A passage detection system and method

Abstract

The application provides a passage detection system, comprising a detection device installed in a passage; the detection device has a detection field angle, and the detection field angle forms a detection area in the passage; the detection device comprises at least two detection sensors, and the two detection sensors are arranged in the passage so that the detection area in the passage has no detection blind area in the horizontal direction. Through the technical scheme, the detection device forms a detection area in the passage based on its own field angle; when a target passes through the detection area, the detection device can detect the target and determine the passing situation in the passage; the detection device comprises at least two detection sensors, and the two detection sensors are arranged in the passage; by reasonably arranging the installation positions of the two detection sensors, the two sensors can be used in cooperation, so that the detection area in the passage has no detection blind area in the horizontal direction, thereby making the detection of the detection device in the passage more accurate and the detection precision of the detection system higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of passage detection, in particular to a passage detection system and method. BACKGROUND

[0002] At present, the detection of passage situation has been widely applied in our daily life, and the passage situation needs to be detected in many scenes of daily life, such as railway stations, subway stations, airports, school gate entrances and other places, which need to control the passage situation in the passage.

[0003] In the prior art, when detecting the passage, the ToF device is usually controlled to move in a preset angle range and according to a preset moving mode, and the corresponding passage detection area is detected in real time during the movement of the ToF device; in order to control the cost, the field of view angle of the ToF detection device in the prior art is mostly small field of view, and the field of view angle is mostly less than 90 degrees. The detection device with small field of view angle has a certain detection blind area, which will affect the accuracy of detection. SUMMARY

[0004] In view of the above technical problems, the present application provides a passage detection system and method, which can obtain a detection area without blind area in the horizontal direction and the coordinates of the target in the passage, so as to reduce the detection blind area and accurately confirm the passage state.

[0005] In one aspect, the present application provides a passage detection system, which comprises a detection device installed in the passage.

[0006] The detection device has a detection field of view angle, and the detection field of view angle forms a detection area in the passage.

[0007] The detection device comprises at least two detection sensors, and the two detection sensors are arranged in the passage so that the detection area in the passage has no detection blind area in the horizontal direction.

[0008] In another optional embodiment, the detection sensor has a field of view angle, and the field of view angles of the two detection sensors at least partially overlap to form a detection range, so that the detection area is rectangular in the horizontal direction.

[0009] In another optional embodiment, the two detection sensors are installed at the same side position in the passage, and the field of view angle of the detection sensor is α.

[0010] The installation angle between the two sensors is equal to α.

[0011] In another optional embodiment, the detection sensor has a limited field of view angle of 45°.

[0012] In another optional embodiment, the detection device comprises a first sensor and a second sensor;

[0013] In the horizontal direction, the angle between the first sensor and the target is θ1, and the angle between the second sensor and the target is θ2.

[0014] Wherein, θ1=90°-45 / 7°*col; θ2=45 / 7°*col.

[0015] In another optional embodiment, in the vertical direction, the angle between the first sensor and the target is the same as the angle between the second sensor and the target, and the angle is θ3, wherein θ3=|22.5°-45 / 7°*row|.

[0016] In another optional embodiment, the detection system further comprises a processing module connected with the detection device.

[0017] The processing module obtains the target coordinates based on the detection data detected by the detection device, so as to determine the passing state in the channel.

[0018] In another aspect, the application provides a channel detection method, which is applied to the channel detection system of any one of the above-mentioned embodiments, and the method comprises:

[0019] Controlling the detection device to detect the detection area in the channel to determine the passing state of the target in the channel.

[0020] Obtaining detection data according to the passing state.

[0021] The processing module obtains the target coordinates according to the detection data.

[0022] In another optional embodiment, the controlling the detection device to detect the detection area in the channel specifically comprises:

[0023] Controlling at least two detection sensors included in the detection device to be installed on the same side of the channel.

[0024] Controlling the installation angle between the two detection sensors to be the same as the field of view angle of the detection sensor, so as to obtain a detection area without blind area in the horizontal direction.

[0025] In another optional embodiment, the processing module obtains the target coordinates according to the detection data specifically comprises:

[0026] The processing module obtains the top view coordinates and the side view coordinates of the target in the channel according to the detection data.

[0027] From the above technical solutions, it can be known that the application has at least the following technical effects:

[0028] This invention, by setting two detection sensors and installing them at a reasonable angle, ensures that there are no blind spots in the horizontal direction within the channel. Furthermore, by processing the detection data detected by the detection device, the coordinates of the target within the channel can be obtained, thereby further confirming the passage status within the channel and improving the accuracy of channel detection. Attached Figure Description

[0029] Figure 1 This is a schematic flowchart of a channel detection method according to an embodiment of this application;

[0030] Figure 2 This is a top view of a detection device according to an embodiment of this application within a channel;

[0031] Figure 3 This is a side view of the detection device in the channel according to an embodiment of this application;

[0032] Figure 4 This is a top view of the target and detection device in the channel according to an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of the target and detection device in the channel according to an embodiment of this application;

[0034] Figure 6 This is a three-dimensional structural diagram of the detection device in the channel according to an embodiment of this application.

[0035] Figure label:

[0036] 1. Detection device; 2. Channel sidewall;

[0037] 11. First sensor; 12. Second sensor;

[0038] 111, First field of view; 121, Second field of view. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solutions of this disclosure, the following detailed, clear, and complete description of this disclosure is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0040] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0041] Those skilled in the art should understand that in the disclosure of this application, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on this application.

[0042] The present application will now be described in further detail with reference to the accompanying drawings, see below. Figures 1 to 6 illustrate.

[0043] This application provides a channel detection system, including a detection device installed in the channel, such as... Figures 2 to 3 The diagram shows the installation of the detection device in the passage. The detection device is installed on the side wall of the passage and has a detection field of view. The detection field of view forms a detection area in the passage. When a target passes through the detection area, the detection device can detect the target and determine the passage situation in the passage.

[0044] like Figure 2 As shown, the detection device includes at least two detection sensors arranged within the channel. By rationally setting the installation positions of the two sensors, their combined use ensures that there are no blind spots in the horizontal direction within the detection area of ​​the channel. This results in more accurate detection within the channel and higher detection precision for the detection system. In this embodiment, the detection sensors are TOF (Time of Flight) sensors. A TOF sensor includes a TOF transmitter and a TOF receiver. The TOF transmitter emits a TOF signal (such as near-infrared light), and the TOF receiver receives the TOF signal emitted by the transmitter. By calculating the time taken for the TOF signal to travel from transmission to reception, the distance measured by the TOF device is calculated. The field of view of the TOF sensor affects its price. The advantage of using at least two detection sensors is that, while controlling costs as much as possible, better detection accuracy can be achieved.

[0045] In another optional embodiment of this application, the detection sensor has a field of view, and the detection range of a single detection sensor is as follows: Figure 6 As shown, it has a three-dimensional detection range and a detection blind zone. When using a single detection sensor, if the target is in the detection blind zone, the detection device will not be able to detect it, thus failing to accurately obtain the target's passage status within the channel. In this embodiment, two detection sensors are used, such as... Figure 2As shown, in the horizontal direction, the detection areas formed by the field of view angles of the two detection sensors at least partially overlap, making the detection area in the horizontal direction as rectangular as possible, i.e., the horizontal detection range is 90 degrees. This ensures that there are no blind spots in the horizontal direction within the channel, thereby improving the detection accuracy of the detection system. In this embodiment, setting the field of view angles of the two detection sensors to partially overlap makes the detection areas obtained by the two sensors more stable, preventing slight changes in the detection sensors from affecting the detection areas and thus avoiding blind spots easily appearing at the junction of the two field of view angles.

[0046] In another optional embodiment of this application, such as Figure 2 As shown, two detection sensors are installed on the same side of the channel. The field of view of the detection sensor is α, and the installation angle between the two sensors is equal to α. With this reasonable setting, the detection range formed by the field of view of the two detection sensors can overlap, so as to obtain a relatively stable detection area. This makes the function of the detection area without blind spots in the horizontal direction have a certain stability, and makes the detection system have good detection stability.

[0047] In another optional embodiment of this application, the field of view of the detection sensor is 45°, and correspondingly, the mounting angle between the two sensors is 45°, such as... Figure 2 As shown, the detection range boundary of one sensor is parallel to the channel, and the detection range boundary of the other sensor is perpendicular to the channel. The two sensors together form a 90° detection area in the horizontal direction within the channel, including the overlapping part. This can maximize the blind-zone-free detection in the horizontal direction of the channel. When the field of view is 45°, and the two sensors are set up relatively compactly, the detection area formed is large, and the installation is relatively convenient and the cost is low.

[0048] In another optional embodiment of this application, the detection system further includes a processing module connected to the detection device. If there is a target object in the channel, the detection device transmits the detected data to the processing module. The processing module performs a corresponding formula conversion to obtain the target coordinates of the target object in the channel, thereby determining the passage status in the channel. That is, by using the target coordinates, it can be determined whether there is a target passing through the channel, where the target has reached in the channel, the movement of the target in the channel, etc.

[0049] This embodiment corresponds to Table 1, which shows the distance data output by a single sensor, consisting of 64 distance data points in an 8x8 grid.

[0050] 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64

[0051] In this embodiment, the detection device can detect the distance between the target and the detection sensor, such as... Figure 4, Figure 5 As shown, the distance detected by the detection sensor is the actual distance z from the target point D to the detection sensor; in this embodiment, the detection device includes a first sensor and a second sensor. In the horizontal direction, the angle between the first sensor and the target is θ1, and the distance between the first sensor and the target point D is z1. The angle between the second sensor and the target is θ2, and the distance between the second sensor and the target point D is z2. In the vertical direction, the first sensor and the second sensor have the same angle with the target, which is θ3.

[0052] Referring to Table 1, the detected distance z corresponds to the column 'col' in the 8x8 distance data set. Using the following formula, the target's top-view coordinates can be obtained:

[0053] First, obtain the angle values ​​θ1 and θ2 in the horizontal direction:

[0054] θ1 = 90° - 45 / 7° * col;

[0055] θ2 = 45 / 7° * col;

[0056] Secondly, the values ​​of x and y in the horizontal direction can be calculated using trigonometric functions:

[0057] Y1=sin(θ1)*z1 or y2=sin(θ2)*z2;

[0058] x1 = cos(θ1)*z1 or x2 = cos(θ2)*z2;

[0059] This gives the target's top-down coordinates;

[0060] Referring to Table 1, the detected distance z is located in row 'row' of the 8*8 distance data set. The target's side-view coordinates can be obtained using the following formula:

[0061] First, obtain the angle value θ3 in the horizontal direction:

[0062] θ3 = |22.5° - 45 / 7° * row|;

[0063] Secondly, the value of h in the vertical direction can be calculated using trigonometric functions:

[0064] h1=tan(θ3)*y1 or h2=tan(θ3)*y2

[0065] Then the side view coordinates of the target are obtained;

[0066] Based on the obtained top-view and side-view coordinates, the three-dimensional coordinate position of target point D in the channel can be comprehensively determined, that is, the three-dimensional coordinates of target point D are (x1, y1, h1) or (x2, y2, h2), so that the passage status of the target in the channel can be known more clearly, so as to facilitate the monitoring of the back-end personnel.

[0067] By employing the channel detection system provided in this application, and through the reasonable selection of detection sensors with appropriate field of view, the number of detection sensors, and the placement of the detection sensors, a relatively wide detection area within the channel can be obtained, and this detection area has no blind spots in the horizontal direction. Subsequently, through the detection device, the passage status of the channel can be monitored. When a target is passing through the channel, the data conversion by the processing module can obtain the target's top-view coordinates and side-view coordinates within the channel. Based on the top-view coordinates and side-view coordinates, the detection accuracy of the channel can be greatly improved, and the passage status of the target within the detection area of ​​the channel can be understood, which is convenient for back-end personnel to monitor and operate related equipment, such as the opening and closing of turnstiles and automatic doors.

[0068] Based on the same idea, this application also provides a channel detection method, which can be applied to the channel detection system provided in any of the above embodiments, such as... Figure 1 The diagram shown is a flowchart of a channel detection method provided in this application.

[0069] S101: The control detection device detects the detection area in the channel and determines the target passage status in the channel;

[0070] Here, the detection area is formed by the field of view of the detection device. Within the detection area, the detection device can detect the target within it and determine whether there is a target passing through the detection area, thereby determining the passage status in the channel.

[0071] S201: Obtain detection data based on traffic status;

[0072] Here, when there is a target in the detection area, it means that there is a target passing through the channel. The detection device obtains detection data based on the position of the target, and this detection data is the actual distance between the target and the detection device.

[0073] S301: The processing module obtains the target coordinates based on the detection data.

[0074] Here, the processing module is connected to the detection device. The detection device transmits the detection data to the processing module, which converts the detection data into target coordinates, thereby confirming the passage status within the channel. This passage status includes determining whether there is a target passing through the channel, where the target has reached in the channel, and the target's movement within the channel, thus improving the accuracy of channel detection.

[0075] In another optional embodiment of this application, the step of controlling the detection device to detect the detection area within the channel specifically includes:

[0076] The control detection device includes at least two detection sensors installed on the same side of the channel;

[0077] By controlling the installation angle between the two detection sensors to be the same as the field of view of the detection sensors, a detection area with no blind spots in the horizontal direction can be obtained.

[0078] In this embodiment, by controlling the sensors of the detection device to be installed on the same side and at a specific angle, a detection area without blind spots in the horizontal direction is obtained, thereby making the detection device more accurate in detecting the passage and improving the detection accuracy of the detection system. Furthermore, when the installation angle between two detection sensors is the same as the field of view of a single detection sensor, the detection ranges formed by the field of view of the two detection sensors can at least partially overlap, with the overlapping part located in the middle of the passage detection area, to obtain a relatively stable detection area. This ensures that the function of the detection area without blind spots in the horizontal direction has a certain stability, resulting in better stability in detecting passage conditions.

[0079] Combination Figure 2 A schematic diagram of the detection area in the horizontal direction can be obtained. Both detection sensors face into the channel, and the detection area formed by the two detection sensors is 90°. This detection area includes a parallel side parallel to the channel and a vertical side perpendicular to the channel. The intersection of the vertical side and the parallel side forms a detection area that tends to be rectangular, so that there is no blind spot in the horizontal direction of the detection area, making the detection of the channel more accurate.

[0080] In another optional embodiment of this application, the processing module obtains the target coordinates based on the detection data, specifically including:

[0081] Based on the detection data, the processing module obtains the top-view and side-view coordinates of the target within the channel.

[0082] In this embodiment, the detection area is a three-dimensional space, which can be divided into a horizontal detection area and a vertical detection area. The processing module obtains the top-view coordinates and the side-view coordinates based on the detection data. Combining the top-view coordinates and the side-view coordinates, the three-dimensional coordinates can be obtained. The processing module can obtain the top-view coordinates and the side-view coordinates according to the following formulas:

[0083] Based on the obtained top-view and side-view coordinates, the three-dimensional coordinates of the target within the passage can be comprehensively determined, thus providing a clearer understanding of the target's movement within the passage and facilitating monitoring by back-end personnel. The target coordinates can be calculated using the corresponding tables and formulas from the detection system mentioned earlier, which will not be elaborated upon here.

[0084] Those skilled in the art will understand that the channel detection method in the above embodiments can be applied to the channel detection system described above, and the detailed description therein should be similar to the method description in the above description. To avoid being cumbersome, it will not be repeated here.

[0085] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The descriptions of the embodiments above are only for the purpose of helping to understand the present application and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A channel detection system, characterized in that, Including detection devices installed within the channel; The detection device has a detection field of view, which forms a detection area within the channel; The detection device includes at least two detection sensors, which are TOF sensors. The two detection sensors are arranged in the channel so that there are no blind spots in the detection area in the horizontal direction. The detection device is capable of detecting the distance of the target to the detection sensor; The detection sensor has a field of view of 45°. The detection device includes a first sensor and a second sensor; In the horizontal direction, the angle between the first sensor and the target is θ1, and the angle between the second sensor and the target is θ2; in, ; In the vertical direction, the first sensor and the second sensor are at the same angle to the target, which is θ3. 。 2. The channel detection system according to claim 1, characterized in that, The detection ranges formed by the field of view angles of the two detection sensors overlap at least partially, so that the detection area is rectangular in the horizontal direction.

3. The channel detection system according to claim 2, characterized in that, The two detection sensors are installed on the same side of the channel, and the field of view of the detection sensors is α; The installation angle between the two detection sensors is equal to α.

4. A channel detection system according to any one of claims 1 to 3, characterized in that, The detection system further includes a processing module, which is connected to the detection device. The processing module obtains the target coordinates based on the data detected by the detection device in order to determine the passage status within the channel.

5. A channel detection method, applied to the channel detection system according to any one of claims 1 to 4, wherein the method has the following characteristics: The characteristic is that the method includes: The control and detection device detects the detection area within the channel to determine the passage status of the target within the channel; Obtain detection data based on the passage status; The processing module obtains the target coordinates based on the detection data.

6. The channel detection method according to claim 5, characterized in that, The control and detection device detects the detection area within the channel, specifically including: The detection device includes at least two detection sensors mounted on the same side of the channel; By controlling the installation angle between the two detection sensors to be the same as the field of view of the detection sensors, a detection area with no blind spots in the horizontal direction is obtained.

7. A channel detection method according to claims 6, characterized in that, The processing module obtains the target coordinates based on the detection data, specifically including: The processing module obtains the top-view and side-view coordinates of the target within the channel based on the detection data.

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