A method, system, device and medium for detecting safety of amusement facilities

Abstract

The present invention relates to a method, system, equipment and medium for safety detection of amusement facilities, including: determining the seat surface, the first reference point and the second reference point of the seat according to the type of the seat on the amusement facility; determining the first boundary and the second boundary according to the seat surface, determining the third boundary according to the first reference point, and determining the fourth boundary according to the second reference point; determining the range of the safety envelope according to the first boundary, the second boundary, the third boundary and the fourth boundary; determining the first coordinate of each point in the range of the safety envelope on the coordinate system according to a preset coordinate system; determining a coordinate set according to each first coordinate; obtaining the second coordinate of the obstacle scanned by the laser radar on the coordinate system, and performing safety detection on the amusement facility according to the second coordinate and the coordinate set. The method solves the problem that the existing safety distance detection method is not universal and the environment of many amusement facilities is not conducive to manual detection.

Description

Background Art

[0002] Safety distance refers to the distance left during the operation (rotation) of an amusement facility to prevent passengers on seats from touching surrounding objects. It is centered on the seat (multiple seats are considered as one large seat, with the two outermost seat armrests as the large seat armrests, and the width is the sum of the widths of all seats). If surrounding objects enter the safety range during the operation of the amusement facility, it indicates that the amusement facility has a safety hazard. The current safety distance measurement methods mainly include:

[0003] (1) When the amusement facility is stationary, the inspectors use a steel tape measure to measure. The disadvantage is that the places that the amusement facility has to pass through during operation are very high, such as roller coasters, which is not conducive to the inspection personnel to measure;

[0004] (2) According to the standard requirements, a PVC hose of a specific length is fixed on both sides and above the seats of the amusement facility. A rough sensory judgment is made based on whether the hose is in contact with surrounding obstacles. The disadvantage is that some amusement facilities are located in dark passages with complex terrain, such as rapids and cave roller coasters. Even if a collision occurs, the inspection personnel cannot clearly observe whether there is an obstacle touching the hose;

[0005] (3) Some manufacturers use tooling fixed on the vehicle body to perform rough measurements during the safety distance detection process. The disadvantage is that the tooling is too limited and one type of tooling only corresponds to one type of amusement facility.

[0006] In summary, the existing safety distance detection methods are not universal, and the environments of many amusement facilities are not conducive to manual detection. Summary of the invention

[0007] In order to overcome the problem that the existing safety distance detection method is not universal and the environment of many amusement facilities is not conducive to manual detection, the present invention provides an amusement facility safety detection method, system, equipment and medium.

[0008] In a first aspect, in order to solve the above technical problems, the present invention provides a method for safety detection of amusement facilities, comprising the following steps:

[0009] S1, according to the type of seats on the amusement facility, determine the seat surface, the first reference point and the second reference point of the seat. The seat includes a seat surface and an armrest connected to the seat surface. The first reference point is the point at the front end of the intersection of the horizontal plane where the armrest is located and the vertical plane where the armrest is located. The second reference point is the point at the front end of the intersection between the vertical plane where the armrest is located and the seat surface;

[0010] S2, according to the seat surface, determine the first boundary and the second boundary, according to the first reference point, determine the third boundary, according to the second reference point, determine the fourth boundary, the first boundary is a line segment that is a first preset distance from the top of the seat surface and has the same width as the seat surface, the second boundary is a line segment that is a second preset distance from the bottom of the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the first reference point as the center and the third preset distance as the radius, and the fourth boundary is an arc formed with the second reference point as the center and the fourth preset distance as the radius;

[0011] S3, determining a safety envelope range according to the first boundary, the second boundary, the third boundary and the fourth boundary;

[0012] S4, determining the first coordinate of each point within the safety envelope in the coordinate system according to a preset coordinate system;

[0013] S5, determining a coordinate set according to each first coordinate;

[0014] S6, obtaining the second coordinate of the obstacle scanned by the laser radar in the coordinate system, and performing safety inspection on the amusement facility according to the second coordinate and the coordinate set.

[0015] The beneficial effect of a method for detecting amusement facility safety provided by the present invention is as follows: first, the first boundary and the second boundary are determined according to the seat surface, the third boundary is determined according to the first reference point, the fourth boundary is determined according to the second reference point, and then the safety envelope range is determined by the first boundary, the second boundary, the third boundary and the fourth boundary. At this time, the safety envelope range is the safety distance of the amusement facility (a safety range circled with the seat as the center). According to the preset coordinate system, the first coordinate of each point in the safety envelope range on the coordinate system is determined and a coordinate set is formed. When the second coordinate of the obstacle on the coordinate system is obtained, it is determined whether the obstacle has entered the safety envelope range (that is, whether the obstacle has entered the safety distance of the amusement facility) by judging whether the second coordinate is included in the coordinate set, and then the amusement facility is safety inspected. The present application is applicable to all amusement facilities, and there is no need to assign staff to manually measure the safety distance. The problem that the existing method for detecting the safety distance of tourist facilities is not universal and the environment of many amusement facilities is not conducive to manual detection is solved.

[0016] On the basis of the above technical solution, the amusement facility safety detection method of the present invention can also be improved as follows.

[0017] Furthermore, the above method also includes:

[0018] According to the third boundary, a fifth boundary is determined, and according to the fourth boundary, a sixth boundary is determined, the fifth boundary is an arc with the seat as the axis and a mirror image of the third boundary, and the sixth boundary is an arc with the seat as the axis and a mirror image of the fourth boundary;

[0019] According to the first boundary, the second boundary, the third boundary and the fourth boundary, the safety envelope range is determined, including:

[0020] The first boundary, the third boundary, the fourth boundary, the second boundary, the sixth boundary and the fifth boundary are sequentially connected to form a safety envelope range.

[0021] The beneficial effect of adopting the above further solution is: a safety envelope range is formed by sequentially connecting the first boundary, the third boundary, the fourth boundary, the second boundary, the sixth boundary and the fifth boundary, thereby determining the safety distance of the amusement facility.

[0022] Furthermore, the above preset coordinate system is established through the following steps:

[0023] A coordinate system is established with the midpoint of the seat surface as the origin, the horizontal plane where the seat surface is located as the plane where the X-axis is located, and the plane perpendicular to the plane where the X-axis is located as the plane where the Y-axis is located.

[0024] The beneficial effect of adopting the above further solution is: through a preset coordinate system, the seat is taken as the center of the safety envelope range, and the safety envelope range formed is the safety distance.

[0025] Furthermore, the above method also includes:

[0026] Obtain the third coordinate of the laser radar in the coordinate system, as well as the straight-line distance and deflection angle. The straight-line distance represents the straight-line distance between the obstacle and the laser radar, and the deflection angle represents the angle between the line connecting the obstacle and the laser radar and the X-axis.

[0027] Get the second coordinates of the obstacle scanned by the laser radar in the coordinate system, including:

[0028] The second coordinate is determined based on the third coordinate, the straight-line distance and the deflection angle.

[0029] The beneficial effect of adopting the above further solution is that by obtaining the third coordinate, the straight-line distance and the deflection angle, the second coordinate can be quickly obtained, that is, the position of the obstacle in the coordinate system can be determined.

[0030] Further, the second coordinate is determined according to the third coordinate, the straight-line distance and the deflection angle, including:

[0031] According to the third coordinate, the straight-line distance and the deflection angle, the second coordinate is determined by the first formula, where the first formula is:

[0032] ;

[0033] in, represents the abscissa in the third coordinate system, represents the ordinate in the third coordinate, d represents the straight-line distance, represents the deflection angle, Represents the second coordinate.

[0034] The beneficial effect of adopting the above further solution is that according to the obtained third coordinate, straight-line distance and deflection angle, the second coordinate can be quickly obtained through the first formula, that is, the position of the obstacle in the coordinate system can be determined.

[0035] Further, the amusement facility is detected according to the second coordinate and the coordinate set, including:

[0036] If the coordinate set includes the second coordinate, it is determined that the obstacle poses a safety hazard to the amusement facility, and an alarm message is issued. If the coordinate set does not include the second coordinate, it is determined that the obstacle does not pose a safety hazard to the amusement facility.

[0037] The beneficial effect of adopting the above further scheme is that if it is determined that an obstacle poses a safety hazard to the amusement facility, the staff will be notified through an alarm message to remove the obstacle, thereby playing a role in real-time detection of the safety of the amusement facility.

[0038] In a second aspect, the present invention provides an amusement facility safety detection system, comprising:

[0039] A first acquisition module is used to acquire a seat surface, a first reference point, and a second reference point of a seat. The seat includes a seat surface and an armrest connected to the seat surface. The first reference point is a point at the front end of an intersection line between a horizontal plane where the armrest is located and a vertical plane where the armrest is located. The second reference point is a point at the front end of an intersection line between a vertical plane where the armrest is located and the seat surface.

[0040] A first determination module is used to determine a first boundary and a second boundary according to a seat surface, determine a third boundary according to a first reference point, and determine a fourth boundary according to a second reference point, wherein the first boundary is a line segment that is a first preset distance from directly above the seat surface and has the same width as the seat surface, the second boundary is a line segment that is a second preset distance from directly below the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the second reference point as the center and the third preset distance as the radius, and the fourth boundary is an arc formed with the third reference point as the center and the fourth preset distance as the radius;

[0041] A second determination module, used to determine a safety envelope range according to the first boundary, the second boundary, the third boundary and the fourth boundary;

[0042] A third determination module is used to determine the first coordinate of each point within the safety envelope on the coordinate system according to a preset coordinate system;

[0043] A fourth determination module, used to determine a coordinate set according to each first coordinate;

[0044] The detection module is used to obtain the second coordinate of the obstacle scanned by the laser radar in the coordinate system, and perform safety detection on the amusement facility based on the second coordinate and the coordinate set.

[0045] The beneficial effect of the amusement facility safety detection system provided by the present invention is: first, the first boundary and the second boundary are determined according to the seat surface, the third boundary is determined according to the first reference point, and the fourth boundary is determined according to the second reference point, and then the safety envelope range is determined by the first boundary, the second boundary, the third boundary and the fourth boundary. At this time, the safety envelope range is the safety distance of the amusement facility (a safety range circled with the seat as the center), and according to the preset coordinate system, the first coordinate of each point in the safety envelope range on the coordinate system is determined and a coordinate set is formed. When the second coordinate of the obstacle on the coordinate system is obtained, it is determined whether the obstacle has entered the safety envelope range (that is, whether the obstacle has entered the safety distance of the amusement facility) by judging whether the second coordinate is included in the coordinate set, and then the amusement facility is safety detected. The present application is applicable to all amusement facilities, and there is no need to assign staff to manually measure the safety distance, which solves the problem that the existing tourist facility safety distance detection method is not universal and the environment of many amusement facilities is not conducive to manual detection.

[0046] In a third aspect, the present invention further provides an amusement facility safety detection device, including a hardware-side processor, a laser radar, a camera, a communication module and a control device, wherein the hardware-side processor is electrically connected to the laser radar and the camera respectively, and the hardware-side processor is connected to the control device through the communication module;

[0047] The camera is used to collect videos of the amusement facility in operation and send the videos to the hardware processor through the communication module;

[0048] A hardware-side processor, used to send the video and the second coordinate to the control device;

[0049] A control device for executing the implementation process of the above-mentioned amusement facility safety detection method;

[0050] The laser radar is used to scan obstacles, obtain the second coordinates of the obstacles in the coordinate system, and send the second coordinates to the hardware end processor through the communication module;

[0051] The hardware-side processor is further used to send the second coordinate to the control device;

[0052] The control device is also used to obtain the second coordinate of the obstacle scanned by the laser radar on the coordinate system, and perform safety inspection on the amusement facility based on the second coordinate and the coordinate set.

[0053] The beneficial effect of the amusement facility safety detection system provided by the present invention is that by obtaining the second coordinate of the obstacle on the coordinate system through a laser radar, an amusement facility safety detection method can be executed through a control device to perform safety detection on the amusement facility, thereby solving the problem that the existing tourist facility safety distance detection method is not universal and the environment of many amusement facilities is not conducive to manual detection.

[0054] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor implements the steps of a method for safety detection of an amusement facility when executing the program.

[0055] In a fourth aspect, the present invention further provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a method for detecting safety of an amusement facility. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0057] Figure 1 A schematic flow chart of a method for safety detection of amusement facilities according to an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of the structure of a seat according to an embodiment of the present invention;

[0059] Figure 3 A schematic diagram of the structure of the safety envelope range of an embodiment of the present invention;

[0060] Figure 4 A schematic structural diagram of the safety envelope range in another state of an embodiment of the present invention;

[0061] Figure 5 It is a schematic structural diagram of the safety envelope range of an embodiment of the present invention on a coordinate system;

[0062] Figure 6 It is a structural schematic diagram of an amusement facility safety detection system according to an embodiment of the present invention;

[0063] Figure 7 It is a structural schematic diagram of an amusement facility safety detection device according to an embodiment of the present invention;

[0064] Figure 8A schematic diagram of the structure of a camera and a laser radar according to an embodiment of the present invention;

[0065] Fig. 9 This is a rendering of the safety envelope range of the control PC output according to an embodiment of the present invention;

[0066] Fig.10 A result diagram of an obstacle intruding into a safety envelope range output by a control PC according to an embodiment of the present invention;

[0067] Fig.11 The video is captured by the camera of the embodiment of the present invention. DETAILED DESCRIPTION

[0068] The following examples are provided to further explain and supplement the present invention and do not constitute any limitation to the present invention.

[0069] like Figure 1 As shown, a method for detecting safety of an amusement facility according to an embodiment of the present invention comprises the following steps:

[0070] S1, determining a seat surface, a first reference point, and a second reference point of the seat according to the type of the seat on the amusement facility.

[0071] In this embodiment, the seats of different amusement facilities have different types, but almost all the seats of amusement facilities include a seat surface and armrests. Based on this, the type of seat on one of the most common amusement facilities is used for explanation, such as Figure 2 As shown, the seat 1 includes a seat surface 2 and an armrest 3 connected to the seat surface 2, a first reference point 4 is a point at the front end of an intersection line between a horizontal plane where the armrest 3 is located and a vertical plane where the armrest 3 is located, and a second reference point 5 is a point at the front end of an intersection line between the vertical plane where the armrest 3 is located and the seat surface 2.

[0072] The seat surface refers to the plane that the buttocks of a person touch when sitting on the seat. The vertical plane where the armrest is located refers to the plane that the armrest belongs to and is perpendicular to the seat surface. The horizontal plane where the armrest is located refers to the plane that the armrest belongs to and is parallel to the seat surface. The front end of the intersection line refers to the direction that the person faces when sitting on the seat.

[0073] S2, determine the first boundary and the second boundary according to the seat surface, determine the third boundary according to the first reference point, and determine the fourth boundary according to the second reference point, the first boundary is a line segment that is a first preset distance from directly above the seat surface and has the same width as the seat surface, the second boundary is a line segment that is a second preset distance from directly below the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the first reference point as the center and the third preset distance as the radius, and the fourth boundary is an arc formed with the second reference point as the center and the fourth preset distance as the radius.

[0074] Among them, the coordinate axis is established with the seat surface, the horizontal plane where the seat surface is located is the plane where the X-axis is located, the plane perpendicular to the plane where the X-axis is located is the plane where the Y-axis is located, the direction along the Y-axis is directly upward, and the opposite direction of the Y-axis is directly downward.

[0075] Optional, such as Figure 2-Figure 3 As shown, for the first boundary 6, the first boundary 6 is a line segment that is a first preset distance R1 from directly above the seat surface 2 and is the same as the width D1 of the seat surface 2. For the second boundary 7, the second boundary 7 is a line segment that is a second preset distance R2 from directly below the seat surface 2 and is the same as the width D2 (D1=D2) of the seat surface 2. For the third boundary 8, the third boundary 8 is an arc formed with the second reference point 4 as the center and the third preset distance R3 as the radius. For the fourth boundary 9, the fourth boundary 9 is an arc formed with the third reference point 5 as the center and the fourth preset distance R4 as the radius. The first boundary and the third boundary refer to areas that can be reached by a person's hands, and the second boundary and the fourth boundary refer to areas that can be reached by the legs of the same person.

[0076] In addition, the following conditions must be met:

[0077] R1-h (h is the height between the armrest and the seat surface) ≥ R3, R3=R4, R2=R3=R4.

[0078] S3, determining a safety envelope range according to the first boundary, the second boundary, the third boundary and the fourth boundary.

[0079] Optionally, the method further includes:

[0080] like Figure 4 As shown, the fifth boundary is determined according to the third boundary, and the sixth boundary is determined according to the fourth boundary. The fifth boundary is an arc with the seat as the axis and mirrored with the third boundary, and the sixth boundary is an arc with the seat as the axis and mirrored with the fourth boundary.

[0081] Optionally, the first tangent segment a of the third boundary 8 and the fourth boundary 9 is made, and the second tangent segment b of the third boundary 8 is made from the end point of the first boundary 6. Similarly, the third tangent segment of the fifth boundary and the sixth boundary is made, and the fourth tangent segment of the fifth boundary is made from the other end point of the first boundary (since the fifth boundary, the sixth boundary, the third tangent segment and the fourth tangent segment are mirror images of the third boundary, the fourth boundary, the first tangent segment and the second tangent segment, they are not included in the Figure 4 The fifth boundary, sixth boundary, third tangent segment, and fourth tangent segment are marked in FIG.

[0082] According to the first boundary, the second boundary, the third boundary and the fourth boundary, the safety envelope range is determined, including:

[0083] The first boundary, the second tangent segment, the third boundary, the first tangent segment, the fourth boundary, the second boundary, the third tangent segment, the sixth boundary, the fourth tangent segment and the fifth boundary are sequentially connected to form a safety envelope range.

[0084] In this embodiment, Figure 4 As shown, Figure 4 The closed contour curve enclosing the front and rear ends of the seat is the safety envelope range, i.e., the safety distance of the seat. The safety envelope range is only the safety distance of one of the seats in the amusement facility. The safety distance of each seat in the amusement facility can be obtained through the S1-S3 method. When an obstacle invades the safety distance of any seat, it is considered that the obstacle poses a safety hazard to the amusement facility.

[0085] S4, determining the first coordinate of each point within the safety envelope on the coordinate system according to a preset coordinate system.

[0086] Optionally, a preset coordinate system is established by the following steps:

[0087] like Figure 5 As shown, a coordinate system is established with the midpoint of the seat surface as the origin O, the horizontal plane where the seat surface is located as the plane where the X-axis is located, and the plane perpendicular to the plane where the X-axis is located as the plane where the Y-axis is located.

[0088] S5, determining a coordinate set according to each first coordinate.

[0089] S6, obtaining the second coordinate of the obstacle scanned by the laser radar in the coordinate system, and performing safety inspection on the amusement facility according to the second coordinate and the coordinate set.

[0090] The coordinate set refers to the set formed by each first coordinate.

[0091] Optionally, the method further includes:

[0092] Obtain the third coordinate of the laser radar in the coordinate system, as well as the straight-line distance and deflection angle. The straight-line distance represents the straight-line distance between the obstacle and the laser radar, and the deflection angle represents the angle between the line connecting the obstacle and the laser radar and the X-axis.

[0093] Get the second coordinates of the obstacle scanned by the laser radar in the coordinate system, including:

[0094] The second coordinate is determined based on the third coordinate, the straight-line distance and the deflection angle.

[0095] Optionally, determining the second coordinate according to the third coordinate, the straight-line distance, and the deflection angle includes:

[0096] like Figure 5 As shown, according to the third coordinate r ( , ), straight-line distance d and deflection angle , through the first formula, determine the second coordinate k ( , ), where the first formula is:

[0097] ;

[0098] in, represents the abscissa in the third coordinate system, represents the ordinate in the third coordinate, d represents the straight-line distance, represents the deflection angle, represents the second coordinate, where = , = .

[0099] Optionally, the amusement facility is detected according to the second coordinate and the coordinate set, including:

[0100] If the coordinate set includes the second coordinate, it is determined that the obstacle poses a safety hazard to the amusement facility, and an alarm message is issued. If the coordinate set does not include the second coordinate, it is determined that the obstacle does not pose a safety hazard to the amusement facility.

[0101] In this embodiment, the alarm information may be a voice alarm. When it is determined that an obstacle poses a safety hazard to the amusement facility, a voice alarm is played to remind the staff to remove the obstacle.

[0102] like Figure 6 As shown, an amusement facility safety detection system according to an embodiment of the present invention includes:

[0103] A first acquisition module 202 is used to acquire a seat surface, a first reference point, and a second reference point of a seat. The seat includes a seat surface and an armrest connected to the seat surface. The first reference point is a point at the front end of an intersection line between a horizontal plane where the armrest is located and a vertical plane where the armrest is located. The second reference point is a point at the front end of an intersection line between a vertical plane where the armrest is located and the seat surface.

[0104] The first determination module 203 is used to determine the first boundary and the second boundary according to the seat surface, determine the third boundary according to the first reference point, and determine the fourth boundary according to the second reference point, wherein the first boundary is a line segment that is a first preset distance from the top of the seat surface and has the same width as the seat surface, the second boundary is a line segment that is a second preset distance from the bottom of the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the first reference point as the center, the third preset distance as the radius, and the first preset value as the radian, and the fourth boundary is an arc formed with the second reference point as the center, the fourth preset distance as the radius, and the second preset value as the radian;

[0105] A second determination module 204, configured to determine a safety envelope range according to the first boundary, the second boundary, the third boundary, and the fourth boundary;

[0106] The third determination module 205 is used to determine the first coordinate of each point within the safety envelope in the coordinate system according to a preset coordinate system;

[0107] A fourth determining module 206, configured to determine a coordinate set according to each first coordinate;

[0108] The detection module 207 is used to obtain the second coordinates of the obstacle scanned by the laser radar in the coordinate system, and perform safety detection on the amusement facility according to the second coordinates and the coordinate set.

[0109] Optionally, the system further includes:

[0110] The second acquisition module is used to determine a fifth boundary according to the third boundary and a sixth boundary according to the fourth boundary, wherein the fifth boundary is an arc with the seat as the axis and mirrored with the third boundary, and the sixth boundary is an arc with the seat as the axis and mirrored with the fourth boundary.

[0111] Optionally, the second determining module 204 further includes:

[0112] The fifth determination module is used to connect the first boundary, the third boundary, the fourth boundary, the second boundary, the sixth boundary and the fifth boundary in sequence to form a safety envelope range.

[0113] Optionally, the third determining module 205 further includes:

[0114] The coordinate system module is used to establish a coordinate system with the midpoint of the seat surface as the origin, the horizontal plane where the seat surface is located as the plane where the X-axis is located, and the plane perpendicular to the plane where the X-axis is located as the plane where the Y-axis is located.

[0115] Optionally, the system further includes:

[0116] The third acquisition module is used to obtain the third coordinate of the laser radar in the coordinate system, as well as the straight-line distance and the deflection angle. The straight-line distance represents the straight-line distance between the obstacle and the laser radar, and the deflection angle represents the angle between the line between the obstacle and the laser radar and the X-axis.

[0117] Optionally, the detection module 207 further includes:

[0118] A sixth determination module, used to determine the second coordinate according to the third coordinate, the straight-line distance and the deflection angle;

[0119] The calculation module is used to determine the second coordinate according to the third coordinate, the straight-line distance and the deflection angle by using a first formula, wherein the first formula is:

[0120] ;

[0121] in, represents the abscissa in the third coordinate system, represents the ordinate in the third coordinate, d represents the straight-line distance, represents the deflection angle, represents the second coordinate;

[0122] The judgment alarm module is used to determine that the obstacle poses a safety hazard to the amusement facility if the coordinate set includes the second coordinate and issue an alarm message; if the coordinate set does not include the second coordinate, it is determined that the obstacle does not pose a safety hazard to the amusement facility.

[0123] like Figure 7 As shown, an amusement facility safety detection device according to an embodiment of the present invention includes a hardware-side processor, a laser radar, a camera, a communication module and a control device, wherein the hardware-side processor is electrically connected to the laser radar and the camera respectively, and the hardware-side processor is connected to the control device through the communication module.

[0124] In this embodiment, the camera is used to collect the video of the amusement facility in operation and send the video to the hardware end processor through the communication module;

[0125] The hardware-side processor is used to send the video to the control device;

[0126] A control device for executing the implementation process of the above-mentioned amusement facility safety detection method;

[0127] The laser radar is used to scan obstacles, obtain the second coordinates of the obstacles in the coordinate system, and send the second coordinates to the hardware end processor through the communication module;

[0128] The hardware-side processor is further used to send the second coordinate to the control device;

[0129] The control device is also used to obtain the second coordinate of the obstacle scanned by the laser radar on the coordinate system, and perform safety inspection on the amusement facility based on the second coordinate and the coordinate set.

[0130] Optionally, the control device is also used to generate a first control instruction and a second control instruction, and send the first control instruction and the second control instruction to the hardware-side processor through the communication module, and receive the second coordinates of the obstacle scanned by the laser radar in the coordinate system uploaded by the hardware-side processor and the unprocessed video of the amusement facility acquired by the camera. The first control instruction is used to turn on / off the laser radar, and the second control instruction is used to turn on / off the camera.

[0131] The model of the hardware-side processor is Raspberry Pi 4B, which is also used to receive the first control instruction / the second control instruction, and execute the first control instruction / the second control instruction, as well as receive and store the second coordinates of the obstacle scanned by the laser radar in the coordinate system and the video to be processed of the amusement facility acquired by the camera.

[0132] The laser radar can scan obstacles within a 360° range, obtain the straight-line distance and deflection angle between the obstacle and the laser radar, and obtain the second coordinate of the obstacle in the coordinate system based on the straight-line distance and deflection angle.

[0133] The camera collects video of the operation of the amusement facilities.

[0134] The communication module uses wireless transmission to exchange data between the hardware processor and the control PC.

[0135] Optionally, the device further comprises:

[0136] The power supply battery is electrically connected to the hardware-side processor, the laser radar and the camera respectively, and is used to provide power to the laser radar, the camera and the hardware-side processor.

[0137] like Figure 8 As shown, the laser radar 10 is fixed on the first tooling frame 12 through the gimbal 11, and the camera 13 is fixed on the second tooling frame 14. The first tooling frame 12 and the second tooling frame 14 are both fixed on the mounting frame 15. The mounting frame 15 is a rigid connecting part, and the mounting frame 15 is fixed to the safety pressure bar 16 of the seat through a locking object.

[0138] The working process of an amusement facility safety detection device is as follows:

[0139] Before the amusement facility is started, the staff generates a second control instruction corresponding to the camera and a first control instruction corresponding to the laser radar through a control device (for example, a control PC). After the amusement facility is started, the control PC sends the first control instruction and the second control instruction to the hardware-end processor through the communication module. After the hardware-end processor receives the first control instruction and the second control instruction, the hardware-end processor controls the camera to collect video during the operation of the amusement facility according to the second control instruction. The camera transmits the collected video back to the hardware-end processor. The hardware-end processor controls the laser to scan obstacles according to the first control instruction, and obtains the straight-line distance and deflection angle between the obstacle and the laser radar, obtains the second coordinate of the obstacle in the coordinate system according to the straight-line distance and the deflection angle, and transmits the second coordinate back to the hardware-end processor. The hardware-end processor transmits the to-be-processed video and the second coordinate of the amusement facility back to the control PC through the communication module, and the control PC executes an amusement facility safety detection method to determine whether the obstacle poses a safety hazard to the amusement facility.

[0140] It should be particularly noted that the staff first obtains the seat surface width, the first reference point, the second reference point, the first preset distance, the second preset distance, the third preset distance, the fourth preset distance, the first preset value, and the second preset value according to the type of seats on the amusement facility, so as to determine the safety envelope range and the coordinate set, and then determines that the laser radar scans an obstacle at time X. The staff obtains the second coordinate of the obstacle at time X according to the laser radar, and operates the control PC to execute an amusement facility safety detection method, so as to judge whether the obstacle at time X poses a safety hazard to the amusement facility, wherein time X is any time during the operation of the amusement facility. At the same time, the staff can also determine the video picture at time X through the video obtained by the camera, so as to judge the type of obstacle and its location.

[0141] A specific application of this embodiment:

[0142] like Fig. 9 The schematic diagram of the effect of the safety envelope shown is a safety envelope range determined according to the seat surface width, the first reference point, the second reference point, the first preset distance, the second preset distance, the third preset distance, the fourth preset distance, the first preset value, and the second preset value.

[0143] like Fig.10 As shown in the figure, when the second coordinate of the obstacle is determined to be k, it is judged that the second coordinate is included in the coordinate set, which indicates whether the obstacle poses a safety hazard to the amusement facility. At the same time, the staff can click on any two points on the display interface to measure the size, and the distance between the obstacle and the seat is Figure 2 The distance (13.40 cm) is used to determine the degree of obstacle intrusion (for example, if the distance 13.40 cm is greater than 10.00 cm, it indicates that the degree of obstacle intrusion is high). Fig.11 As shown, the video at the same time is obtained through the camera to determine the type and specific location of the obstacle.

[0144] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned amusement facility safety detection method are implemented.

[0145] Among them, the electronic device can be a computer, a mobile phone, etc. Correspondingly, its program is computer software or a mobile phone APP, etc., and the above-mentioned parameters and steps in an electronic device of the present invention can refer to the parameters and steps in the embodiment of an amusement facility safety detection method above, which will not be repeated here.

[0146] Those skilled in the art know that the present invention can be implemented as a device, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, generally referred to as "circuit", "module" or "device" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code. Computer-readable storage media can be, for example, but not limited to - electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, devices or components, or any combination of the above.

[0147] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0148] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for detecting the safety of an amusement facility, characterized in that: The following steps are involved: S1, according to the type of seats on the amusement facility, determine the seat surface, the first reference point and the second reference point of the seat, the seat includes the seat surface and the armrest connected to the seat surface, the first reference point is the point at the front end of the intersection line between the horizontal plane where the armrest is located and the vertical plane where the armrest is located, and the second reference point is the point at the front end of the intersection line between the vertical plane where the armrest is located and the seat surface; wherein the seat surface is the plane that the buttocks of a person touch when sitting on the seat, the horizontal plane where the armrest is located is the plane to which the armrest belongs and is parallel to the seat surface, the vertical plane where the armrest is located is the plane to which the armrest belongs and is perpendicular to the seat surface, and the front end of the intersection line is the direction that the person faces when sitting on the seat; S2, determining a first boundary and a second boundary according to the seat surface, determining a third boundary according to the first reference point, and determining a fourth boundary according to the second reference point, wherein the first boundary is a line segment which is a first preset distance from directly above the seat surface and has the same width as the seat surface, the second boundary is a line segment which is a second preset distance from directly below the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the first reference point as the center and the third preset distance as the radius, and the fourth boundary is an arc formed with the second reference point as the center and the fourth preset distance as the radius; S3, determining a safety envelope range according to the first boundary, the second boundary, the third boundary and the fourth boundary; S4, determining, according to a preset coordinate system, a first coordinate of each point within the safety envelope on the coordinate system; S5, determining a coordinate set according to each of the first coordinates; S6, obtaining a second coordinate of the obstacle scanned by the laser radar in the coordinate system, and performing a safety check on the amusement facility according to the second coordinate and the coordinate set.

2. The method according to claim 1, characterized in that: Also includes: A fifth boundary is determined according to the third boundary, and a sixth boundary is determined according to the fourth boundary, wherein the fifth boundary is an arc having the seat as an axis and being a mirror image of the third boundary, and the sixth boundary is an arc having the seat as an axis and being a mirror image of the fourth boundary; Determining the safety envelope range according to the first boundary, the second boundary, the third boundary and the fourth boundary includes: The first boundary, the third boundary, the fourth boundary, the second boundary, the sixth boundary and the fifth boundary are sequentially connected to form a safety envelope range.

3. The method according to claim 1, characterized in that: The preset coordinate system is established through the following steps: The coordinate system is established with the midpoint of the seat surface as the origin, the horizontal plane where the seat surface is located as the plane where the X-axis is located, and the plane perpendicular to the plane where the X-axis is located as the plane where the Y-axis is located.

4. The method according to claim 3, characterized in that: Also includes: Obtaining a third coordinate of the laser radar in the coordinate system, as well as a straight-line distance and a deflection angle, wherein the straight-line distance represents a straight-line distance between the obstacle and the laser radar, and the deflection angle represents an angle between a line connecting the obstacle and the laser radar and the X-axis; The obtaining of the second coordinate of the obstacle scanned by the laser radar in the coordinate system includes: The second coordinate is determined according to the third coordinate, the straight-line distance and the deflection angle.

5. The method according to claim 4, characterized in that: The determining the second coordinate according to the third coordinate, the straight-line distance and the deflection angle comprises: The second coordinate is determined according to the third coordinate, the straight-line distance and the deflection angle by a first formula, wherein the first formula is: ； in, represents the abscissa in the third coordinate system, represents the ordinate in the third coordinate, d represents the straight-line distance, represents the deflection angle, Represents the second coordinate.

6. The method according to claim 1, characterized in that: The detecting of the amusement facility according to the second coordinate and the coordinate set includes: If the coordinate set includes the second coordinate, it is determined that the obstacle poses a safety hazard to the amusement facility, and an alarm message is issued. If the coordinate set does not include the second coordinate, it is determined that the obstacle does not pose a safety hazard to the amusement facility.

7. An amusement facility safety detection system, characterized in that: include: The first acquisition module is used to acquire the seat surface, the first reference point and the second reference point of the seat, wherein the seat includes the seat surface and the armrest connected to the seat surface, the first reference point is the point at the front end of the intersection line between the horizontal plane where the armrest is located and the vertical plane where the armrest is located, and the second reference point is the point at the front end of the intersection line between the vertical plane where the armrest is located and the seat surface; wherein the seat surface is the plane that the buttocks of a person touch when sitting on the seat, the horizontal plane where the armrest is located is the plane to which the armrest belongs and is parallel to the seat surface, the vertical plane where the armrest is located is the plane to which the armrest belongs and is perpendicular to the seat surface, and the front end of the intersection line is the direction that the person faces when sitting on the seat; a first determination module, configured to determine a first boundary and a second boundary according to the seat surface, determine a third boundary according to the first reference point, and determine a fourth boundary according to the second reference point, wherein the first boundary is a line segment which is a first preset distance from directly above the seat surface and has the same width as the seat surface, the second boundary is a line segment which is a second preset distance from directly below the seat surface and has the same width as the seat surface, the third boundary is an arc formed with the first reference point as the center and the third preset distance as the radius, and the fourth boundary is an arc formed with the second reference point as the center and the fourth preset distance as the radius; A second determination module, configured to determine a safety envelope range according to the first boundary, the second boundary, the third boundary, and the fourth boundary; A third determination module is used to determine the first coordinate of each point within the safety envelope on the coordinate system according to a preset coordinate system; a fourth determining module, configured to determine a coordinate set according to each of the first coordinates; The detection module is used to obtain the second coordinate of the obstacle scanned by the laser radar on the coordinate system, and perform safety detection on the amusement facility according to the second coordinate and the coordinate set.

8. An amusement facility safety detection device, characterized in that: It includes a hardware-side processor, a laser radar, a camera, a communication module and a control device, wherein the hardware-side processor is electrically connected to the laser radar and the camera respectively, and the hardware-side processor is connected to the control device through the communication module; The camera is used to collect video of the amusement facility in operation and send the video to the hardware-side processor through the communication module; The hardware-side processor is used to send the video and the second coordinates to the control device; The control device is used to execute the implementation process of step S1 to step S5 in claim 1; The laser radar is used to scan obstacles, obtain second coordinates of the obstacles in the coordinate system, and send the second coordinates to the hardware end processor through the communication module; The hardware-side processor is further configured to send the second coordinate to the control device; The control device is also used to obtain the second coordinate of the obstacle scanned by the laser radar on the coordinate system, and perform safety detection on the amusement facility based on the second coordinate and the coordinate set.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the amusement facility safety detection method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a method for detecting safety of an amusement facility as claimed in any one of claims 1 to 5.

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