CN112343448A

CN112343448A - Shielding door protection system based on 3D laser radar

Info

Publication number: CN112343448A
Application number: CN201910736079.7A
Authority: CN
Inventors: 疏达; 李�远; 张彤; 贺兴华
Original assignee: Benewake Beijing Co Ltd
Current assignee: Benewake Beijing Co Ltd
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2021-02-09

Abstract

The application relates to a shield door, in particular to a shield door protection system based on a 3D laser radar. The embodiment of the application provides a shield door protection system based on 3D laser radar, including the shield door, still include: the 3D laser radar is arranged on the shielding door and used for detecting whether an obstacle exists between the shielding door and the vehicle door or not, a detection area of the 3D laser radar can be set according to an interval between the shielding door and the vehicle door, and when the obstacle exists between the shielding door and the vehicle door, a signal is output; and the notification control device is communicated with the 3D laser radar and is used for controlling the secondary opening and closing of the shielding door or notifying manual reinspection after receiving the 3D laser radar signal. Whether this application adopts 3D laser radar to detect has the barrier between shield door and the door, and the detection area can be set for according to the interval between shield door and the door, can focus on surveying specific target area, improves specific target area's detection frequency, and it is high to tiny barrier detection rate of accuracy, and sensitivity is good.

Description

Shielding door protection system based on 3D laser radar

Technical Field

The invention relates to a shield door, in particular to a shield door protection system based on a 3D laser radar.

Background

The shielding door is installed on the side edge of the platform near the track to separate the platform area from the track area. The train waiting area is separated from the train waiting area, and the train can be automatically opened or closed when arriving and departing, so that a safe and comfortable waiting environment is created for passengers. And a gap is reserved between the shielding door and the train door, so that the safe operation of the subway train is ensured. Meanwhile, because of the gap, passengers or objects can be clamped between the vehicle door and the shield door when the vehicle door and the shield door are closed, and serious safety accidents are easily caused. It is therefore desirable to find a method of detecting the presence of an obstacle between a screen door and a train door.

In view of the above problems, those skilled in the art generally perform detection by an infrared light curtain sensor or a stress switch. The infrared light curtain sensor is arranged on the inner side of the shield door, the alarm devices which are in electric signal connection with the infrared light curtain sensor are arranged in the platform train exit end and the station control room, and when the infrared light curtain sensor detects man clamping, the alarm devices which are arranged at the train exit end and the station control room send out alarm signals until manual intervention and failure cancellation. However, in the technical scheme, the infrared detection technology has larger interval for detecting foreign matter information, and the accuracy rate for detecting fine obstacles is not high. And the stress switch is adopted for detection, so that the sensitivity is not high in the detection process, and the shielding door clamping accident is easily formed.

Disclosure of Invention

The embodiment of the application provides a shielding door protection system based on a 3D laser radar, and solves the problems of low accuracy and low sensitivity in the shielding door detection process in the prior art.

The embodiment of the application provides a shield door protection system based on 3D laser radar, including the shield door, still include:

the 3D laser radar is arranged on the shielding door and used for detecting whether an obstacle exists between the shielding door and the vehicle door or not, a detection area of the 3D laser radar can be set according to an interval between the shielding door and the vehicle door, and when the obstacle exists between the shielding door and the vehicle door, a signal is output;

and the notification control device is communicated with the 3D laser radar and is used for controlling the secondary opening and closing of the shielding door or notifying manual reinspection after receiving the 3D laser radar signal.

The 3D laser radar is arranged on one side, close to the car door, of the top of the shielding door and is 2-3 meters away from the ground in a vertical distance.

The detection area setting comprises setting a detection angle of the 3D laser radar in the direction parallel to the shielding door, a detection angle in the direction perpendicular to the shielding door and a detection distance of the 3D laser radar.

The 3D laser radar is vertically arranged downwards, the detection angle is 120-140 degrees in the direction parallel to the shielding door, and the detection angle is 1-9 degrees in the direction vertical to the shielding door.

The 3D laser radar is vertically arranged downwards, the detection angle is 130-140 degrees in the direction parallel to the shielding door, and the detection angle is 1-5 degrees in the direction vertical to the shielding door.

The detection distance of the 3D laser radar is 2-4 meters.

The 3D laser radar built-in processor is used for obtaining point cloud images and screening the point cloud images to obtain effective data.

The notification control device comprises a control module, a driving module and a communication module, wherein the communication module is in information communication with the 3D laser radar, the control module and the driving module and is used for receiving a 3D laser radar signal and sending the signal to an operator and the control module; the control module is used for controlling the driving module to work; the driving module is used for driving the shielding door switch.

The shielding door protection system based on the 3D laser radar further comprises an alarm mechanism, the alarm mechanism is fixedly arranged above the shielding door, the alarm mechanism is connected with a 3D laser radar electric signal, and the alarm mechanism sends alarm information when the 3D laser radar detects that an obstacle exists between the vehicle door and the shielding door.

The shielding door protection system based on the 3D laser radar further comprises a support, wherein the support is arranged on one side, close to the vehicle door, of the shielding door and used for installing the 3D laser radar.

Whether this application adopts 3D laser radar to detect has the barrier between shield door and the door, and 3D laser radar's detection area can be set for according to the interval between shield door and the door, can focus on surveying specific target area, improves specific target area's detection frequency, and is high to tiny barrier detection rate of accuracy, and sensitivity is good, can satisfy shield door safety needs.

Drawings

Fig. 1 is a front view of an embodiment of the present application.

Fig. 2 is a side view of an embodiment of the present application.

Fig. 3 is a schematic diagram of module connection according to an embodiment of the present application.

In the figure: 1. a shield door; 2. a 3D laser radar; 3. an obstacle; 4. a vehicle door; 5. a support; 6. a notification control device; 7. a detection angle in a direction parallel to the shield door 1; 8. the detection angle in the direction perpendicular to the shield door 1.

Detailed Description

The technical scheme of the application is further explained by the specific implementation mode in combination with the attached drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

The embodiments of the present application

As shown in fig. 1 and 2, a shield door protection system based on 3D laser radar includes a shield door 1, and further includes:

the 3D laser radar 2 is arranged on the shielded door 1 and used for detecting whether an obstacle exists between the shielded door 1 and the vehicle door 4 or not, when the obstacle 3 exists between the shielded door 1 and the vehicle door 4, a signal is output, and a detection area of the 3D laser radar 2 can be set according to an interval between the shielded door 1 and the vehicle door 4;

and the notification control device 6 is communicated with the 3D laser radar 2 and is used for controlling the shielding door 1 to be opened and closed for the second time or notifying manual reinspection after receiving the 3D laser radar 2 signal.

This application adopts 3D laser radar 2 to detect whether have barrier 3 between shield door 1 and the door 4, and 3D laser radar 2's detection area can be set for according to the interval between shield door 1 and the door 4, can focus on surveying specific target area, through the resolution ratio of adjustment to specific target area, and 3D laser radar detects the rate of accuracy height to tiny barrier, and sensitivity is good, can satisfy shield door safety need.

After the 3D laser radar 2 sends a signal to the control device 6, the control device 6 can be notified to directly control the shielding door 1 to be opened and closed for the second time, the automation degree is high, and the problem post-processing is timely. The notification control device 6 can also notify manual reinspection, and when a large problem is met or the switch of the shielding door 1 is in a problem, the manual reinspection can better solve the problem.

The 3D laser radar 2 is arranged on one side, close to the car door 4, of the top of the shielding door 1, and is 2-3 meters away from the ground in vertical distance.

The 3D laser radars 2 correspond to the shielding doors 1 one by one, and are 2-3 meters away from the ground, so that normal passing of personnel is guaranteed, and meanwhile, the measurement precision is guaranteed.

The detection area is set to include a detection angle 7 of the 3D laser radar 2 in the direction parallel to the shielding door 1, a detection angle 8 in the direction perpendicular to the shielding door 1 and the detection distance of the 3D laser radar 2.

As shown in the figure, 3D laser radar sets up and is close to door one side at the shield door top, the perpendicular ground of outgoing optical axis, because 3D laser radar emergent light is a light beam, its horizontal angle of vision be with shield door upward detection angle 7 of parallel direction, the vertical angle of vision be with shield door upward detection angle 8 of perpendicular side, consequently set up with shield door upward detection angle 7 of parallel direction, with shield door 1 upward detection angle 8 of perpendicular side, behind 3D laser radar's the detection distance, just can tentatively set for 3D laser radar's detection region. The data screening of the detection area can determine which data in the area are valid data, and further determine the detection area.

The 3D laser radar 2 is vertically and downwards arranged, the detection angle is 120-140 degrees in the direction parallel to the shielding door 1, and the detection angle is 1-9 degrees in the direction vertical to the shielding door 1.

The detection angle is 120-140 degrees in the direction parallel to the shield door 1, the radar detection range is ensured to just cover the whole shield door, and the detection angle is 1-9 degrees in the direction vertical to the shield door, so that the obstacle between the shield door and the vehicle door can be detected.

The 3D laser radar 2 is vertically and downwards arranged, the detection angle is 130-140 degrees in the direction parallel to the shielding door 1, and the detection angle is 1-5 degrees in the direction vertical to the shielding door 1.

Further reduce the detection angle, improve detection accuracy, sensitivity.

The detection distance of the 3D laser radar 2 is 2-4 meters.

The 3D laser radar 2 is internally provided with a processor and is used for acquiring point cloud images, and screening the point cloud images by a pre-stored method for screening data of a detection area to acquire effective data.

The method for removing the noise of the point cloud image by the processor comprises the following steps: collecting data points, comparing the collected data points with a pre-stored threshold value, deleting the data points if the threshold value is exceeded, and aggregating the deleted data points to form a point cloud image. And (4) performing data screening on the point cloud image by removing the noise of the point cloud image, and further confirming whether an obstacle exists in the detection range.

The notification control device 6 comprises a control module, a driving module and a communication module, wherein the communication module is in information communication with the 3D laser radar, the control module and the driving module and is used for receiving a 3D laser radar signal and sending the signal to an operator and the control module; the control module is used for controlling the driving module to work; the driving module is used for driving the shielding door switch.

The control module is a processor or a circuit board, and the driving module is an electric driving device or a mechanical driving device.

And the alarm mechanism is used for reminding a driver or rear workers to investigate potential safety hazards when the 3D laser radar detects that an obstacle exists between the vehicle door and the shielding door.

The shielding door protection system based on the 3D laser radar further comprises a support 5, wherein the support 5 is arranged on one side, close to the vehicle door, of the shielding door and used for installing the 3D laser radar.

The installing support is used for setting up 3D laser radar, guarantees laser radar steady operation.

The technical principles of the present application have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present application and is not to be construed in any way as limiting the scope of the application. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present application without inventive effort, which shall fall within the scope of the present application.

Claims

1. a screen door protection system based on 3D laser radar, comprises screen door, is characterized in that, also comprises:

The 3D lidar set on the screen door is used to detect whether there are obstacles between the screen door and the car door. The detection area of the 3D lidar can be set according to the interval between the screen door and the car door. When there is an obstacle, the output signal;

The notification control device is connected to the 3D lidar, and is used to control the secondary switch of the screen door or notify the manual re-inspection after receiving the 3D lidar signal.

2 . The 3D lidar-based screen door protection system according to claim 1 , wherein the 3D lidar is arranged at the top of the screen door close to the side of the car door, with a vertical distance of 2-3 meters from the ground. 3 .

3. The 3D laser radar-based screen door protection system according to claim 1 or 2, wherein the detection area setting comprises setting the detection angle of the 3D laser radar in the direction parallel to the screen door, and the detection angle in the direction parallel to the screen door. The detection angle in the vertical direction of the screen door and the detection distance of the 3D lidar.

4. The 3D lidar-based screen door protection system according to claim 3, wherein the 3D lidar is arranged vertically downward, and in the direction parallel to the screen door, the detection angle is 120-140° , in the direction perpendicular to the screen door, the detection angle is 1-9°.

5. The 3D lidar-based screen door protection system according to claim 4, wherein the 3D lidar is arranged vertically downward, and in a direction parallel to the screen door, the detection angle is 130-140° , in the direction perpendicular to the screen door, the detection angle is 1-5°.

6 . The 3D laser radar-based screen door protection system according to claim 5 , wherein the detection distance of the 3D laser radar is 2-4 meters. 7 .

7. The 3D laser radar-based screen door protection system according to claim 6, wherein the built-in processor of the 3D laser radar is used to obtain a point cloud image, perform data screening on the point cloud image, and obtain effective data.

8. The 3D laser radar-based screen door protection system according to claim 7, wherein the notification control device comprises a control module, a driving module, and a communication module, and the communication module is connected to the 3D laser radar, the control module, and the The information connection between the module and the driving module is used to receive the 3D laser radar signal and send the signal to the operator and the control module; the control module is used to control the operation of the driving module; the driving module is used to drive the screen door switch.

9 . The 3D lidar-based screen door protection system according to claim 8 , further comprising an alarm mechanism, the alarm mechanism is fixedly arranged above the screen door, and the alarm mechanism is connected to the 3D lidar. 10 . The electrical signal is connected, and the alarm mechanism sends out an alarm message when the 3D lidar detects an obstacle between the door and the screen door.

10 . The 3D lidar-based screen door protection system according to claim 9 , further comprising a bracket, and the bracket is disposed on the side of the screen door close to the vehicle door for installing the 3D lidar. 11 .