Foreign object detection system between platform screen door and train

Abstract

The application provides a foreign matter detection system between a platform shielding door and a train, and belongs to the technical field of rail transit. The system comprises two lamp strips and at least two shooting devices, which are arranged at two ends of the platform and between the platform shielding door and the train. The shooting device is used for acquiring a target image of a target lamp strip at the opposite end of the platform. A calculation module is used for determining the integrity and continuity of the target lamp strip according to the target image acquired by at least one of the two shooting devices, and determining that there is a foreign matter between the platform shielding door and the train in the case that the integrity and continuity are missing. The shooting device and the lamp strip are arranged in the shielding door at the two ends of the platform, so that foreign matter detection and positioning can be realized, the existing platform shielding door equipment does not need to be modified, the equipment cost and the maintenance cost are saved, the traditional manual detection is replaced, the labor intensity of the driver is reduced, and the accuracy and stability of foreign matter detection and positioning are improved.

Description

Technical Field

[0001] This invention relates to the field of rail transit technology, and in particular to a foreign object detection system between platform screen doors and trains. Background Technology

[0002] In the rail transit industry, platform screen doors are crucial safety features preventing passengers from falling onto the platform or being caught in the train. Due to factors such as the train's cross-sectional shape and dynamic clearance, a certain gap generally exists between the platform screen doors and the train. When passengers or items are accidentally trapped between the platform screen doors and the train, accidents frequently occur.

[0003] The existing method of detecting foreign objects between platform screen doors and trains mainly relies on the driver's observation, which is heavily dependent on the driver's eyesight and observational awareness. When the driver is fatigued and his observation ability declines, there is a high possibility of missed detection, which could lead to an accident.

[0004] Furthermore, in more automated train driverless modes (such as the fully automated operation mode of subway trains), since there is no driver in the cab, the foreign object detection function in the gap of the platform screen doors is missing, which is more likely to pose a safety hazard. Summary of the Invention

[0005] This invention provides a foreign object detection system between platform screen doors and trains to address the deficiency in existing technologies where the foreign object detection function between platform screen doors and trains is missing when the train is unmanned.

[0006] In a first aspect, embodiments of the present invention provide a foreign object detection system between a platform screen door and a train, comprising:

[0007] Two light strips are installed at both ends of the platform, and are located between the platform screen doors and the train;

[0008] At least two imaging devices are respectively installed at both ends of the platform and located between the platform screen doors and the train; the imaging devices are used to acquire target images of the target light strip located at the opposite end of the platform;

[0009] A computing module is communicatively connected to the at least two imaging devices; the computing module is used for:

[0010] Based on the target image acquired by at least one of the two shooting devices, determine at least one of the following: integrity and continuity of the target light strip;

[0011] If at least one of the aforementioned integrity and coherence is missing, it is determined that there is a foreign object between the platform screen door and the train;

[0012] Wherein, the lack of integrity refers to the difference in grayscale values ​​of the target light strip in the target image;

[0013] The lack of coherence refers to the discontinuity of the grayscale values ​​of the target light strip in the target image;

[0014] In one embodiment, when there is a foreign object between the platform screen door and the train, the calculation module is further configured to:

[0015] The position of the foreign object between the platform screen door and the train is determined based on the height difference between the first and second shooting devices, the focal length of the first and second shooting devices, the first pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, the second pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, and the distance between the two light strips.

[0016] Wherein, the first shooting device and the second shooting device are shooting devices located at the same end of the platform among the at least two shooting devices; the first detection range is the area where the detection range of the first shooting device and the detection range of the second shooting device intersect;

[0017] In one embodiment, when there is a foreign object between the platform screen door and the train, the calculation module is further configured to:

[0018] The location of the foreign object between the platform screen door and the train is determined based on the focal length of the third and fourth shooting devices, the height of the third pixel in the target image of the third shooting device where the light strip is below the second detection range and is not obstructed, the height of the fourth pixel in the target image of the fourth shooting device where the light strip is below the second detection range and is not obstructed, and the distance between the two light strips.

[0019] Wherein, the third shooting device and the fourth shooting device are shooting devices located at opposite ends of the platform, respectively, and the third shooting device and the fourth shooting device are parallel; the second detection range is the area where the detection range of the third shooting device and the detection range of the fourth shooting device intersect;

[0020] In one embodiment, the computing module is specifically used for:

[0021] Determine the first number of pixels of the target light strip in the target image, and if the difference between the reference number of pixels and the first number of pixels is greater than or equal to the integrity threshold, determine that the integrity of the target light strip is missing;

[0022] Wherein, the first pixel refers to a pixel with a grayscale value higher than the lowest grayscale value; the lowest grayscale value refers to the lowest grayscale value of the target light strip in the reference image; the number of reference pixels is the number of pixels of the target light strip in the reference image; the reference image is an image of the target light strip when there are no foreign objects between the platform screen door and the train;

[0023] In one embodiment, the computing module is specifically used for:

[0024] Determine the number of two-dimensional connected components in the target image for all first pixels;

[0025] When there are multiple two-dimensional connected components, the continuity of the target light strip is determined to be missing.

[0026] In one embodiment, the light strip is arranged perpendicular to the platform;

[0027] In one embodiment, the camera is located at the upper or lower end of the platform;

[0028] The upper end is higher than the train passenger compartment door and the platform screen door;

[0029] The lower end is below the ground level of the platform;

[0030] In one embodiment, the at least two imaging devices simultaneously acquire the target image;

[0031] In one embodiment, the foreign object detection system between the platform screen door and the train further includes a communication module, which is communicatively connected to the light strip, the imaging device, and the computing module.

[0032] The communication module is used to activate the light strip, the shooting device, and the calculation module when at least one of the signals that the train passenger compartment doors begin to close or the platform screen doors begin to close is received.

[0033] In one embodiment, the communication module is also connected to the station's station management system.

[0034] The communication module is also used for:

[0035] If there is a foreign object between the platform screen door and the train, an alarm message is sent to the station management system.

[0036] The foreign object detection system between platform screen doors and trains provided in this invention can detect and locate foreign objects by deploying imaging devices and light strips inside the screen doors at both ends of the platform. This eliminates the need to modify existing platform screen door equipment, saving on equipment and maintenance costs. Furthermore, by using the foreign object detection system to determine and locate foreign objects, it replaces traditional manual inspection, reducing the workload of drivers and improving the accuracy and stability of foreign object detection and location. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a top view of a schematic diagram of the foreign object detection system between the platform screen door and the train provided in an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram illustrating the lack of integrity and continuity of the light strip provided in the embodiments of the present invention;

[0040] Figure 3 This is a schematic diagram of a single-end dual-camera structure provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of a dual-end dual-camera structure provided in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the installation of the shooting device provided in an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the field of view coverage of the shooting device provided in an embodiment of the present invention;

[0044] Figure 7 This is a schematic diagram of the train system and foreign object detection system provided in an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0046] Figure 1This is a top view of a schematic diagram of the foreign object detection system between the platform screen door and the train provided in an embodiment of the present invention. (Refer to...) Figure 1 This invention provides a foreign object detection system between a platform screen door and a train, which may include:

[0047] Two light strips are installed at both ends of the platform, and are located between the platform screen doors and the train;

[0048] At least two camera devices are installed at both ends of the platform, between the platform screen doors and the train; the camera devices are used to acquire target images of the target light strip located at the opposite end of the platform.

[0049] The computing module is communicatively connected to at least two imaging devices; the computing module is used for:

[0050] Based on the target image acquired by at least one of the two imaging devices, determine at least one of the following: integrity and coherence of the target light strip;

[0051] If at least one of integrity or coherence is missing, it is determined that there is a foreign object between the platform screen door and the train;

[0052] Among them, lack of integrity refers to the difference in grayscale values ​​of the target light strip in the target image;

[0053] Lack of coherence refers to the discontinuity of grayscale values ​​of the target light strip in the target image.

[0054] It should be noted that the two light strips are respectively installed at both ends of the platform, located between the platform screen doors and the train. They are illuminated and used by the foreign object detection system to detect the presence of foreign objects in the gap between the platform screen doors and the train. When the foreign object detection system is performing foreign object detection, the two light strips light up, serving as target light strips. The foreign object detection system controls the imaging device to capture an image of the target light strip, which serves as the target image. It is understandable that when a foreign object obstructs the light strip, the integrity or continuity of the light strip image is altered. The foreign object detection system, through its control and calculation module, determines the integrity and continuity of the light strip based on the target image, confirming whether there are any gaps in integrity or continuity.

[0055] Figure 2 This is a schematic diagram illustrating the lack of integrity and continuity of the light strip provided in an embodiment of the present invention. (See diagram below.) Figure 2 As shown, the integrity and continuity of the target light strip are determined by the pixel grayscale values ​​of the target image. Specifically, the foreign object detection system can control the imaging device to capture images of the light strip in a state without foreign object obstruction, determine the image data of the standard image, such as the pixel set, number of pixels, and lowest grayscale value of the light strip area, and then compare the image data of the captured target light strip image with the image data of the standard image during foreign object detection to determine the type of missing light strip.

[0056] It is understandable that when there is a foreign object blocking the light strip, the target image captured by the camera will change. The part of the light strip blocked by the foreign object will have a lower gray value in the target image, making the original light strip image incomplete or discontinuous.

[0057] It should be noted that the lack of integrity of the target light strip refers to the difference in gray values ​​of the light strip image within the light strip area after the light strip is obscured by a foreign object; the lack of continuity of the target light strip refers to the situation where the target light strip is obscured in the middle by a foreign object, causing the gray values ​​of the light strip image to be discontinuous within the light strip area.

[0058] It should be noted that the camera is located between the platform screen doors and the train, and is used to capture images of the light strips and transmit the data back to the computing module.

[0059] It should be noted that the shooting device can have a synchronous shooting function to achieve simultaneous shooting by at least two shooting devices, so as to ensure the accuracy of foreign object detection and distance calculation.

[0060] It should be noted that the calculation module uses the light strip image data sent by the camera device to calculate whether there are foreign objects inside the shielding door, and further calculates the location of the foreign objects when they are detected.

[0061] The foreign object detection system between platform screen doors and trains provided in this invention can detect and locate foreign objects by deploying imaging devices and light strips inside the screen doors at both ends of the platform. This eliminates the need to modify existing platform screen door equipment, saving on equipment and maintenance costs. Furthermore, by using the foreign object detection system to determine and locate foreign objects, it replaces traditional manual inspection, reducing the workload of drivers and improving the accuracy and stability of foreign object detection and location.

[0062] In one embodiment, the computing module is specifically used for:

[0063] Determine the first number of pixels of the target light strip in the target image, and if the difference between the reference number of pixels and the first number of pixels is greater than or equal to the integrity threshold, determine that the integrity of the target light strip is missing;

[0064] Wherein, the first pixel refers to a pixel with a grayscale value higher than the lowest grayscale value; the lowest grayscale value refers to the lowest grayscale value of the target light strip in the reference image; the number of reference pixels is the number of pixels of the target light strip in the reference image; the reference image is an image of the target light strip when there are no foreign objects between the platform screen door and the train.

[0065] It should be noted that the foreign object detection system controls the imaging device to capture images of the light strip between the train platform screen doors and the train when there are no foreign objects obstructing the view. The system determines the lowest grayscale value among the pixels in the area containing the light strip, and then determines the number of pixels with grayscale values ​​higher than the lowest grayscale value, using this as a reference pixel count. During foreign object detection, the number of pixels in the target light strip within that area whose grayscale values ​​are higher than the lowest grayscale value is used as the first pixel count. The foreign object detection system compares the difference between the reference pixel count and the first pixel count with a pre-set integrity threshold. If the difference is greater than or equal to the integrity threshold, the system determines that the target light strip has an integrity deficiency.

[0066] It should be noted that the preset integrity threshold can adjust the detection sensitivity of the foreign object detection system. The smaller the integrity threshold, the higher the sensitivity of the foreign object detection system; the larger the integrity threshold, the lower the sensitivity of the foreign object detection system.

[0067] Specifically, the foreign object detection system controls an imaging device to capture images of the light strip between the platform screen doors and the train in an unobstructed state, determines a reference image I, records the pixel set S of the target light strip area in the unobstructed state, records the number of reference pixels n in set S, and records the lowest grayscale value I of the pixels in set S of the light strip area. min Then, when the foreign object detection system performs foreign object detection, it determines the target image J of the target light strip, traverses all pixels within the set S, and determines those with gray values ​​higher than I. min The first pixel count is m. The pre-set integrity threshold is I. thres For example, when nm≥I thres At that time, it was determined that the target light strip had a missing integrity.

[0068] The foreign object detection system between the platform screen door and the train provided in this embodiment of the invention detects the integrity of the light strip image through an integrity threshold to determine whether there is a foreign object. It eliminates the need for manual foreign object detection and improves the accuracy of foreign object detection between the platform screen door and the train.

[0069] In one embodiment, the computing module is specifically used for:

[0070] Determine the number of two-dimensional connected components in the target image for all first pixels;

[0071] When there are multiple two-dimensional connected domains, the continuity of the target light strip is determined to be missing.

[0072] It should be noted that the number of two-dimensional connected components can be determined by pixel coordinates, pixel matrices, pixel sets, etc., and this invention does not limit this method.

[0073] Specifically, let's take a pixel set as an example. The foreign object detection system identifies the target image J, and then identifies all pixels with gray values ​​higher than I. min The first pixel is included in set T, and the number of two-dimensional connected components m in set T is calculated. connected If m connected If the value is greater than 1, it is considered that the light strip has multiple two-dimensional connected domains. At this time, the foreign object detection system can determine that the target light strip has a lack of continuity.

[0074] It should be noted that the lack of continuity in the light strip is one type of light strip integrity loss. However, by detecting the lack of continuity in the light strip, even if a tiny foreign object is obstructing the light strip area, it can prevent the foreign object from being undetected because the pixel obstruction is smaller than the light strip integrity threshold, thus improving the accuracy of the foreign object detection system.

[0075] In one embodiment, when there is a foreign object between the platform screen door and the train, the calculation module is also used for:

[0076] The position of the foreign object between the platform screen door and the train is determined based on the height difference between the first and second shooting devices, the focal length of the first and second shooting devices, the first pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, the second pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, and the distance between the two light strips.

[0077] The first shooting device and the second shooting device are at least two shooting devices located at the same end of the platform; the first detection range is the area where the detection range of the first shooting device and the detection range of the second shooting device intersect.

[0078] Figure 3 This is a schematic diagram of a single-end dual-camera structure provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the first and second imaging devices are installed at the same end of the platform. Taking the height difference between the first and second imaging devices as H, the focal length of the first and second imaging devices as f, the height of the first pixel in the target image of the first imaging device where the light strip is below the first detection range and not obstructed as N1, the height of the second pixel in the target image of the second imaging device where the light strip is below the first detection range and not obstructed as N2, and the distance between the two light strips as L, as an example:

[0079] Based on the principle of pinhole imaging, the system of equations (1) can be determined:

[0080]

[0081] Since the distance L between the two light strips is much greater than the height difference H of the shooting device, the small angle tangent is approximately equal. And the angle between the direction from the upper end of the foreign object obstruction range to the first shooting device and the horizontal direction of the first shooting device is θ1, and the angle between the direction from the upper end of the foreign object obstruction range to the second shooting device and the horizontal direction of the second shooting device is θ2, the equation set (2) can be determined:

[0082]

[0083] Furthermore, the system of equations (3) can be determined based on geometric relationships:

[0084]

[0085] By combining the above equations (1), (2), and (3), the distance L1 from the foreign object to the first imaging device and the horizontal height h of the foreign object to the first imaging device can be obtained. Then, the location of the shielding door where the foreign object is located can be determined based on the distance L1 from the foreign object to the first imaging device.

[0086] The foreign object detection system between the platform screen door and the train provided in this embodiment of the invention determines the spatial location of the foreign object by the position, internal parameters, and external parameters of the imaging device, and determines the specific location of the foreign object by the distance of the imaging device and the distribution of the platform screen door. It eliminates the need for the driver to check the condition of the light strip, effectively avoids the situation where the driver cannot determine the presence of foreign objects due to visual errors, and improves the efficiency and accuracy of foreign object detection in the gap between the platform screen door and the train.

[0087] In one embodiment, when there is a foreign object between the platform screen door and the train, the calculation module is also used for:

[0088] Based on the focal length of the third and fourth shooting devices, the height of the third pixel in the target image of the third shooting device where the light strip is below the second detection range and is not obstructed, the height of the fourth pixel in the target image of the fourth shooting device where the light strip is below the second detection range and is not obstructed, and the distance between the two light strips, the position of the foreign object between the platform screen door and the train is determined.

[0089] Among them, the third and fourth shooting devices are shooting devices located at opposite ends of the platform, respectively, and the third and fourth shooting devices are parallel to each other; the second detection range is the area where the detection ranges of the third and fourth shooting devices intersect.

[0090] Figure 4 This is a schematic diagram of a dual-end dual-camera structure provided in an embodiment of the present invention. Figure 4As shown, the third and fourth imaging devices are parallel and installed at both ends of the platform. Taking the focal length of the third and fourth imaging devices as f, the horizontal distance from the foreign object to the third imaging device as L1, the horizontal distance from the foreign object to the third imaging device as L2, the horizontal height of the foreign object from the third imaging device as h, the height of the third pixel in the target image of the third imaging device where the light strip is below the second detection range and not obstructed as N1, and the height of the fourth pixel in the target image of the fourth imaging device where the light strip is below the second detection range and not obstructed as N3, as an example:

[0091] Based on the principle of pinhole imaging, the system of equations (1) can be determined:

[0092]

[0093] Since the distance L between the two light strips is much greater than the height difference H of the shooting device, the small angle tangent is approximate. And the angle between the direction from the upper end of the foreign object obstruction range to the third shooting device and the horizontal direction of the third shooting device is θ1, and the angle between the direction from the upper end of the foreign object obstruction range to the fourth shooting device and the horizontal direction of the fourth shooting device is θ3, the equation set (2) can be determined:

[0094]

[0095] Furthermore, the system of equations (3) can be determined based on geometric relationships:

[0096]

[0097] By combining the above equations (1), (2), and (3), the horizontal distance L1 from the foreign object to the third imaging device and the horizontal height h of the third imaging device can be obtained, and the location of the shielding door where the foreign object is located can be determined.

[0098] The foreign object detection system between the platform screen door and the train provided in this embodiment of the invention effectively meets the deployment conditions of various platforms by using different calculation methods for different detection ranges and different imaging devices. It improves the efficiency and accuracy of foreign object detection in the gap between the platform screen door and the train, and enhances the universality of the foreign object detection system.

[0099] In one embodiment, the light strip is positioned perpendicular to the platform.

[0100] It should be noted that the light strips are not installed within the dynamic or static boundary range of the train to avoid obstruction.

[0101] It should be noted that the LED strip lights can be arranged closely, for example, with a spacing of no more than 1cm.

[0102] It should be noted that the light intensity of the light strip is sufficient to ensure that the shooting device can capture a clear image from the other end of the platform using a telephoto lens in a low exposure mode.

[0103] The foreign object detection system between the platform screen doors and the train provided in this embodiment of the invention uses a light strip positioned perpendicular to the platform, which facilitates the capturing of accurate light strip images by the imaging device. Furthermore, the perpendicular positioning of the light strip to the platform facilitates subsequent calculation of the foreign object's location based on geometric relationships.

[0104] Figure 5 This is a schematic diagram of the installation of the shooting device provided in an embodiment of the present invention. Figure 5 As shown, the shooting device is located at the upper or lower end of the platform;

[0105] The upper end is higher than the train passenger compartment door and the platform screen door;

[0106] The lower end is below the ground level of the platform.

[0107] It should be noted that the sensor size and lens focal length of the shooting device are sufficient to capture a complete image of the opposing light strip with clear imaging, ensuring that the captured image of the light strip does not have image quality issues such as being too bright, too dark, or having halos.

[0108] It should be noted that the installation height, angle, and other parameters of the shooting device can be calibrated based on the internal and external parameters of the shooting device.

[0109] It should be noted that the imaging position and brightness of the light strip image captured by the imaging device can be calibrated under the condition of no foreign object obstruction, based on the pixel position and brightness of the light strip in each imaging device as standard information for detecting the presence of foreign objects and the location of damaged foreign objects.

[0110] The foreign object detection system between the platform screen door and the train provided in this embodiment of the invention uses a camera device installed at the top, which is higher than the train passenger compartment door and the platform screen door, and at the bottom, which is lower than the platform ground. This ensures that the camera device can capture the entire area of ​​the passenger compartment door and the platform screen door, making the detection range of foreign objects more comprehensive.

[0111] In one embodiment, the at least two imaging devices simultaneously acquire images of the target.

[0112] Figure 6 This is a schematic diagram of the field of view coverage of the shooting device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, using at least two imaging devices (such as imaging devices 1 and 3 or imaging devices 1 and 2 in the figure) can avoid the large blind spots in the field of view that affect the accuracy of foreign object detection when using only one imaging device (such as imaging device 1 in the figure).

[0113] Understandably, the more cameras there are, the wider the detection range, and the more accurate the foreign object detection results.

[0114] The foreign object detection system between the platform screen door and the train provided in this embodiment of the invention determines the location of the foreign object by simultaneously acquiring target images through at least two imaging devices, without the need to add other special equipment for distance measurement, thus saving maintenance costs.

[0115] In one embodiment, the foreign object detection system between the platform screen door and the train further includes a communication module, which is communicatively connected to the light strip, the imaging device, and the computing module.

[0116] The communication module is used to activate the light strip, the shooting device, and the computing module when it receives at least one of the signals that the train passenger compartment doors begin to close or the platform screen doors begin to close.

[0117] Figure 7 This is a schematic diagram of the train system and foreign object detection system provided in an embodiment of the present invention.

[0118] It should be noted that the communication module is connected to the train signaling system, platform screen door system, train station management system, etc., and is used to receive or send information, such as signals that the train passenger compartment doors are starting to close, signals that the platform screen doors are starting to close, etc.

[0119] It should be noted that the communication module can receive the presence of foreign objects, such as the presence of missing integrity or continuity, as well as the location of the foreign object.

[0120] It should be noted that when the passenger compartment doors and platform screen doors are open, the foreign object detection system is in a dormant state. After the foreign object detection system receives at least one of the signals from the train signaling system indicating that the train passenger compartment doors are starting to close, or the signals from the platform screen door signaling system indicating that the platform screen doors are starting to close, the communication module activates the light strip, the imaging device, and the computing module to begin foreign object detection.

[0121] It should be noted that the light strips and cameras of the foreign object detection system are deployed in the gaps between the platform screen doors and the trains at both ends of the platform, while the computing and communication modules can be deployed in areas such as the computer room that are easy to manage and maintain, depending on the power supply and communication conditions within the station.

[0122] The foreign object detection system between the platform screen doors and the train provided in this embodiment of the invention is in a dormant state when the passenger compartment doors and platform screen doors are open, so as to save resources. The computing module and communication module are deployed in an area that is easy to manage and maintain, which is more conducive to the maintenance and repair of the system.

[0123] In one embodiment, the communication module is also connected to the station's station management system.

[0124] The communication module is also used for:

[0125] If there is a foreign object between the platform screen door and the train, an alarm message is sent to the station management system.

[0126] It should be noted that after receiving the foreign object detection results sent by the computing module, the communication module determines the alarm information based on the foreign object detection results, such as "There is a lack of integrity, and the foreign object is located at the door of the passenger compartment of carriage 2". After receiving the alarm information, the station service system can promptly arrange personnel to investigate the foreign object.

[0127] The foreign object detection system between the platform screen doors and the train provided in this embodiment of the invention sends alarm information to the station management system through a communication module, so that station staff can remove foreign objects in a timely manner, thereby improving the efficiency of foreign object detection and removal.

[0128] In one embodiment, the foreign object detection process is as follows:

[0129] When there are no trains on the platform and the train passenger compartment doors and platform screen doors are not closed, all modules in the foreign object detection system except for the communication module are in a dormant state.

[0130] When the communication module receives signals that the platform screen doors and train passenger compartment doors have begun to close, it activates the light strip, the camera, and the computing module.

[0131] The shooting device simultaneously captures images of the light strip at the other end of the platform using the set image exposure parameters and shooting frame rate, and transmits the light strip images to the computing module;

[0132] The calculation module calculates and determines whether the light strip has any missing integrity or continuity, and calculates the location of foreign objects when there are missing light strips, and sends the results such as the presence and location of foreign objects to the communication module.

[0133] Based on the calculation result, the communication module sends an alarm message to the station administration system.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foreign object detection system between a platform screen door and a train, characterized in that, include: Two light strips are installed at both ends of the platform, and are located between the platform screen doors and the train; At least two imaging devices are respectively installed at both ends of the platform and located between the platform screen doors and the train; the imaging devices are used to acquire target images of the target light strip located at the opposite end of the platform; A computing module is communicatively connected to the at least two imaging devices; the computing module is used for: Based on the target image acquired by at least one of the two shooting devices, determine at least one of the following: integrity and continuity of the target light strip; If at least one of the aforementioned integrity and coherence is missing, it is determined that there is a foreign object between the platform screen door and the train; Wherein, the lack of integrity refers to the difference in grayscale values ​​of the target light strip in the target image; The lack of coherence refers to the discontinuity of the grayscale values ​​of the target light strip in the target image; In the event of a foreign object between the platform screen door and the train, the calculation module is further used for: The position of the foreign object between the platform screen door and the train is determined based on the height difference between the first and second shooting devices, the focal length of the first and second shooting devices, the first pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, the second pixel height of the light strip in the target image of the first shooting device that is not obstructed below the first detection range, and the distance between the two light strips. Wherein, the first shooting device and the second shooting device are shooting devices located at the same end of the platform among the at least two shooting devices; the first detection range is the area where the detection range of the first shooting device and the detection range of the second shooting device intersect.

2. The foreign object detection system between the platform screen door and the train according to claim 1, characterized in that, In the event of a foreign object between the platform screen door and the train, the calculation module is further used for: The location of the foreign object between the platform screen door and the train is determined based on the focal length of the third and fourth shooting devices, the height of the third pixel in the target image of the third shooting device where the light strip is below the second detection range and is not obstructed, the height of the fourth pixel in the target image of the fourth shooting device where the light strip is below the second detection range and is not obstructed, and the distance between the two light strips. The third and fourth shooting devices are the shooting devices located at opposite ends of the platform, respectively, among the at least two shooting devices, and the third and fourth shooting devices are parallel to each other; the second detection range is the area where the detection ranges of the third and fourth shooting devices intersect.

3. The foreign object detection system between the platform screen door and the train according to claim 1, characterized in that, The calculation module is specifically used for: Determine the first number of pixels of the target light strip in the target image, and if the difference between the reference number of pixels and the first number of pixels is greater than or equal to the integrity threshold, determine that the integrity of the target light strip is missing; Wherein, the first pixel count refers to the number of pixels with a grayscale value higher than the lowest grayscale value; the lowest grayscale value refers to the lowest grayscale value of the target light strip in the reference image; the reference pixel count is the number of pixels of the target light strip in the reference image; the reference image is an image of the target light strip when there are no foreign objects between the platform screen door and the train.

4. The foreign object detection system between the platform screen door and the train according to claim 3, characterized in that, The calculation module is specifically used for: Determine the number of two-dimensional connected components in the target image for all first pixels; When there are multiple two-dimensional connected regions, the continuity of the target light strip is determined to be missing.

5. The foreign object detection system between the platform screen door and the train according to any one of claims 1 to 4, characterized in that, The light strip is installed perpendicular to the platform.

6. The foreign object detection system between the platform screen door and the train according to any one of claims 1 to 4, characterized in that, The camera is located at the upper or lower end of the platform; The upper end is higher than the train passenger compartment door and the platform screen door; The lower end is below the ground level of the platform.

7. The foreign object detection system between the platform screen door and the train according to any one of claims 1 to 4, characterized in that, The at least two imaging devices simultaneously acquire images of the target.

8. The foreign object detection system between the platform screen door and the train according to any one of claims 1 to 4, characterized in that, It also includes a communication module, which is communicatively connected to the light strip, the shooting device, and the computing module; The communication module is used to activate the light strip, the shooting device, and the computing module when it receives at least one of the signals that the train passenger compartment doors begin to close or the platform screen doors begin to close.

9. The foreign object detection system between the platform screen door and the train according to claim 8, characterized in that, The communication module is also connected to the station's station management system. The communication module is also used for: If there is a foreign object between the platform screen door and the train, an alarm message is sent to the station management system.

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