device at respective swing positions includes:
establishing a rectangular coordinate system by taking a luminous point of the laser radar device as an origin of a coordinate system, taking a vertical downward direction as a Z axis, taking a traveling direction of the mobile traffic train as an X axis and taking a direction vertical to the traveling direction of the mobile traffic train as a Y axis;
Determining three-dimensional coordinate information of each ranging point in the rectangular coordinate system according to the ranging value of each ranging point in each frame, the second swing angle corresponding to each frame and the scanning angle resolution of the laser radar device;
and constructing a three-dimensional scene according to the three-dimensional coordinate information of each ranging point in each frame.
As an example of the present application, the extracting boundary information of the train door, boundary information of the shielding door, and boundary information of the gap region from the second three-dimensional scene, to obtain the target boundary information, includes:
determining a normal vector of each point cloud in the second three-dimensional reconstruction scene;
clustering according to the directionality of the normal vector of each point cloud to obtain a plurality of point clouds, wherein the plurality of point clouds comprise the point clouds of the train door, the point clouds of the shielding door and the point clouds of the gap area;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area according to the plurality of point clouds to obtain the target boundary information.
As an example of the present application, the extracting boundary information of the train door, boundary information of the shielding door, and boundary information of the gap area according to the plurality of point clouds, to obtain the target boundary information, includes:
Determining the minimum y component value and the maximum z component value in the point cloud set of the train door as boundary information of the train door;
determining the maximum y component value and the maximum z component value in the point cloud set of the shielding door as boundary information of the shielding door;
and carrying out random plane sampling on the point cloud set of the gap area, and determining the z component value of the obtained sampling plane as boundary information of the gap area.
As an example of the present application, the method further comprises:
according to the target boundary information, a first angle range corresponding to the shielding door, a second angle range corresponding to the clearance area and a third angle range corresponding to the train door are respectively determined;
controlling the laser radar device to swing at a first preset speed in the first angle range, swing at a second preset speed in the second angle range and swing at a third preset speed in the third angle range, wherein the first preset speed and the third preset speed are both greater than the second preset speed.
As an example of the present application, the method further comprises:
in an initial state, controlling the laser radar device to stop at a designated position, wherein the designated position enables a detection view field of the laser radar device to be a third angle range corresponding to the train door;
Detecting the state of the train door when the detection value of the laser radar device changes;
and if the train door is switched from the open state to the closed state, controlling the laser radar device to start swinging, and starting target detection by the laser radar device in the swinging process.
As an example of the present application, after detecting the state of the train door, the method further includes:
and sending a notification message to the shielding door according to the state of the train door, wherein the notification message is used for enabling the shielding door to be synchronously opened or closed with the train door.
In a third aspect, there is provided an apparatus for object detection comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any one of the second aspects when executing the computer program.
In a fourth aspect, there is provided a computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the method of any of the second aspects.
In a fifth aspect, there is provided a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the second aspect described above.
The technical scheme provided by the embodiment of the application has the beneficial effects that:
and (3) performing target detection based on the provided system, and constructing a three-dimensional scene according to the first detection data of the laser radar device and the first swing angles of the laser radar device at all swing positions in the detection process of the laser radar device to obtain a first three-dimensional scene. And determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the gap area. If the existence target of the gap area is determined according to the point cloud set of the gap area, the existence of an invader in the gap area is indicated, and therefore early warning prompt is carried out. That is, the system realizes target detection through the laser radar device, and compared with the detection efficiency through the anti-pinch baffle, the system has higher detection efficiency and can avoid missed detection as much as possible.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram illustrating a system for target detection according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a system for target detection, according to another exemplary embodiment;
FIG. 3 is a flowchart illustrating a method of object detection, according to an exemplary embodiment;
FIG. 4 is a schematic diagram of an application scenario illustrated in accordance with an exemplary embodiment;
FIG. 5 is a schematic diagram illustrating the scan angle of a light ray in accordance with an exemplary embodiment;
fig. 6 is a schematic view showing a scanning effect of a lidar device according to an exemplary embodiment;
fig. 7 is a schematic view showing a scanning effect of a lidar device according to another exemplary embodiment;
FIG. 8 is a schematic diagram illustrating a range of oscillation angles, according to an exemplary embodiment;
fig. 9 is a schematic diagram showing a range of swing angles according to another exemplary embodiment;
FIG. 10 is a flowchart illustrating a method of object detection, according to another exemplary embodiment;
FIG. 11 is a schematic diagram showing a detection effect after an arrival of a mobile transportation train according to an exemplary embodiment;
fig. 12 is a schematic structural view showing an apparatus for object detection according to an exemplary embodiment.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
It should be understood that references to "a plurality" in this disclosure refer to two or more. In the description of the present application, "/" means or, unless otherwise indicated, for example, A/B may represent A or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of the present application, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and function. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.
First, a system for object detection provided by an embodiment of the present application will be described.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a system for target detection according to an exemplary embodiment. The system comprises: mounting bracket 1, driving motor 2, laser radar device 3. Wherein the mounting bracket 1 comprises a fixed seat 11 and a swinging arm 12.
As an example of the present application, the fixing base 11 is installed at a top end designated position of the inner side of the shield door 4 on the train platform, wherein the inner side is a side close to the track of the mobile traffic train, and the top end designated position can be set according to actual requirements. The driving motor 2 is located on the fixed seat 11, and a rotating shaft of the driving motor 2 is fixedly connected with the swing arm 12 so as to drive the swing arm 12 to do arc swing in a clearance area between the shielding door and the train door during rotation, wherein a tangential direction of an arc track of the arc swing is perpendicular to a travelling direction of the mobile traffic train. The lidar device 3 is located on the inner wall of the swing arm 12 for object detection during the swing of the swing arm 12. That is, the laser radar device 3 swings in a certain swing angle range under the drive of the driving motor 2, and performs target detection during the swing.
In one embodiment, the drive motor 2 may be a rotary motor.
In one example, the lidar device 3 is located at a preset height above the clearance area between the shield door 4 and the train door 5. The preset height can be set according to actual requirements. Illustratively, the predetermined height may range from 2.5 meters to 2.8 meters.
In one example, the lidar device 3 comprises a device with a processor for target detection, which can send control instructions to the drive motor 2 according to the actual requirements. In this way, the driving motor 2 carries the lidar device 3 to repeatedly move as needed within a certain swing angle range according to the control command. In this process, the lidar device 3 throws the light curtain downward along the traveling direction of the moving traffic train to acquire the point cloud of the light curtain in the position space in real time, thereby performing target detection according to the point cloud.
As an example of the present application, a single-line laser radar is included in the laser radar device 3 to perform object detection by the single-line laser radar.
It should be noted that if the single-line laser radar is directly arranged above the gap area between the train door 5 and the shielding door 4, the gap area is a narrow space, and some of the train doors 5 are opened inwards, and some of the train doors are opened outwards, if the single-line laser radar is installed in an improper posture, the train door 5 is easily misjudged as an invader in the gap area, so that the alarm system is triggered by mistake. The method brings serious challenges to the installation and debugging of the single-line laser radar, and the installation and debugging work is time-consuming and labor-consuming. Similarly, if the multi-line lidar (for example, the four-line lidar) is directly arranged above the gap area between the train door 5 and the shielding door 4, one of the two side light rays of the four-line lidar needs to be scanned on the shielding door in the installation and debugging process, the other light ray is scanned on the train door, and the middle two light rays are vertically downward and parallel to the shielding door, so that the requirement on the installation precision is higher. In comparison, the system provided by the application detects the target in the swinging process through the laser radar device, and as the swinging angle range of the laser radar device is adjustable and controllable, namely the detection range is adjustable according to the size of the clearance area, the installation pose of the laser radar device is not strictly required, the light curtain of the laser radar device 3 only needs to be thrown downwards approximately along the advancing direction of the mobile traffic train, and the problem that whether light scans the boundary of a door or not is strictly required in the installation is not required, so that the requirement on the pose of the single-line laser radar in the installation is simplified, the installation efficiency is improved, and the installation difficulty is reduced.
In addition, if the multi-line laser radar is adopted for detection, some light beams are shot to areas outside the detection range, so that resource waste is caused. The system provided by the embodiment of the application can effectively detect the detection range through the single-line laser radar, thereby saving cost and reducing unnecessary waste.
As an example of the present application, referring to fig. 2, the system further includes a soot cleaning device 6, and the soot cleaning device 6 includes a fixing member 61 and a soot cleaning brush 62. The fixed part 61 is located on the outer wall of the swing arm 12, the ash cleaning brush 62 is located on the inner wall of the swing arm 12, one end of the ash cleaning brush 62 without a brush passes through the side wall of the swing arm 12 to be fixedly connected to the fixed part 61, one end of the ash cleaning brush 62 with the brush is contacted with the light emitting part of the laser radar device 3, and the fixed part 61 is used for controlling the ash cleaning brush 62 to clean dust for the light part of the laser radar device 3.
In practice, the component with the light exit position in the lidar device 3 rotates along a rotation axis, which may be provided on the lidar device 3 and perpendicular to the travelling direction of the moving traffic train. During the rotation process, the dust removing brush 62 in the dust removing device 6 can remove dust for the light emergent part of the laser radar device 3.
Based on the system shown in fig. 1 or fig. 2, a method for object detection according to an embodiment of the present application will be described in detail. For ease of understanding, the debugging phase will be described first, with the main purpose of the debugging phase being to determine target information. The target information includes boundary information of the train door, boundary information of the shielding door, and boundary information of the gap region. Referring to fig. 3, fig. 3 is a flow chart illustrating a method of object detection according to an exemplary embodiment, which may be applied to an apparatus for object detection, by way of example and not limitation, and the apparatus may be configured in the lidar apparatus 3, or may be a separate entity device having communication connection with the lidar apparatus and the driving motor, respectively. The method may include the following:
step 301: controlling the laser radar device to swing within a preset angle range at a specified speed.
In practice, since the driving motor drives the laser radar device to swing during rotation, the swing speed of the laser radar device can be controlled by controlling the rotation speed of the driving motor.
The designated speed can be set according to actual requirements. For example, the specified speed may be a minimum rotational speed of the drive motor.
In the same way, when the driving motor rotates by one angle, the laser radar device swings by a certain angle under the driving of the driving motor, so that the swing angle range of the laser radar device and the swing angle of the laser radar device at each swing position can be controlled through the rotation angle of the driving motor.
The preset angle range can be set according to actual requirements. In one embodiment, the preset angle range may be a maximum swing angle range of the lidar device. For example, referring to fig. 4, assume that the zero angle of the lidar device is vertically downward, the side of the zero angle near the shield door is negative, and the side of the zero angle near the train door is positive. The range of the maximum swing angle of the laser radar device is (-45 deg., 45 deg.).
In general, in order to effectively determine the boundaries of each part of the shielding door, the train door and the gap area in the debugging stage, the laser radar device can be controlled to swing at the minimum rotation speed within the maximum swing angle range, for example, the swing angle range corresponding to the swing start angle and the swing end angle can be (-45 degrees, 45 degrees) so as to obtain the maximum scene scanning range.
It should be noted that the range of the swing angle of the laser radar apparatus may be controlled according to actual requirements, that is, the swing start angle and the swing end angle of the laser radar apparatus may be set as required within the maximum swing angle range. In one example, if the gap between the train door and the shield door is small, the swing angle range may be set small, for example, the swing angle range in which the swing start angle and the swing end angle correspond may be adjusted to (-5 °,5 °). In yet another example, if the train door is out-opening, the swing angle range may need to be smaller, for example, the swing angle range corresponding to the swing start angle and the swing end angle may be adjusted to be (-5 °,2 °). In another example, if two shielding doors are corresponding to each train door and one system is required to cover the detection ranges of the two shielding doors, the swing angle range corresponding to the swing start angle and the swing end angle can be adjusted to be (-5 °,1.2 °).
Step 302: and in the swinging process of the laser radar device, constructing a three-dimensional scene according to second detection data of the laser radar device and second swinging angles of the laser radar device at all swinging positions, and obtaining a second three-dimensional scene.
The second probe data includes ranging values for respective ranging points within each of a plurality of frames, wherein one ranging point may be understood as a point scanned by one light ray of the lidar device. Each frame corresponds to a second wobble angle.
The second swing angle of the lidar device at each swing position refers to an angle between the plane of the light curtain and the zero degree angle when the lidar device is at each swing position.
That is, the lidar device continuously throws a light curtain during the swing of the lidar device to perform target detection in real time. The driving motor feeds back the second swing angle of the laser radar device at each swing position in real time. In addition, each time the laser radar device swings to a second swing angle, the laser radar device completes one-frame detection, namely, each second swing angle corresponds to one-frame scanning data, so that the laser radar device swings for one detection period, namely, after swinging from the leftmost end to the rightmost end of the angle swing range, the laser radar device correspondingly detects to obtain multi-frame scanning data. For ease of understanding and distinction, the multi-frame scan data of the debug phase is referred to herein as second probe data.
And after each detection period, constructing a three-dimensional scene according to the second detection data and the second swing angles of the laser radar device at all swing positions. In one embodiment, a specific implementation of constructing a three-dimensional scene may include: the luminous point of the laser radar device is taken as an origin of a coordinate system, the vertical downward direction is taken as a Z axis, the traveling direction of the mobile traffic train is taken as an X axis, and the direction perpendicular to the traveling direction of the mobile traffic train is taken as a Y axis, so that a rectangular coordinate system is established. And determining three-dimensional coordinate information of each ranging point in each frame in a rectangular coordinate system according to the ranging value of each ranging point in each frame, the second swing angle corresponding to each frame and the scanning angle resolution of the laser radar device. And constructing a three-dimensional scene according to the three-dimensional coordinate information of each ranging point in each frame.
That is, in the implementation, coordinate transformation is performed on each ranging point, so that each ranging point is projected to the same rectangular coordinate system, and three-dimensional reconstruction is achieved. In one example, each ranging point may be coordinate-converted by the following formula (1):
wherein x is i，j Is the x-axis coordinate value, y of the ith ranging point in the jth frame of the laser radar device i，j Is the y-axis coordinate value, z of the ith ranging point in the jth frame of the laser radar device i，j Is the z-axis coordinate value of the ith ranging point in the jth frame of the laser radar device. l (L) i，j Is the ranging value alpha of the ith ranging point in the jth frame of the laser radar device i For the scan angle, beta, of the ith ranging point in each frame of the lidar device j And scanning a second swing angle of the laser radar device corresponding to the data for the j-th frame of the laser radar device.
For the single-line lidar, the scan angle α of each ranging point in each scan i Is determined in relation to the scan angle resolution and ranging point number. Taking fig. 5 as an example, a single-line laser radar forms a frame of scanning data from 0 to 180 degrees in each scanning period, all light rays emitted by each scanning form a 2D plane, and the included angle between two adjacent light rays is 0.1 degrees, namely the scanning angle resolution is 0.1 Degree, the scan angle α of each ranging point i =i×0.1. For example, the scanning angle corresponding to the 0 th ray is 0 degrees, that is, the scanning angle of the ranging point corresponding to the 0 th ray is 0 degrees. And the scanning angle of the 360 th ray is 36 degrees, namely the scanning angle of the ranging point corresponding to the 360 th ray is 36 degrees.
It should be noted that, in a conventional multi-line laser radar, the track of the non-0 degree light curtain is a conical surface, as shown in fig. 6, the light center of the multi-line laser radar is at the O point, OMNS is the track of the 2 degree light curtain, the light curtain is a conical surface body, and the intersection line formed by the light curtain and the ground train door and the shielding door ABCD is a curve LKH. For the single-line laser radar, under the action of the driving motor, the light curtain has no conical surface characteristic, as shown in fig. 7, the light curtain at each swinging angle is a plane, and the intersection line of the light curtain and the train door and the shielding door is a straight line (such as a straight line L2K 2). Compared with a multi-line laser radar, the single-line laser radar has high quality of scanning point cloud under the swinging action, and the three-dimensional scene reconstruction is more regular, so that the boundary information of each part can be found more conveniently.
Step 303: and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the clearance area from the second three-dimensional scene to obtain target boundary information.
As an example of the present application, a specific implementation of step 303 may include: a normal vector for each point cloud in the second three-dimensional reconstructed scene is determined. And clustering according to the directionality of the normal vector of each point cloud to obtain a plurality of point clouds, wherein the plurality of point clouds comprise the point clouds of the train door, the point clouds of the shielding door and the point clouds of the gap area. And extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area according to the plurality of point clouds to obtain target boundary information.
All ranging points in the second three-dimensional scene constitute a point cloud. In implementation, normal vector calculation is performed according to three-dimensional coordinate information of each point cloud, and the normal vector of each point cloud is obtained. The normal vector of the point clouds of the same object has the same directivity, for example, the point clouds of the train door have the same directivity, and the point clouds of the shielding door have the same directivity and the point clouds of the gap area have the same directivity. Therefore, the clustering process may be performed according to the directionality of the normal vector of each point cloud, and the obtained plurality of point clouds include the point clouds of the train door, the point clouds of the shielding door, and the point clouds of the gap region. Then, target boundary information may be extracted from the obtained plurality of point clouds.
As an example of the present application, a specific implementation of extracting boundary information of a train door, boundary information of a shielding door, and boundary information of a gap region from a plurality of point clouds may include: the minimum y component value and the maximum z component value in the point cloud set of the train door are determined as boundary information of the train door. The largest y component value and the largest z component value in the point cloud set of the shielding door are determined as boundary information of the shielding door. And carrying out random plane sampling on the point cloud set of the gap area, and determining the z component value of the obtained sampling plane as boundary information of the gap area.
For example, referring to fig. 8, based on the rectangular coordinate system described above, the shielding door is located on the y-axis negative direction side of the rectangular coordinate system, the train door is located on the y-axis positive direction side of the rectangular coordinate system, and the gap region is located at the middle position of the rectangular coordinate system. According to the position space distribution characteristics of each part in the rectangular coordinate system, the corresponding boundary information can be extracted from the point cloud set corresponding to each part based on the coordinate information.
In one example, the boundary information of the mask gate is extracted from the point cloud of the mask gate by the following equation (2), assuming that the boundary information of the mask gate is denoted as { y } 0 ，z 0 -then:
in one example, the boundary information of the train door may be extracted from the point cloud of the train door by the following equation (3), assuming that the boundary information of the train door is noted as { y } 1 ，z 1 -then:
in one example, random plane sampling is performed on the point cloud of the gap region, and the resulting sampling plane may be referred to as a bottom plane, and referring to fig. 1, the bottom plane may be understood as a plane in which the line 00 is located, that is, a platform plane inside the shielding door. Determining the z-component value of the sampling plane as the boundary information of the gap region, assuming that the boundary information of the gap region is denoted as z 2 。
In one example, after the above steps, the extracted boundaries and boundary information are as shown in fig. 9: wherein O is the luminous center of the single-line laser radar, the left rectangular frame is a shielding door part, and the satisfaction condition is thatThe middle filled rectangle is a gap region, satisfying the condition +.>The right rectangular frame is a train door part and meets the following conditions
In the embodiment of the application, after a three-dimensional scene is constructed, boundary information of a train door, a clearance area and a shielding door is respectively established, so that the swing angle range corresponding to each part can be determined, as shown in fig. 8, the O point is the installation position of the laser radar device, the angle AOB corresponds to the shielding door part, the angle BOC corresponds to the clearance area part, and the angle COD corresponds to the train door part. The scanning data of the gap area can be screened out according to the boundary information of each part to judge whether the gap area has a target or not, and in addition, different swinging speeds can be set in the swinging angle ranges corresponding to different parts so as to improve the detection efficiency. See, for example, the following examples.
Based on the data provided by the system shown in fig. 1 or fig. 2 and the embodiment shown in fig. 3, an application process (i.e., a process of object detection) will be described. Referring to fig. 10, fig. 10 is a flowchart illustrating a method for object detection according to an exemplary embodiment. The method may be applied in an apparatus for object detection, which may be arranged in the lidar device 3, for example, or may be a separate entity device in communication with the lidar device and the drive motor, respectively. The method may include the following:
step 1001: in the process of target detection by the laser radar device, a three-dimensional scene is constructed according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions, and a first three-dimensional scene is obtained.
In one embodiment, the length of time that the lidar device detects a frame is the same as the length of time that the lidar device swings through an angle. By way of example, assuming that 20ms is required for the lidar device to detect a frame, the time period for the lidar device to reach from one angle to another angle is also 20ms. In this way, detection by the lidar device can be synchronized with the swing of the lidar device.
As an example of the present application, in the initial state, the lidar device is controlled to stop at a specified position such that the detection field of view of the lidar device is a third angle range corresponding to the train door. When the detection value of the laser radar device changes, the state of the train door is detected. When the train door is switched from the open state to the closed state, the laser radar device is controlled to start swinging, and in the swinging process, the laser radar device starts to detect the target.
In the initial state, the laser radar device does not swing, namely in the initial state, the pose of the laser radar device is always detected against the position of the train door by controlling the driving motor, so that whether the mobile traffic train enters the station or not is detected. As shown in fig. 11, if the mobile traffic train does not get in, the laser radar device scans a longer distance, and the distance measurement value is larger. Such as where each scan point in a single frame forms a straight line as shown by CD in fig. 11. If the mobile traffic train enters, the detection value of the lidar device changes due to the shielding of the mobile traffic train, for example, each scanning point in a single frame forms a straight line as shown by AB in fig. 11, and the ranging value becomes smaller, for example, smaller than the distance threshold, at this time, the mobile traffic train entering can be determined.
The distance threshold value can be set according to actual requirements.
After determining that the mobile traffic train enters the station, the state of the train door is continuously detected, and when the state of the train door is detected, a certain designated object can be used as a reference object, and the designated object can be set according to actual requirements. Such as providing a designated object (such as a rope or the like) at a position inside the train door, or taking a fixed object inside the train door as the designated object. When the detection data of the laser radar device is used for determining that the specified object is detected, the train door is determined to be in an open state, otherwise, if the specified object is not detected, the train door is determined to be in a closed state.
If the train door is in an open state, passengers get on and off normally after the train door is opened, so detection is not needed at this time. When the train door is detected to be switched from the open state to the closed state, in order to avoid the condition of clamping objects, the gap area needs to be subjected to target detection, so that the laser radar device is controlled to start swinging, and in the swinging process, the laser radar device starts to perform target detection.
And after each detection period, constructing a three-dimensional scene according to the first detection data of the laser radar device and the first swing angles of the laser radar device at all swing positions to obtain a first three-dimensional scene. In one example, a specific implementation of constructing a first three-dimensional scene may include: the luminous point of the laser radar device is taken as an origin of a coordinate system, the vertical downward direction is taken as a Z axis, the traveling direction of the mobile traffic train is taken as an X axis, and the direction perpendicular to the traveling direction of the mobile traffic train is taken as a Y axis, so that a rectangular coordinate system is established. And determining three-dimensional coordinate information of each ranging point in each frame in a rectangular coordinate system according to the ranging value of each ranging point in each frame in the first detection data, the first swing angle corresponding to each frame and the scanning angle resolution of the laser radar device. And constructing a first three-dimensional scene according to the three-dimensional coordinate information of each ranging point in each frame. For specific implementation, refer to the implementation process of constructing the second three-dimensional scene in the embodiment of fig. 3, and the description thereof is not repeated here.
As an example of the present application, after detecting the state of the train door, a notification message for causing the shield door to open or close in synchronization with the train door may also be transmitted to the shield door according to the state of the train door.
In some scenarios, there is no communication device between the shielding door and the train door, in order to ensure that the train door and the shielding door are synchronously opened and closed, when the train door is detected to be opened according to the detection data of the laser radar device, a notification message may be sent to the shielding door, for example, may be directly sent, or may also be forwarded by means of a third party device, so as to indicate that the shielding door is opened. Similarly, when the train door is detected to be closed based on the detection data of the lidar device, a notification message may be sent to the barrier door to indicate that the barrier door is closed. Thus, the train door and the shielding door are synchronously opened and closed. Therefore, the synchronous opening and closing of the train door and the shielding door can be realized without adding a communication channel between the shielding door and the train door, and the improvement cost is avoided.
In another embodiment, if the shielding door and the train door have communication channels, and the ground control end can detect the state of the train door, the laser radar device may not detect the state of the train door, and only need to wait for the ground control end to input the state of the train door. In this case, the train door and the barrier door may be opened and closed without using a lidar device, and the train door and the barrier door may be synchronized, for example, via a communication channel.
Step 1002: and determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the gap area.
As described above, the target boundary information includes boundary information of the train door, boundary information of the shielding door, boundary information of the gap region, and thus, from the target boundary information, a point cloud set belonging to the train door, a point cloud set belonging to the shielding door, and a point cloud set belonging to the gap region can be determined from the first three-dimensional scene. In one embodiment, filtering may be performed on the point cloud in the first three-dimensional scene, and the filtered point cloud is determined to be the point cloud of the gap area. Or screening out the point cloud of the gap area from the point cloud of the first three-dimensional scene.
Illustratively, the target boundary information includes { y } 0 ，z 0 }、{y 1 ，z 1 }、z 2 . Then, according to the target boundary information, the method satisfiesCondition and->And filtering the conditional point cloud set, wherein the reserved point cloud set is the point cloud set of the gap area. Or screening out the point clouds in the first three-dimensional scene according to the target boundary information to meet the requirementConditional point clouds, point clouds of the gap region are obtained.
Step 1003: and if the existence of the target in the gap area is determined according to the point cloud set of the gap area, early warning prompt is carried out.
As an example of the present application, a specific implementation of determining that a gap region exists as a target from a point cloud of the gap region may include: clustering the point clouds in the gap area to obtain at least one point cloud block, and determining the three-dimensional size of each point cloud block in the at least one point cloud block, wherein the three-dimensional size comprises length, width and height. If at least one point cloud block exists, the corresponding point cloud block with the three-dimensional size meeting the target size condition exists, and the gap area is determined to have the target, wherein the three-dimensional size meeting the target size condition means that: the length in the three-dimensional dimension is greater than or equal to a length dimension threshold, and/or the width in the three-dimensional dimension is greater than or equal to a width dimension threshold, and/or the height in the three-dimensional dimension is greater than or equal to a height dimension threshold.
The length size threshold, the width size threshold and the height size threshold can be set according to actual requirements.
If the three-dimensional size of a certain point cloud block in the at least one point cloud block meets the target size condition, the object corresponding to the point cloud block can be indicated to be an invader, such as a luggage, a person, a child anti-lost rope and the like, and the existence target of the gap area can be determined.
If the existence of the target in the gap area is determined according to the point cloud set of the gap area, that is, if the target exists in the gap area after the train door is closed, the situation of clamping a person or an object can occur, and in order to avoid the situation, early warning prompt can be performed, for example, early warning prompt can be performed in a bell, voice broadcasting and other modes. In one embodiment, after the warning prompt, the shielding door can be controlled by the shielding door control device, for example, the shielding door can be opened again to prevent the clamping object from being clamped by a person.
After the mobile traffic train leaves the station, the laser radar device is controlled to be in an initial state, for example, the position of the laser radar device is always opposite to a third angle range of the train door again by controlling the driving motor.
As an example of the present application, a first angle range corresponding to the shield door, a second angle range corresponding to the gap region, and a third angle range corresponding to the train door may also be determined, respectively, according to the target boundary information. Controlling the laser radar device to swing at a first preset speed in a first angle range, swing at a second preset speed in a second angle range and swing at a third preset speed in a third angle range, wherein the first preset speed and the third preset speed are both larger than the second preset speed.
The laser radar device has a maximum swing speed, and the first preset speed, the second preset speed and the third preset speed are all smaller than or equal to the maximum swing speed, and can be specifically set according to actual requirements.
That is, the real-time swing speed of the lidar device may be configured as desired, such as when a higher detection rate for smaller objects is desired, the swing speed may be set smaller. Generally, a higher detection rate for finer objects, such as child-resistant lead ropes, is required in the clearance area. That is, in the gap area, accurate detection is generally required to be performed on the target to avoid missing detection, and therefore, in a second angle range corresponding to the gap area, a slower swing speed, that is, a smaller second preset speed, can be adopted, so that the laser radar device captures more point clouds in the gap area, the point cloud details of an invader in the gap area are improved, and the detection accuracy is further improved.
It should be noted that, preset speeds corresponding to each swing angle range may be configured to the driving motor in advance, so that the driving motor rotates according to the configuration in the rotation process, so as to drive the laser radar device to swing in different swing angle ranges according to different preset speeds.
It is worth mentioning that, because the swing angle scope and the swing speed of laser radar device are configurable, so can adapt to different detection scope in a flexible way to can adapt to various different clearance areas and the train door of invagination outward opening, improve the suitability.
It should be noted that the foregoing description is only given by taking the case that the first preset speed and the third preset speed are both greater than the second preset speed. In another embodiment, the first preset speed, the second preset speed, and the third preset speed may be the same, which is not limited in the embodiment of the present application.
In the embodiment of the application, the target detection is performed based on the provided system, and in the detection process of the laser radar device, a three-dimensional scene is constructed according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions, so as to obtain a first three-dimensional scene. And determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the gap area. If the existence target of the gap area is determined according to the point cloud set of the gap area, the existence of an invader in the gap area is indicated, and therefore early warning prompt is carried out. That is, the system realizes target detection through the laser radar device, and compared with the detection efficiency through the anti-pinch baffle, the system has higher detection efficiency and can avoid missed detection as much as possible.
In addition, the laser radar device is swing detection, and the boundary can be flexibly determined in any swing angle range, so that the point cloud set of the gap area is screened out according to the boundary, and then the target detection is carried out on the gap area, and the applicability is improved.
It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of the processes should be determined by the functions and internal logic, and should not be construed as limiting the implementation process of the embodiments of the present application.
Based on the method for object detection provided in the above embodiment, fig. 12 is a schematic structural diagram of an apparatus for object detection according to an exemplary embodiment, which may be implemented as a part of a lidar device by software, hardware or a combination of both. The apparatus may include: comprising a memory 1210, a processor 1220, and a computer program 1230 stored in said memory 1210 and executable on said processor 1220, said processor when executing said computer program being adapted to implement:
in the process of target detection by the laser radar device, constructing a three-dimensional scene according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions to obtain a first three-dimensional scene;
Determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of a train door, the boundary of the shielding door and the boundary of the gap area;
and if the existence of the target in the gap area is determined according to the point cloud set of the gap area, early warning prompt is carried out.
As an example of the present application, the processor 1220 is configured to:
clustering the point clouds in the gap area to obtain at least one point cloud block;
determining a three-dimensional size of each point cloud block in the at least one point cloud block, wherein the three-dimensional size comprises a length, a width and a height;
if the corresponding point cloud block with the three-dimensional size meeting the target size condition exists in the at least one point cloud block, determining that the target exists in the gap area, wherein the three-dimensional size meeting the target size condition means that: the length in the three-dimensional dimension is greater than or equal to a length dimension threshold, and/or the width in the three-dimensional dimension is greater than or equal to a width dimension threshold, and/or the height in the three-dimensional dimension is greater than or equal to a height dimension threshold.
As an example of the present application, the processor 1220 is configured to:
Controlling the laser radar device to swing within a preset angle range at a specified speed;
in the swinging process of the laser radar device, constructing a three-dimensional scene according to second detection data of the laser radar device and second swinging angles of the laser radar device at all swinging positions to obtain a second three-dimensional scene;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area from the second three-dimensional scene to obtain the target boundary information.
As an example of the present application, the second probe data includes ranging values of ranging points within each frame of a plurality of frames, each frame corresponding to a second swing angle, and the processor 1220 is configured to:
establishing a rectangular coordinate system by taking a luminous point of the laser radar device as an origin of a coordinate system, taking a vertical downward direction as a Z axis, taking a traveling direction of the mobile traffic train as an X axis and taking a direction vertical to the traveling direction of the mobile traffic train as a Y axis;
determining three-dimensional coordinate information of each ranging point in the rectangular coordinate system according to the ranging value of each ranging point in each frame, the second swing angle corresponding to each frame and the scanning angle resolution of the laser radar device;
And constructing a three-dimensional scene according to the three-dimensional coordinate information of each ranging point in each frame.
As an example of the present application, the processor 1220 is configured to:
determining a normal vector of each point cloud in the second three-dimensional reconstruction scene;
clustering according to the directionality of the normal vector of each point cloud to obtain a plurality of point clouds, wherein the plurality of point clouds comprise the point clouds of the train door, the point clouds of the shielding door and the point clouds of the gap area;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area according to the plurality of point clouds to obtain the target boundary information.
As an example of the present application, the processor 1220 is configured to:
determining the minimum y component value and the maximum z component value in the point cloud set of the train door as boundary information of the train door;
determining the maximum y component value and the maximum z component value in the point cloud set of the shielding door as boundary information of the shielding door;
and carrying out random plane sampling on the point cloud set of the gap area, and determining the z component value of the obtained sampling plane as boundary information of the gap area.
As an example of the present application, the processor 1220 is further configured to:
according to the target boundary information, a first angle range corresponding to the shielding door, a second angle range corresponding to the clearance area and a third angle range corresponding to the train door are respectively determined;
controlling the laser radar device to swing at a first preset speed in the first angle range, swing at a second preset speed in the second angle range and swing at a third preset speed in the third angle range, wherein the first preset speed and the third preset speed are both greater than the second preset speed.
As an example of the present application, the processor 1220 is further configured to:
in an initial state, controlling the laser radar device to stop at a designated position, wherein the designated position enables a detection view field of the laser radar device to be a third angle range corresponding to the train door;
detecting the state of the train door when the detection value of the laser radar device changes;
and if the train door is switched from the open state to the closed state, controlling the laser radar device to start swinging, and starting target detection by the laser radar device in the swinging process.
As an example of the present application, the processor 1220 is further configured to:
and sending a notification message to the shielding door according to the state of the train door, wherein the notification message is used for enabling the shielding door to be synchronously opened or closed with the train door.
In the embodiment of the application, the target detection is performed based on the provided system, and in the detection process of the laser radar device, a three-dimensional scene is constructed according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions, so as to obtain a first three-dimensional scene. And determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to target boundary information, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the gap area. If the existence target of the gap area is determined according to the point cloud set of the gap area, the existence of an invader in the gap area is indicated, and therefore early warning prompt is carried out. That is, the system realizes target detection through the laser radar device, and compared with the detection efficiency through the anti-pinch baffle, the system has higher detection efficiency and can avoid missed detection as much as possible.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A system for target detection, the system comprising: the laser radar device comprises a mounting bracket, a driving motor and a laser radar device, wherein the mounting bracket comprises a fixed seat and a swinging arm;
the fixed seat is arranged at a top appointed position of the inner side of the shielding door on the train platform, and the inner side is one side close to a rail of the mobile traffic train;
the driving motor is positioned on the fixed seat;
the rotating shaft of the driving motor is fixedly connected with the swing arm so as to drive the swing arm to do arc swing in a clearance area between the shielding door and the train door during rotation, wherein the tangential direction of an arc track of the arc swing is perpendicular to the advancing direction of the mobile traffic train;
the laser radar device is positioned on the inner wall of the swing arm, and the laser radar device throws the light curtain downwards along the travelling direction;
the system for target detection is used for:
according to target boundary information, a first angle range corresponding to the shielding door, a second angle range corresponding to the clearance area and a third angle range corresponding to the train door are respectively determined, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the clearance area;
In an initial state, the driving motor is controlled to enable the swing arm to stop at a designated position, the designated position enables a detection view field of the laser radar device to be the third angle range corresponding to the train door, when the detection value of the laser radar device changes, the state of the train door is detected, if the train door is switched from an open state to a closed state, the swing arm is controlled to start swinging, in the swinging process, the swing arm is controlled to swing at a first preset speed in the first angle range, swing at a second preset speed in the second angle range and swing at a third preset speed in the third angle range, and the first preset speed and the third preset speed are both larger than the second preset speed;
performing target detection in the swinging process of the swinging arm, and constructing a three-dimensional scene according to first detection data obtained by detection and first swinging angles of the laser radar device at all swinging positions to obtain a first three-dimensional scene;
and determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to the target boundary information, and performing early warning prompt under the condition that the gap area is determined to have a target according to the point cloud set of the gap area.
2. A method of object detection implemented based on the system of claim 1, the method comprising:
according to target boundary information, a first angle range corresponding to the shielding door, a second angle range corresponding to the clearance area and a third angle range corresponding to the train door are respectively determined, wherein the target boundary information is used for indicating the boundary of the train door, the boundary of the shielding door and the boundary of the clearance area;
in an initial state, controlling the swing arm to stop at a designated position, wherein the designated position enables a detection view field of the laser radar device to be in the third angle range corresponding to the train door, detecting the state of the train door when the detection value of the laser radar device changes, controlling the swing arm to start swinging if the train door is switched from an open state to a closed state, controlling the swing arm to swing at a first preset speed in the first angle range, controlling the swing arm to swing at a second preset speed in the second angle range and swinging at a third preset speed in the third angle range, and enabling the first preset speed and the third preset speed to be larger than the second preset speed;
In the process of target detection by the laser radar device, constructing a three-dimensional scene according to first detection data of the laser radar device and first swing angles of the laser radar device at all swing positions to obtain a first three-dimensional scene;
determining a point cloud set of the gap area from the point cloud of the first three-dimensional scene according to the target boundary information;
and if the existence of the target in the gap area is determined according to the point cloud set of the gap area, early warning prompt is carried out.
3. The method of claim 2, wherein determining that the gap region exists as a target from the point cloud of the gap region comprises:
clustering the point clouds in the gap area to obtain at least one point cloud block;
determining a three-dimensional size of each point cloud block in the at least one point cloud block, wherein the three-dimensional size comprises a length, a width and a height;
if the corresponding point cloud block with the three-dimensional size meeting the target size condition exists in the at least one point cloud block, determining that the target exists in the gap area, wherein the three-dimensional size meeting the target size condition means that: the length in the three-dimensional dimension is greater than or equal to a length dimension threshold, and/or the width in the three-dimensional dimension is greater than or equal to a width dimension threshold, and/or the height in the three-dimensional dimension is greater than or equal to a height dimension threshold.
4. The method according to claim 2, wherein the determining means of the target boundary information includes:
controlling the laser radar device to swing within a preset angle range at a specified speed;
in the swinging process of the laser radar device, constructing a three-dimensional scene according to second detection data of the laser radar device and second swinging angles of the laser radar device at all swinging positions to obtain a second three-dimensional scene;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area from the second three-dimensional scene to obtain the target boundary information.
5. The method of claim 4, wherein the second probe data includes ranging values for respective ranging points within each of a plurality of frames, each of the frames corresponding to a second pivot angle, wherein constructing a three-dimensional scene based on the second probe data of the lidar device and the second pivot angle of the lidar device at respective pivot positions comprises:
establishing a rectangular coordinate system by taking a luminous point of the laser radar device as an origin of a coordinate system, taking a vertical downward direction as a Z axis, taking a traveling direction of the mobile traffic train as an X axis and taking a direction vertical to the traveling direction of the mobile traffic train as a Y axis;
Determining three-dimensional coordinate information of each ranging point in the rectangular coordinate system according to the ranging value of each ranging point in each frame, the second swing angle corresponding to each frame and the scanning angle resolution of the laser radar device;
and constructing a three-dimensional scene according to the three-dimensional coordinate information of each ranging point in each frame.
6. The method of claim 5, wherein the extracting boundary information of the train door, boundary information of the shielding door, and boundary information of the gap region from the second three-dimensional scene, to obtain the target boundary information, comprises:
determining a normal vector of each point cloud in the second three-dimensional scene;
clustering according to the directionality of the normal vector of each point cloud to obtain a plurality of point clouds, wherein the plurality of point clouds comprise the point clouds of the train door, the point clouds of the shielding door and the point clouds of the gap area;
and extracting boundary information of the train door, boundary information of the shielding door and boundary information of the gap area according to the plurality of point clouds to obtain the target boundary information.
7. The method of claim 6, wherein extracting boundary information of the train door, boundary information of the shielding door, and boundary information of the gap area from the plurality of point clouds, comprises:
determining the minimum y component value and the maximum z component value in the point cloud set of the train door as boundary information of the train door;
determining the maximum y component value and the maximum z component value in the point cloud set of the shielding door as boundary information of the shielding door;
and carrying out random plane sampling on the point cloud set of the gap area, and determining the z component value of the obtained sampling plane as boundary information of the gap area.
8. The method of claim 2, wherein after detecting the status of the train door, further comprising:
and sending a notification message to the shielding door according to the state of the train door, wherein the notification message is used for enabling the shielding door to be synchronously opened or closed with the train door.
9. An apparatus for object detection comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 2 to 8 when executing the computer program.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the method of any of claims 2 to 8.
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