Gap detection method, device and system, electronic equipment and readable storage medium

Abstract

The invention relates to a gap detection method, device and system, electronic equipment and a readable storage medium, the method is applied to the gap detection system, and the method comprises the steps that after it is determined that all sliding doors in shielding doors are closed, vehicle door detection is conducted, and whether all train doors of a train are closed or not is determined; if it is determined that all the train doors of the train are closed, foreign matter detection is carried out, a gap detection result is determined, the gap detection result includes that foreign matter exists in a target gap or does not exist in the target gap, and the target gap is the gap between the shielding door and the train. According to the method, a wrong gap detection result can be prevented from being given under the condition that the train door is not closed, and the accuracy of the detection result is improved.

Description

Technical Field

[0001] This application belongs to the technical field of rail transit, and particularly relates to a gap detection method, device, system, electronic device and readable storage medium. Background Art

[0002] In urban rail transit, an urban rail transit system generally includes a signal system, a platform screen door system, a vehicle system, a power supply system, a communication system, a ventilation and air conditioning system, a fire alarm system, etc. Among them, the signal system, the platform screen door system and the vehicle system are key systems for the safe operation of trains. Among them: The vehicle system mainly includes systems such as train traction, braking, and control to ensure the normal operation of the train. For example, the vehicle system can control the opening and closing of the train doors; The platform screen door system mainly includes platform screen doors and a control system, which are used to isolate the platform from the track area to protect the safety of passengers. The platform screen door system controls the automatic opening and closing of the platform screen doors through the control system; The signal system interacts with the platform screen door system and the vehicle system respectively to control the operation of the train and ensure the safe and efficient operation of the train. In order to ensure the safety of train operation, a gap detection system is generally set in the platform screen door system. The gap detection system is used to detect the gap between the train door and the platform screen door to avoid safety accidents such as pinching people or objects. For example, the gap detection system can use lasers or infrared rays, etc., to detect foreign objects in the gap between the train door and the platform screen door. If a foreign object is detected in the gap, the gap detection system will immediately issue a foreign object alarm to enable the staff to handle it and prevent the train from departing.

[0003] Generally speaking, the gap detection system detects foreign objects in the gap after determining that the platform screen door is closed. However, sometimes there is a delay in the vehicle system signal, which may cause the train door not to be closed after the platform screen door is closed. In this case, the gap detection system will detect the situation where the train door is not closed as a foreign object in the gap, thus issuing a foreign object alarm. Such a foreign object alarm is actually a false alarm. When the staff receives the foreign object alarm, they need to go to the scene to confirm and handle it. Such false alarms will result in a waste of human resources.

[0004] Therefore, how to improve the accuracy of the foreign object alarm of the gap detection system has become an urgent technical problem to be solved. Summary of the Invention

[0005] Embodiments of this application provide a gap detection method, device, system, electronic device and readable storage medium, which can improve the accuracy of foreign object detection in the gap between the platform screen door and the train door.

[0006] In a first aspect, an embodiment of the present application provides a gap detection method, which is applied to a gap detection system. The method includes: after determining that all sliding doors in the platform screen door are closed, performing a train door detection to determine whether all train doors of the train are closed; if it is determined that all train doors of the train are closed, performing a foreign object detection to determine a gap detection result, where the gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap, and the target gap is the gap between the platform screen door and the train.

[0007] In the above method, after determining that all sliding doors in the platform screen door are closed, first judge whether all train doors are closed. When it is determined that all train doors are closed, then determine the gap detection result. This can avoid giving a wrong gap detection result when the train doors are not closed, and improve the accuracy of the detection result.

[0008] In one embodiment, the gap detection system includes a lidar and a camera. Performing a foreign object detection to determine a gap detection result includes: controlling the lidar to scan the target gap to obtain first point cloud data; performing target detection on the target gap according to the first point cloud data to determine a first detection result; if the first detection result is that there is a foreign object in the target gap, determining the first detection result as the gap detection result; the method further includes: determining the position information of the foreign object in the target gap according to the first point cloud data; controlling the camera in the gap detection system to focus on the foreign object in the target gap and perform video shooting according to the position information of the foreign object in the target gap to obtain video data related to the foreign object in the target gap; controlling the storage and / or display of the video data related to the foreign object in the target gap.

[0009] In one embodiment, the gap detection system includes a lidar and a camera. Performing a foreign object detection to determine a gap detection result includes: controlling the lidar to scan the target gap to obtain first point cloud data; controlling the camera to shoot the target gap to obtain first video data; performing target detection on the target gap according to the first point cloud data to determine a first detection result; if the first detection result is that there is no foreign object in the target gap, performing target detection on the target gap according to the first video data to determine a second detection result; determining the gap detection result according to the second detection result.

[0010] In one embodiment, determining the gap detection result according to the second detection result includes: if the second detection result is that there is a foreign object in the target gap, adjusting the parameters of the lidar to improve the detection accuracy of the lidar; using the lidar with adjusted parameters to scan the target gap to obtain second point cloud data; determining the gap detection result according to the second point cloud data.

[0011] In one embodiment, determining a gap detection result according to second point cloud data includes: determining the thickness of a foreign object in a target gap according to the second point cloud data; if it is determined that the thickness of the foreign object in the target gap is greater than a preset thickness threshold, determining that there is a foreign object in the target gap in the gap detection result; if it is determined that the thickness of the foreign object in the target gap is less than or equal to the preset thickness threshold, determining that there is no foreign object in the target gap in the gap detection result.

[0012] In one embodiment, the third video data includes a video of a main stream type and a video of a sub-stream type. The third video data is determined according to first detection data and second detection data. The clarity of the video of the main stream type is higher than that of the video of the sub-stream type. The video of the main stream type is used to determine whether all train doors of the train are closed and to determine the gap detection result, and the video of the sub-stream type is used for display to the user.

[0013] In one embodiment, the method further includes: receiving a trigger event, where the trigger event includes: the gap detection result is that there is a foreign object in the target gap; in response to the trigger event, controlling the display of a video related to the foreign object in the target gap.

[0014] In one embodiment, the gap detection system includes a detection device, and the method further includes: determining the installation state of the detection device according to the detection data collected by the detection device, where the installation state includes an abnormal state or a non-abnormal state, and the detection data includes data for determining whether all train doors of the train are closed and / or data for determining the gap detection result; if the installation state is an abnormal state, controlling the display of a prompt message indicating that the detection device is abnormal.

[0015] In one embodiment, the gap detection system includes a controller and a plurality of detection devices. The controller is communicatively connected to each of the plurality of detection devices respectively, and each detection device corresponds to a partial gap of the target gap. After determining that all sliding doors in the platform screen door are closed, door detection is performed to determine whether all train doors of the train are closed, including: after the controller determines that all sliding doors in the platform screen door are closed, the controller sends a first detection instruction to a first detection device, where the first detection device is any one of the plurality of detection devices; the first detection device detects the train door corresponding to the first detection device according to the first detection instruction, obtains a first result corresponding to the first detection device, and sends the first result to the controller, where the first result indicates whether the train door corresponding to the first detection device is closed, and each of the plurality of detection devices corresponds to a first result; the controller determines whether all train doors of the train are closed according to the first result corresponding to each of the plurality of detection devices; if it is determined that all train doors of the train are closed, foreign object detection is performed to determine the gap detection result, including: if the controller determines that all train doors of the train are closed, the controller sends a second detection instruction to the first detection device; the first detection device performs foreign object detection on the partial gap of the target gap corresponding to the first detection device according to the second detection instruction, determines a second result corresponding to the first detection device, and sends the second result to the controller, where the second result indicates whether there is a foreign object in the partial gap of the target gap corresponding to the first detection device, and each of the plurality of detection devices corresponds to a second result; the controller determines the gap detection result according to the second result corresponding to each of the plurality of detection devices.

[0016] In one embodiment, if the gap detection result is that there is a foreign object in the target gap, the method further includes: the controller obtains and stores video data related to the foreign object in the target gap from at least one of the plurality of detection devices.

[0017] In a second aspect, an embodiment of the present application provides a gap detection device, and the device includes units for performing each step of the method in any one of the above first aspects.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method in any one of the above first aspects is implemented, or when the processor executes the computer program, the steps performed by the controller or the detection device in the method in any one of the above first aspects are implemented.

[0019] Fourth aspect, an embodiment of the present application provides a gap detection system, which includes a plurality of detection devices and a controller. Each detection device among the plurality of detection devices is respectively communicatively connected to the controller. The detection device is configured to perform the steps executed by the detection device in any one of the methods in the above first aspect, and the controller is configured to perform the steps executed by the controller in any one of the methods in the above first aspect.

[0020] In one embodiment, the detection device is an integrated radar and camera device.

[0021] Fifth aspect, an embodiment of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method in any one of the above first aspects, or when the computer program is executed by a processor, it implements the steps executed by the controller or the detection device in any one of the methods in the above first aspect.

[0022] Sixth aspect, an embodiment of the present application provides a chip, including: a processor, configured to call and run a computer program from a memory, so that a computer device installed with the chip executes the method in any one of the above first aspects, or so that a computer device installed with the chip executes the steps executed by the controller or the detection device in any one of the methods in the above first aspect.

[0023] It can be understood that the beneficial effects of the above second aspect to sixth aspect can be referred to the relevant descriptions in the above first aspect, and will not be elaborated here. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 is a schematic diagram of the application environment of the gap detection system provided by an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the control principle of the gap detection system provided by an embodiment of the present application;

[0027] Figure 3 is a schematic diagram of the process of gap detection provided by an embodiment of the present application;

[0028] Figure 4 is a schematic diagram of the detection device in the gap detection system collecting data on the target gap in an embodiment of the present application;

[0029] Figure 5 It is a point cloud schematic diagram of the opening and closing state of the train door in an embodiment of the present application;

[0030] Figure 6 It is a schematic flowchart for determining the gap detection result according to the second detection data in the gap detection method provided by an embodiment of the present application;

[0031] Figure 7 It is a schematic flowchart of the gap detection method provided by an embodiment of the present application;

[0032] Figure 8 It is a structural block diagram of the gap detection device provided by an embodiment of the present application;

[0033] Figure 9 It is an internal structure diagram of the electronic device provided by an embodiment of the present application. Detailed implementation manners

[0034] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented in order to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0035] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0036] It should also be understood that the term " / and / " as used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0037] As used in the specification of the present application and the appended claims, the term "if" can be interpreted as "when...", "once", "in response to a determination", or "in response to a detection" according to the context. Similarly, the phrase "if a determination is made" or "if [the described condition or event] is detected" can be interpreted as meaning "once a determination is made", "in response to a determination", "once [the described condition or event] is detected", or "in response to a detection of [the described condition or event]" according to the context.

[0038] In addition, in the description of the specification and the appended claims of this application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0039] The reference to "one embodiment" or "some embodiments" etc. described in the specification of this application means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0040] For the sake of easy understanding, the problems existing in the current gap detection system will be specifically elaborated below.

[0041] Currently, urban rail transit systems generally include a signal system, a platform screen door system, a vehicle system, a power supply system, a communication system, a ventilation and air conditioning system, a fire alarm system, etc. Among them, the signal system, the platform screen door system and the vehicle system are key systems for the safe operation of trains. To ensure the safe operation of trains, a gap detection system is generally also provided in the platform screen door system. The gap detection system is used to detect the gap between the train and the platform screen door to avoid safety accidents such as pinching people or objects.

[0042] It should be understood that the vehicle system is used to control the operation of the incoming train (including the opening and closing of train doors), the platform screen door system is used to control the opening and closing of the platform screen doors, the signal system exchanges data with the platform screen door system and the vehicle system respectively to control the operation of the entire train system, and there is no data interaction between the vehicle system and the platform screen door system.

[0043] In addition, currently in urban rail transit, the opening and closing sequence of the platform screen doors and train doors is as follows: after the train arrives at the station and stops stably, the platform screen doors are opened first, and then the train doors are opened; after the passengers get on and off the train, the train doors are closed first, and then the platform screen doors are closed (or in some cases, the train doors and the platform screen doors are closed almost simultaneously); after the platform screen doors and the train doors are closed, the train can start to leave the station. Currently, the gap detection system generally starts to detect foreign objects in the gap between the platform screen door and the train door immediately after the platform screen door is closed.

[0044] Since there is no data interaction between the vehicle system and the platform screen door system, and the gap detection system is set in the platform screen door system, the gap detection system cannot directly obtain the opening and closing information of the train doors from the vehicle system. Since the train doors and the platform screen doors are controlled by different systems, there may sometimes be a situation where the platform screen doors are closed, but the train doors are still open. At this time, when the gap detection system performs gap detection, the open train doors are detected as foreign objects, thus issuing a foreign object alarm. When the staff receives the foreign object alarm, they generally suspend the operation state of the vehicle (such as delaying the departure of the train) and go to the abnormal position for manual verification and processing. However, the fact that the train doors are not closed is sometimes caused by signal delay in the vehicle system. Therefore, such alarms will increase the workload of the staff and cause waste of human resources, and will also affect the normal operation of the system. Therefore, how to improve the accuracy of foreign object alarms has become a technical problem to be solved urgently.

[0045] To solve the above technical problems, the embodiments of the present application provide a gap detection method, device, system, electronic device and readable storage medium. The gap detection method includes: after determining that all sliding doors in the platform screen doors are closed, performing door detection to determine whether all train doors of the train are closed; if it is determined that all train doors of the train are closed, then performing foreign object detection to determine the gap detection result, where the gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap, and the target gap is the gap between the platform screen doors and the train. This method is applied when the train is about to depart from the station. After determining that all sliding doors in the platform screen doors are closed, first judge whether all train doors are closed. When it is determined that all train doors are closed, then determine the gap detection result. This can avoid giving a wrong gap detection result when the train doors are not closed and improve the accuracy of the detection result.

[0046] The following will give an exemplary description of the gap detection system in the embodiments of the present application with reference to the drawings.

[0047] See Figure 1 , which is a schematic diagram of the application environment of the gap detection system provided by an embodiment of the present application. As Figure 1 shown, the train 10 includes a plurality of train doors 11 arranged at intervals ( Figure 1 three are schematically shown in Figure 1 ), and the platform screen door 20 includes a plurality of sliding doors 21 arranged at intervals (

[0048] three are schematically shown in Figure 1Three are schematically shown and a controller 120, and the controller 120 is communicatively connected to each detection device 110 respectively; each detection device 110 is responsible for detecting a part of the gap 30, that is, each detection device is responsible for detecting a section of the gap.

[0049] In Figure 1 In the scene shown, each detection device 110 is responsible for detecting the gap corresponding to a train door 11, that is, each detection device 110 is responsible for detecting the gap near a train door 11. In some other embodiments, each detection device may also detect the gap near two or more train doors, and the present application does not limit this.

[0050] It can be understood that the present application does not limit the specific number of detection devices. The specific number of detection devices is related to the detection range of the detection devices, and the detection ranges of all detection devices can cover the entire target gap.

[0051] For example, when the detection range of the detection device is large enough, only one detection device can be used to detect the target gap.

[0052] In some embodiments, after determining that all sliding doors in the platform screen door are closed, the three detection devices 110 detect the train doors, obtain train door detection data, and send the obtained train door detection data to the controller 120; the controller 120 determines whether all train doors 11 of the train 10 are closed according to the train door detection data; if the controller 120 determines that all train doors are closed, it controls the three detection devices 110 to detect the target gap, obtain foreign object detection data, and send the obtained foreign object detection data to the controller 120, and the controller 120 determines the gap detection result according to the foreign object detection data.

[0053] Exemplarily, the train door detection data may include the data collected by each detection device. In this case, the controller needs to comprehensively consider the data collected by the three detection devices to determine whether all train doors are closed. Additionally, the train door detection data may also include the train door opening / closing detection results of each detection device for the corresponding train door. In this case, the controller comprehensively considers the train door opening / closing detection results of the three detection devices to determine whether all train doors are closed.

[0054] Similarly, the foreign object detection data may include the data collected by each detection device. In this case, the controller needs to comprehensively consider the data collected by the three detection devices to determine the gap detection result. Additionally, the foreign object detection data may also include the foreign object detection results of each detection device for the corresponding gap. In this case, the controller comprehensively considers the foreign object detection results of the three detection devices to determine the gap detection result.

[0055] Exemplarily, each detection device may include one or more of lidar, camera, and infrared device, and the present application does not limit this.

[0056] In some embodiments, the detection device may be an integrated lidar and camera device, which combines the functions of lidar and camera. It can detect the gap to obtain point clouds and also detect the gap to obtain videos.

[0057] In some other embodiments, each detection device may include a separately arranged lidar and camera, and their functions are similar to those of the integrated lidar and camera device, which will not be elaborated here.

[0058] Figure 2 It is a schematic diagram of the control principle of the gap detection system provided by an embodiment of the present application. As Figure 2 shown, in this embodiment, the gap detection system includes but is not limited to: a plurality of integrated lidar and camera devices (i.e., integrated lidar and camera device 1, integrated lidar and camera device 2, integrated lidar and camera device 3,..., integrated lidar and camera device n) and a laser control cabinet (equivalent to Figure 1 the controller in), where the laser control cabinet includes but is not limited to: a laser controller and a workstation. The laser controller includes a main controller and a slave controller. The laser controller is responsible for receiving and processing radar data, and the workstation is responsible for receiving and controlling video data. The laser controller and the workstation can be combined into the same device.

[0059] In the laser controller, generally, the main controller plays a control role. When the main controller fails, the slave controller plays a control role. Two or more controllers have a redundant function, making the system more stable.

[0060] Exemplarily, the communication methods between the integrated lidar and camera device and the laser control cabinet include but are not limited to network communication, CAN communication, etc. Network communication is used to transmit video data, radar point cloud data, etc. CAN communication is used to control the radar, and the number of CAN bus lines is not limited to only one. It can be two or more independent CAN buses to form a redundant backup.

[0061] It can be understood that the communication methods between the integrated lidar and camera device and the laser control cabinet can also be hard wire, network cable, serial port, WiFi, etc., and the embodiments of the present application do not limit this.

[0062] Exemplarily, when it is determined that there is no foreign object in the target gap, the safety circuit is turned on, that is, the train departs from the station. After the gap detection system obtains the departure information of the train, it stops detecting.

[0063] In some embodiments, a combined radar and camera device generally can output two video streams externally, namely a video of the main stream type and a video of the sub-stream type. Generally, the main stream video has a higher pixel count, while the sub-stream video has a lower pixel count. Decoding the sub-stream video with a lower pixel count requires fewer hardware resources, and the sub-stream video can be displayed when a trigger event for video display occurs.

[0064] Among them, the trigger event can be that the user views the videos of all door heads (i.e., all combined radar and camera devices) through a workstation. For example, a businessperson uses the gap system monitoring software installed on the workstation to display the sub-stream videos of n combined radar and camera devices. View the gap videos of n combined radar and camera devices to confirm whether there are foreign objects in the gap to ensure train operation safety.

[0065] Of course, the video can also be displayed and stored through an automated control process. The following is an exemplary description, which includes the following steps (1) to (5):

[0066] (1) After the gap detection system receives the signal that the platform screen door is closed and locked, the laser controller will send this signal to n combined radar and camera devices, and the n combined radar and camera devices will start to store the gap videos in their own memories in real time. The stored gap video stream is the main stream with high pixels. After the train has left, the laser controller will send a train departure signal to the n combined radar and camera devices, and the n combined radar and camera devices will stop storing the gap videos. When the stored video of the combined radar and camera device reaches the storage capacity, the previous gap videos will be cyclically overwritten. The storage method is not limited to the above-mentioned storage when the door opens, stops when the train leaves, and cyclically overwrites. It can also be continuous storage and cyclic overwrite.

[0067] (2) Similarly, the storage of the point cloud data in the n combined radar and camera devices can be completed in the same way as in step (1) above, which will not be elaborated here.

[0068] (3) After the gap detection system receives the closing signal of the platform screen door and closes, the gap system uses the data returned by the combined radar and camera device to confirm whether all train doors are closed. When it is determined that all train doors are closed, the gap detection system sends a gap detection signal to the combined radar and camera device, and the radar in the combined radar and camera device starts to scan the gap, and the camera in the combined radar and camera device starts to take videos of the gap.

[0069] (4) If the laser controller of the laser control cabinet receives the foreign object alarm data of the i-th thunder and vision integrated machine, the laser controller will send an alarm signal to the workstation, and the workstation will automatically display the auxiliary code stream video of the i-th thunder and vision integrated machine. And the alarm video will be intercepted from the stored video of the thunder and vision integrated machine and stored in the workstation. The interception period can start when the platform screen door is closed and the locking signal is closed, and end after the foreign object is processed or when the safety circuit is turned on. The staff can retrieve the intercepted video to view the foreign object situation. Of course, the start time of the interception period can also be advanced, for example, it can be 15 seconds before the platform screen door is closed and the locking signal is closed or 15 seconds before the foreign object alarm; and the end time of the interception period can be postponed, for example, it can be 15 seconds after the safety circuit is turned on.

[0070] (5) Similarly, the workstation can also complete the process in the same way as in step (4) above, and upload the video alarm data of the i-th thunder and vision integrated machine through the network. For example, the workstation can intercept the video from the i-th thunder and vision integrated machine and transmit it through the network, and determine the start time and end time through the network protocol.

[0071] If all the thunder and vision integrated machines report no foreign objects, the safety circuit is turned on, the train departs from the station, and after the gap detection system obtains the train departure information, the detection process stops.

[0072] Exemplarily, the determination of the foreign object alarm of the i-th thunder and vision integrated machine is as follows, including steps (a) to (b):

[0073] (a) After the i-th thunder and vision integrated machine receives the gap detection signal, it starts to scan whether there is a foreign object in the gap. Specifically, the i-th thunder and vision integrated machine determines whether there is a foreign object by whether there is a point falling within the alarm area. After multiple frames of data are determined, when multiple consecutive frames of point clouds all indicate that there is a foreign object continuously existing within the alarm area, it is determined that there is a foreign object in the gap; then the distance between the foreign object and the i-th thunder and vision integrated machine is determined as S; the i-th thunder and vision integrated machine adjusts the focus of the camera in the i-th thunder and vision integrated machine according to the distance S of the foreign object within the alarm area, focuses on the foreign object, and saves the picture or video of the foreign object. The picture or video of the foreign object and the point cloud data for determining the foreign object are stored inside the i-th thunder and vision integrated machine.

[0074] (b) When the i-th radar-vision integrated unit determines that no point falls within the alarm area, the i-th radar-vision integrated unit determines whether there is a foreign object at the threshold boundary by comparing the current video data with the stored video data without foreign objects. When it is determined that there is a foreign object, the parameters of the radar in the i-th radar-vision integrated unit are adjusted to improve the detection accuracy of the radar, and the radar is used again to detect foreign objects in the gap to determine the thickness of the foreign object. If the thickness of the foreign object is greater than the threshold value, it is confirmed that there is indeed a foreign object, and the video and point cloud of the foreign object alarm are stored in the i-th radar-vision integrated unit. If the thickness of the foreign object is less than or equal to the threshold value, no foreign object is reported (i.e., no foreign object alarm is triggered). After repeated confirmation of the video and point cloud, the detection accuracy of the i-th radar-vision integrated unit for foreign objects is improved.

[0075] The following combines specific embodiments to exemplarily illustrate the gap detection method provided by this application.

[0076] In one embodiment of this application, there is provided a Figure 3 gap detection method as shown in the figure. Applied to a gap detection system, it can be understood that the following description is only an example and does not constitute a limitation on the protection scope of this application. As Figure 3 shown in the figure, this method may include S301 to S302. The following explains each step.

[0077] Step S301: After determining that all sliding doors in the platform screen door are closed, perform door detection to determine whether all train doors of the train are closed.

[0078] In the embodiment of this application, the gap detection system is set in the platform screen door system. Therefore, the gap detection system can directly obtain relevant information about the platform screen door from the platform screen door system, such as whether all sliding doors in the platform screen door are closed.

[0079] It can be understood that when performing door detection to determine whether all train doors of the train are closed, the data used is the first detection data. In the embodiment of this application, when performing door detection, the actual first detection data used is the data obtained by the gap detection system through data acquisition of the target gap. The type of the first detection data is related to the specific detection devices included in the gap detection system. For example, if the detection device included in the gap detection system is a lidar, then the first detection data includes the point cloud data obtained by the lidar scanning the target gap. If the detection device included in the gap detection system is a camera, then the first detection data includes the video data obtained by the camera taking pictures of the target gap, which will not be elaborated here.

[0080] In the embodiment of this application, there are many methods for judging the opening and closing state of the train doors. According to the different data types of the data collected by the gap detection system (i.e., the first detection data), different methods can be used to judge the opening and closing state of the train doors.

[0081] For example, if the data collected by the gap detection system includes point cloud data and video data. When judging the opening and closing state of the train door, it can be judged according to the point cloud data, video data, or the combination of point cloud data and video data.

[0082] Figure 4 It is a schematic diagram of the detection device in the gap detection system of an embodiment of the present application for collecting data on the target gap. As shown in Figure 4, in this embodiment, the detection device for data collection in the gap detection system is a 4-line lidar 410. The 4-line lidar 410 emits four laser beams, namely the first laser beam 411, the second laser beam 412, the third laser beam 413, and the fourth laser beam 414. Among them, the first laser beam 411 hits the train door 420, and the fourth laser beam 414 hits the platform screen door 430.

[0083] When the train door is in the closed state, a continuous curve will be formed in the point cloud map of the first laser beam 411, specifically as shown in Figure 5 Figure a in. When the door is in the open state, the first laser beam 411 will hit the inside of the train, thus forming a discontinuous curve in the point cloud image, specifically as shown in Figure 5 Figure b in. The middle part of the curve includes the points formed by the first laser beam 411 hitting the inner bottom of the train. Therefore, it is possible to judge whether the train door scanned by the lidar 410 is closed according to the difference in the point cloud map obtained by the radar.

[0084] When judging the opening and closing of the train door according to the difference in the point cloud map, it can be determined by counting the points in the point cloud. For example, when N points reach a specified range (for example, between 2.6m and 3.0m, that is, the range of the point cloud at the inner bottom of the train), it is judged that the train door is open, otherwise it is judged that the train door is closed; alternatively, it can also be determined by using the change in the slope of the point cloud. This application will not elaborate on this.

[0085] In some embodiments, after judging the opening and closing state of the train door, the confidence level of the judgment result can also be determined. For example, when the train door is in the open state, the preset number of points that can reach the specified range is M, and the actual number of points that reach is M1. Then the confidence level of the result of judging that the train door is in the open state can be M1 / M, that is, the confidence level is obtained by dividing M1 by M.

[0086] In some embodiments, the opening and closing state of the train door can also be determined through video data. By using image processing, the judgment result of the opening and closing of the train door is output. For example, machine learning or deep learning models can be used to identify the image, and then the judgment result is obtained. This will not be elaborated here.

[0087] In some embodiments, the gap detection system includes a detection device and a controller. The detection device for collecting data on the target gap is an integrated radar and vision device, which directly outputs the determination result of the opening and closing state of the train door to the controller of the gap detection system; or the controller of the gap detection system (such as Figure 2 the workstation shown) can also perform image processing operations on the frequency data generated by the integrated radar and vision device to determine the opening and closing state of the train door, and can also obtain the confidence level corresponding to the determination result.

[0088] In some other embodiments, fusion determination can also be performed through point cloud and video. For example, the first determination result and the confidence level of the first determination result can be obtained by using the point cloud, the second determination result and the confidence level of the second determination result can be obtained by using the video data, and then the final determination result can be determined according to the first determination result and the confidence level of the first determination result, as well as the second determination result and the confidence level of the second determination result.

[0089] For example, the determination result (the first determination result or the second determination result) corresponding to the higher confidence level can be directly determined as the final determination result.

[0090] Step S302: If it is determined that all train doors of the train are closed, then foreign object detection is performed to determine the gap detection result. The gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap. The target gap is the gap between the platform screen door and the train.

[0091] It can be understood that when detecting the target gap to determine the gap detection result, the second detection data is used for the detection, where the second detection data is the data obtained by the gap detection system for collecting data on the target gap. The data types corresponding to the second detection data and the first detection data can be the same; the difference between the second detection data and the first detection data lies in the data collection time. Specifically: the collection time corresponding to the first detection data is after determining that all sliding doors of the platform screen door are closed and before determining that all train doors of the train are closed; while the collection time corresponding to the second detection data is after determining that all train doors of the train are closed and before the train leaves the station.

[0092] In the embodiments of the present application, the specific method for detecting the target gap to determine the gap detection result is related to the data type in the second detection data, which will not be elaborated here.

[0093] It can be understood that if it is determined in step S301 that not all train doors of the train are closed, that is, at least one train door is in the open state, then return to step S301 to continue detecting the target gap until all train doors of the train are in the closed state.

[0094] In the gap detection method in the above embodiments, after determining that all sliding doors in the platform screen door are closed, it is first determined whether all train doors are closed. When it is determined that all train doors are closed, the gap detection result is then determined. This can avoid giving a false gap detection result when the train doors are not closed, and improve the accuracy of the detection result.

[0095] In some embodiments, the gap detection method further includes: if a foreign object exists in the target gap in the gap detection result, a foreign object alarm is issued.

[0096] In some embodiments, the third video data includes a video of the main stream type and a video of the sub-stream type. The third video data is determined according to the first detection data and the second detection data. The clarity of the video of the main stream type is higher than that of the video of the sub-stream type; the video of the main stream type is used to determine whether all train doors of the train are closed and to determine the gap detection result, and the video of the sub-stream type is used for display to the user. In this embodiment, the video data includes two types of data, the main stream and the sub-stream. The main stream video is used for detection to improve the detection accuracy; the sub-stream video is used for display to ensure the display speed.

[0097] In some embodiments, the method further includes: receiving a trigger event, where the trigger event includes: a foreign object exists in the target gap in the gap detection result; in response to the trigger event, a video related to the foreign object in the target gap is displayed. In this embodiment, when a foreign object exists in the target gap in the gap detection result, the video related to the foreign object is displayed, and the video display is relatively timely, so that the user can see the foreign object video in the first time.

[0098] Exemplarily, the video displayed related to the foreign object in the target gap is a sub-stream video. Since the sub-stream video is a video with lower clarity, the processing speed is increased by displaying the sub-stream video, so as to facilitate the quick display of the video.

[0099] In some embodiments, the gap detection system includes a detection device, and the method further includes: determining the installation state of the detection device according to the detection data collected by the detection device, where the installation state includes an abnormal state or a normal state, and the detection data includes data for determining whether all train doors of the train are closed and / or data for determining the gap detection result; if the installation state is an abnormal state, a prompt message indicating that the detection device is abnormal is displayed. In this embodiment, when it is determined according to the detection data that the installation state of the detection device is an abnormal state, a prompt message is sent to the user, so as to ensure that the user can correct the detection device in time and ensure the stability of the system.

[0100] In some embodiments, the gap detection system includes a lidar and a camera. The following is an exemplary description of the specific solution for determining the gap detection result in step S302 with reference to the accompanying drawings.

[0101] Figure 6 This is a schematic flowchart of detecting a target gap and determining a gap detection result in a gap detection method according to an embodiment of the present application. As Figure 6 shown, the process of detecting a target gap and determining a gap detection result includes: S601 to S606. Each step will be described below.

[0102] S601. Control the lidar to scan the target gap to obtain first point cloud data.

[0103] S602. Control the camera to scan the target gap to obtain first video data.

[0104] It can be understood that the gap detection system in this embodiment includes a lidar and a camera. The lidar and the camera can be independent devices; the lidar and the camera can also be integrated devices. For example, the gap detection system can include a combined lidar and camera device, which has both the functions of a lidar and a camera. The specific forms of the lidar and the camera in the embodiments of the present application are not limited.

[0105] S603. Perform target detection on the target gap according to the first point cloud data to determine a first detection result.

[0106] In the embodiment of the present application, the first detection result can be that there is a foreign object in the target gap, or it can also be that there is no foreign object in the target gap.

[0107] Exemplarily, the first point cloud data includes multiple frames of point clouds. S603 specifically includes: determining whether there is a point in the first frame of point cloud that falls within the alarm area, where the first frame of point cloud is any one of the multiple frames of point clouds; if there are N frames of point clouds in the multiple frames of point clouds that have points falling within the alarm area, and the N frames of point clouds are temporally continuous point clouds, then it is determined that there is a foreign object in the target gap, where N is an integer greater than 2; otherwise, it is determined that there is no foreign object in the target gap. Determining whether there is a foreign object in the target gap through N consecutive frames of point clouds in the first point cloud data has relatively high accuracy.

[0108] It should be understood that the alarm area can also be referred to as the placement area of the lidar. For example, the alarm area can be in the target gap: the range from 0.1 meter above the ground to 2 meters above the ground in the area responsible for the lidar.

[0109] It can be understood that performing target detection according to point cloud data is a conventional technical means in the art and will not be elaborated here.

[0110] S604. If the first detection result indicates that there is a foreign object in the target gap, determine the first detection result as the gap detection result.

[0111] In the embodiments of the present application, the first detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap. When the first detection result indicates that there is a foreign object in the target gap, the first detection result is determined as the gap detection result. Since the lidar has a high detection accuracy for the presence of foreign objects, when the lidar detects a foreign object, it is confirmed that there is a foreign object in the target gap.

[0112] S605. If the first detection result indicates that there is no foreign object in the target gap, perform target detection on the target gap according to the first video data to determine the second detection result.

[0113] S606. Determine the gap detection result according to the second detection result.

[0114] In some embodiments, when it is determined according to the first point cloud data that there is a foreign object in the target gap, the gap detection method further includes: determining the position information of the foreign object in the target gap according to the first point cloud data; controlling the camera in the gap detection system to focus on the foreign object in the target gap according to the position information of the foreign object in the target gap, and performing video shooting to obtain video data related to the foreign object in the target gap; controlling the storage and / or display of the video data related to the foreign object in the target gap. In this embodiment, the gap detection system includes both a lidar and a camera. When the lidar detects a foreign object, the camera is controlled to focus on the foreign object to obtain a clear video of the foreign object for the user to view and review the detection result.

[0115] In Figure 6 In the shown embodiment, the gap detection system includes both a lidar and a camera. When the lidar does not detect a foreign object, the video data captured by the camera is used for secondary detection to avoid missing the detection of foreign objects.

[0116] In some embodiments, determining the gap detection result according to the second detection result includes: if the second detection result indicates that there is a foreign object in the target gap, adjusting the parameters of the lidar to improve the detection accuracy of the lidar; scanning the target gap with the lidar after parameter adjustment to obtain the second point cloud data; determining the gap detection result according to the second point cloud data. In this embodiment, when it is determined according to the video data that there is a foreign object, by improving the accuracy of the lidar, the gap detection result is determined again based on the second point cloud data of the lidar, further improving the accuracy of the result.

[0117] In some embodiments, determining a gap detection result based on the second point cloud data includes: determining the thickness of a foreign object in a target gap according to the second point cloud data; if it is determined that the thickness of the foreign object in the target gap is greater than a preset thickness threshold, determining that there is a foreign object in the target gap in the gap detection result; if it is determined that the thickness of the foreign object in the target gap is less than or equal to the preset thickness threshold, determining that there is no foreign object in the target gap in the gap detection result. In this embodiment, according to the second point cloud data, the thickness of the foreign object, a foreign object is determined to exist only when the thickness of the foreign object is greater than the preset thickness threshold, and foreign objects such as paper sheets and thin lines that do not affect operation can be ignored, reducing unnecessary foreign object alarms.

[0118] It can be understood that the preset thickness threshold can be set as needed. For example, it can be 5 millimeters, or 1 centimeter, etc. This application will not elaborate on this.

[0119] In some embodiments, the gap detection system includes a controller and multiple detection devices. The controller is communicatively connected to each of the multiple detection devices respectively, and each detection device corresponds to a part of the target gap; this will be described below with reference to the accompanying drawings.

[0120] Figure 7 It is a flowchart of a gap detection method provided by an embodiment of this application. As Figure 7 shown, the method includes:

[0121] S701. After the controller determines that all sliding doors in the screen door are closed, it sends a first detection instruction to a first detection device, where the first detection device is any one of the multiple detection devices.

[0122] S702. The first detection device detects the train door corresponding to the first detection device according to the first detection instruction, obtains a first result corresponding to the first detection device, and sends the first result to the controller. The first result indicates whether the train door corresponding to the first detection device is closed, and each of the multiple detection devices corresponds to a first result.

[0123] S703. The controller determines whether all train doors of the train are closed according to the first result corresponding to each of the multiple detection devices.

[0124] S704. If the controller determines that all train doors of the train are closed, it sends a second detection instruction to the first detection device.

[0125] S705. The first detection device performs foreign object detection on a partial gap of the target gap corresponding to the first detection device according to the second detection instruction, determines a second result corresponding to the first detection device, and sends the second result to the controller. The second result indicates whether there is a foreign object in the partial gap of the target gap corresponding to the first detection device. Each detection device among the multiple detection devices corresponds to a first result.

[0126] S706. The controller determines a gap detection result according to the second result corresponding to each detection device among the multiple detection devices.

[0127] Exemplarily, the detection device can be a radar-vision integrated machine, that is, the gap detection system includes a controller and multiple radar-vision integrated machines.

[0128] In Figure 7 In the illustrated embodiment, each detection device is used to process the detected data collected by itself to obtain a preliminary result and send the preliminary result to the controller for processing. The controller obtains a final result through comprehensive judgment of the preliminary results. In this implementation method, the detection device can complete the detection of the opening and closing of the train door and the detection of whether there is a foreign object in the target gap without uploading the collected data, which can reduce the requirements for the data transmission performance between the detection device and the controller in the gap detection system and ensure the efficiency of data processing.

[0129] It can be understood that in some other embodiments, the detection device can be only used for collecting detection data. The detection device sends the collected data to the controller in the gap detection system for processing, that is, the controller in the gap detection system determines whether all train doors of the train are closed according to the received data and determines the gap detection result. This application will not elaborate on this.

[0130] In some other embodiments, the gap detection system includes a detection device and a controller. The detection device collects first detection data and determines whether all train doors of the train are closed according to the first detection data. If the detection device determines that all train doors are closed, it collects second detection data and sends the second detection data to the controller. The controller determines the gap detection result according to the received second detection data.

[0131] In some other embodiments, the gap detection system includes a detection device and a controller. The detection device collects first detection data and sends the first detection data to the controller. The controller determines whether all train doors of the train are closed according to the first detection data. If the controller determines that all train doors are closed, it controls the detection device to collect second detection data. The detection device determines the gap detection result according to the second detection data.

[0132] It should be understood that both the detection device and the controller can be used to determine whether all train doors of the train are closed and to determine the gap detection result, and the present application does not make specific limitations thereto.

[0133] In some embodiments, if the gap detection result is that there is a foreign object in the target gap, the method further includes: the controller obtains and stores video data related to the foreign object in the target gap from at least one of the multiple detection devices.

[0134] Exemplarily, the controller obtains video data related to the foreign object in the target gap. Specifically, the controller intercepts the video related to the foreign object from the video stored in the detection device (such as a combined radar and vision device) where the foreign object alarm occurs and stores it locally. The time period of the intercepted video can start when all the sliding doors of the platform screen door are closed and end after the foreign object is processed or after the safety circuit is turned on. The staff can retrieve the intercepted video to view the situation of the foreign object. Of course, the start time of the time period of the intercepted video can also be advanced, for example, it can be 15 seconds before the platform screen door is closed and the locking signal is closed or 15 seconds before the foreign object alarm; and the end time of the time period of the intercepted video can be postponed, for example, it can be 15 seconds after the safety circuit is turned on.

[0135] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0136] Corresponding to the gap detection method in the above embodiments, Figure 8 The structural block diagram of a gap detection device provided by an embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0137] Referring to Figure 8 , the gap detection device 800 includes: a first determination unit 810 and a second determination unit 820, where:

[0138] The first determination unit 810 is configured to perform door detection after determining that all the sliding doors in the platform screen door are closed, and determine whether all the train doors of the train are closed;

[0139] The second determination unit 820 is configured to perform foreign object detection if it is determined that all the train doors of the train are closed, and determine the gap detection result. The gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap, and the target gap is the gap between the platform screen door and the train.

[0140] In one embodiment, the gap detection system includes a lidar and a camera. The second determination unit 820 performs foreign object detection to determine the gap detection result, including: controlling the lidar to scan the target gap to obtain first point cloud data; performing target detection on the target gap according to the first point cloud data to determine the first detection result; if the first detection result is that there is a foreign object in the target gap, determining the first detection result as the gap detection result;

[0141] The gap detection device 800 further includes: a position information determination unit, a position information determination unit, a first control unit, and a second control unit, where:

[0142] The position information determination unit is configured to determine the position information of the foreign object in the target gap if based on the first point cloud data;

[0143] The first control unit is configured to control the camera in the gap detection system to focus on the foreign object in the target gap and perform video shooting according to the position information of the foreign object in the target gap to obtain video data related to the foreign object in the target gap;

[0144] The second control unit is configured to control the storage and / or display of the video data related to the foreign object in the target gap.

[0145] In one embodiment, the gap detection system includes a lidar and a camera. The second determination unit 820 is configured to perform foreign object detection to determine the gap detection result, including: controlling the lidar to scan the target gap to obtain first point cloud data; controlling the camera to take a picture of the target gap to obtain first video data; performing target detection on the target gap according to the first point cloud data to determine the first detection result; if the first detection result is that there is no foreign object in the target gap, performing target detection on the target gap according to the first video data to determine the second detection result; determining the gap detection result according to the second detection result.

[0146] In one embodiment, the second determination unit 820 is configured to determine the gap detection result according to the second detection result, including: if the second detection result is that there is a foreign object in the target gap, adjusting the parameters of the lidar to improve the detection accuracy of the lidar; using the lidar with adjusted parameters to scan the target gap to obtain second point cloud data; determining the gap detection result according to the second point cloud data.

[0147] In one embodiment, the second determination unit 820 is configured to determine a gap detection result according to the second point cloud data, including: determining the thickness of a foreign object in the target gap according to the second point cloud data; if it is determined that the thickness of the foreign object in the target gap is greater than a preset thickness threshold, determining that the gap detection result is that there is a foreign object in the target gap; if it is determined that the thickness of the foreign object in the target gap is less than or equal to the preset thickness threshold, determining that the gap detection result is that there is no foreign object in the target gap.

[0148] In one embodiment, the third video data includes a video of the main stream type and a video of the secondary stream type. The third video data is determined according to the first detection data and the second detection data. The clarity of the video of the main stream type is higher than that of the video of the secondary stream type; the video of the main stream type is used to determine whether all the train doors of the train are closed, and is used to determine the gap detection result, and the video of the secondary stream type is used for display to the user.

[0149] In one embodiment, the gap detection device 800 further includes: a receiving unit and a first control display unit, where: the receiving unit is configured to receive a trigger event, and the trigger event includes: the gap detection result is that there is a foreign object in the target gap; the first control display unit is configured to, in response to the trigger event, control the display of a video related to the foreign object in the target gap.

[0150] In one embodiment, the gap detection system includes a detection device, and the gap detection device 800 further includes: an installation state determination unit and a second control display unit, where: the installation state determination unit is configured to determine the installation state of the detection device according to the detection data collected by the detection device, and the installation state includes an abnormal state or a non-abnormal state, and the detection data includes data for determining whether all the train doors of the train are closed, and / or data for determining the gap detection result; the second control display unit is configured to, if the installation state is an abnormal state, control the display of a prompt message indicating that the detection device is abnormal.

[0151] It should be noted that for the information interaction, execution process, etc. between the above-mentioned devices / units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought, for details, please refer to the method embodiment part, and will not be elaborated here.

[0152] Figure 9 The internal structure diagram of the electronic device provided in an embodiment of the present application is as Figure 9 shown. The electronic device 90 in this embodiment includes: at least one processor 900 ( Figure 9 only one processor is shown in the figure), a memory 901, and a computer program 902 stored in the memory 901 and executable on at least one processor 900.

[0153] To execute the gap detection method according to an embodiment of the present application, when the processor 900 executes the computer program 902: after determining that all sliding doors in the platform screen door are closed, detect a target gap and determine whether all train doors of the train are closed; if it is determined that all train doors of the train are closed, detect the target gap to determine a gap detection result, where the gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap.

[0154] The electronic device 90 may include, but is not limited to, a processor 900 and a memory 901. Those skilled in the art can understand that Figure 9 This is merely an example of the electronic device 90 and does not constitute a limitation on the electronic device 90. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0155] The so-called processor 900 may be a central processing unit (CPU), and the processor 900 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0156] In some embodiments, the memory 901 may be an internal storage unit, such as a hard disk or memory. In other embodiments, the memory 901 may also be an external storage device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 901 may also include both an internal storage unit and an external storage device. The memory 901 is used to store an operating system, application programs, a boot loader, data, and other programs, such as program codes of computer programs. The memory 901 may also be used to temporarily store data that has been output or is to be output.

[0157] Those skilled in the art can understand that Figure 9The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0158] In one embodiment, an electronic device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0159] This application embodiment also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above various method embodiments can be implemented.

[0160] This application embodiment provides a computer program product. When the computer program product runs on a controller, it causes the controller to execute the steps in the above various method embodiments when executed.

[0161] This application embodiment also provides a chip, including: a processor, configured to call and run a computer program from a memory, so that a computer device installed with the chip executes the steps in the above various method embodiments.

[0162] In the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0164] In the embodiments provided in this application, it should be understood that the disclosed device / equipment and method can be implemented in other ways. For example, the device / equipment embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0165] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0167] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0168] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A gap detection method, characterized in that, Applied to a gap detection system, the method includes: After determining that all sliding doors in the platform screen door are closed, perform door detection to determine whether all train doors of the train are closed. If it is determined that all train doors of the train are closed, perform foreign object detection to determine the gap detection result, where the gap detection result includes that there is a foreign object in the target gap or there is no foreign object in the target gap, and the target gap is the gap between the platform screen door and the train.

2. The method according to claim 1, wherein The gap detection system includes a lidar and a camera. The performing foreign object detection to determine the gap detection result includes: Control the lidar to scan the target gap to obtain first point cloud data. Perform target detection on the target gap according to the first point cloud data to determine the first detection result. If the first detection result is that there is a foreign object in the target gap, determine the first detection result as the gap detection result. The method further includes: Determine the position information of the foreign object in the target gap according to the first point cloud data. According to the position information of the foreign object in the target gap, control the camera in the gap detection system to focus on the foreign object in the target gap and perform video shooting to obtain video data related to the foreign object in the target gap. Control the storage and / or display of the video data related to the foreign object in the target gap.

3. The method according to claim 1, wherein The gap detection system includes a lidar and a camera. The performing foreign object detection to determine the gap detection result includes: Control the lidar to scan the target gap to obtain first point cloud data. Control the camera to shoot the target gap to obtain first video data. Perform target detection on the target gap according to the first point cloud data to determine the first detection result. If the first detection result is that there is no foreign object in the target gap, perform target detection on the target gap according to the first video data to determine the second detection result. Determine the gap detection result according to the second detection result.

4. The method according to claim 3, characterized in that, The determining the gap detection result according to the second detection result includes: If the second detection result is that there is a foreign object in the target gap, adjust the parameters of the lidar to improve the detection accuracy of the lidar. Use the lidar with adjusted parameters to scan the target gap to obtain second point cloud data. Determine the gap detection result according to the second point cloud data.

5. The method according to claim 4, wherein The determining the gap detection result according to the second point cloud data includes: Determine the thickness of the foreign object in the target gap according to the second point cloud data. If it is determined that the thickness of the foreign object in the target gap is greater than a preset thickness threshold, determine the gap detection result as that there is a foreign object in the target gap. If it is determined that the thickness of the foreign object in the target gap is less than or equal to the preset thickness threshold, determine the gap detection result as that there is no foreign object in the target gap.

6. The method according to claim 1, wherein The method further includes: Receive a trigger event, where the trigger event includes: the gap detection result is that there is a foreign object in the target gap. In response to the trigger event, control the display of the video related to the foreign object in the target gap.

7. The method according to claim 1, wherein The gap detection system includes detection devices, and the method further includes: Determining the installation state of the detection devices according to the detection data collected by the detection devices, where the installation state includes an abnormal state or a non-abnormal state, and the detection data includes data for determining whether all train doors of the train are closed, and / or data for determining the gap detection result; If the installation state is an abnormal state, controlling to display a prompt message indicating that the detection devices are abnormal.

8. The method according to any one of claims 1 to 7, characterized in that, The gap detection system includes a controller and multiple detection devices, the controller is communicatively connected to each of the multiple detection devices respectively, and each detection device corresponds to a partial gap of the target gap; After determining that all sliding doors in the platform screen door are closed, performing door detection to determine whether all train doors of the train are closed, including: After the controller determines that all sliding doors in the platform screen door are closed, sending a first detection instruction to a first detection device, where the first detection device is any one of the multiple detection devices; The first detection device detects the train door corresponding to the first detection device according to the first detection instruction, obtains a first result corresponding to the first detection device, and sends the first result to the controller, where the first result indicates whether the train door corresponding to the first detection device is closed, and each of the multiple detection devices corresponds to a first result; The controller determines whether all train doors of the train are closed according to the first result corresponding to each of the multiple detection devices; If it is determined that all train doors of the train are closed, performing foreign object detection to determine the gap detection result, including: If the controller determines that all train doors of the train are closed, sending a second detection instruction to the first detection device; The first detection device performs foreign object detection on the partial gap of the target gap corresponding to the first detection device according to the second detection instruction, determines a second result corresponding to the first detection device, and sends the second result to the controller, where the second result indicates whether there is a foreign object in the partial gap of the target gap corresponding to the first detection device, and each of the multiple detection devices corresponds to a second result; The controller determines the gap detection result according to the second result corresponding to each of the multiple detection devices.

9. The method according to claim 8, wherein If the gap detection result is that there is a foreign object in the target gap, the method further includes: The controller obtains and stores video data related to the foreign object in the target gap from at least one of the multiple detection devices.

10. A gap detection device, characterized in that, The device includes units for performing each step of the method according to any one of claims 1 to 7.

11. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method according to any one of claims 1 to 7, or when the processor executes the computer program, it implements the steps performed by the controller or the detection device in the method according to claim 8 or 9.

12. A gap detection system, characterized in that, The gap detection system includes a detection device and a controller. The detection device is communicatively connected to the controller. The detection device is configured to perform the steps performed by the detection device in the method according to claim 8 or 9, and the controller is configured to perform the steps performed by the controller in the method according to claim 8 or 9.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 7, or when the processor executes the computer program, it implements the steps performed by the controller or the detection device in the method according to claim 8 or 9.

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