Metro platform screen door and train door gap detection device based on laser radar
By designing a lidar gap detection device with adjustment bracket, the problem of inaccurate installation angles and low perception requirements for the detection of gaps between subway shield doors and train doors in rail transit is solved, and rapid and accurate installation and real-time angle adjustment are achieved, which improves detection accuracy and reliability.
Patent Information
- Application Number
- CN202323534906.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-22
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2033-12-22
AI Technical Summary
In the prior art, the gap detection device between the subway shield door and the train door in rail transit is difficult to meet the requirements of autonomous driving perception, and the installation angle of the lidar equipment is not accurate, resulting in poor detection effect.
A gap detection device for subway shield doors and train doors based on lidar is designed. The device includes a base, adjustment bracket, lidar, camera module and prompt module. The horizontal and vertical adjustment of lidar and camera modules is achieved through the adjustment bracket, ensuring the accurate angle during installation, and real-time detection of angle changes during use.
The device can be installed quickly and accurately on the shield door, reducing installation difficulty, and adjusting the angle in real time during the detection process, improving detection accuracy and reliability, and adapting to the high perception requirements of autonomous driving of rail transit.
Smart Images
Figure CN222618780U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of radar detection technology, and in particular to a gap detection device for subway screen doors and train doors based on laser radar. Background Art
[0002] Currently in rail transit, it is necessary to detect whether there are debris in the gap between the shield door and the train door in order to achieve the purpose of anti-pinch. Mechanical anti-pinch devices are used in related technologies, but with the rapid development of rail transit automatic driving technology, mechanical anti-pinch devices are difficult to meet the perception requirements. Although laser radar-type perception equipment has also appeared, there is also the problem of inaccurate installation angle. Summary of the invention
[0003] In order to solve at least one of the technical problems mentioned above, the present disclosure proposes a gap detection device for subway screen doors and train doors based on laser radar.
[0004] According to some embodiments of the present disclosure, a laser radar-based gap detection device for subway screen door and train door is provided, the detection device comprising: a base, fixedly mounted on the top of the subway screen door on one side close to the train door; a first adjustment bracket, movably mounted on the side of the base close to the train door, the first adjustment bracket can move horizontally relative to the base; a second adjustment bracket, movably mounted on the side of the first adjustment bracket away from the base, the second adjustment bracket can move vertically; a laser radar, fixedly mounted on the second adjustment bracket, the transmitting end of the laser radar is vertically downward, used for detecting the gap between the subway screen door and the train door, the laser radar is communicatively connected to the control device of the peripheral device; a camera module, fixedly mounted on the second adjustment bracket, the camera of the camera module is vertically downward, used for photographing the gap between the subway screen door and the train door and imaging, the camera module is communicatively connected to the control device; a prompt module, fixedly mounted on the second adjustment bracket, used for emitting sound and light prompts, the prompt module is communicatively connected to the control device.
[0005] Based on the above scheme, the detection device can be adjusted in both horizontal and vertical directions, so that the laser radar and camera modules can be aligned with the gap between the subway screen door and the train door, and the angle alignment result can be indicated through the prompt module, thereby reducing the difficulty of angle positioning during device installation and detecting the angle changes of the device in real time during the use of the device.
[0006] In some possible embodiments, the base includes a support frame, which includes a horizontal plate and a vertical plate vertically installed on both sides of the horizontal plate, one end of the vertical plate is connected to the end of the horizontal plate, a first reinforcing rib is arranged between the vertical plate and the horizontal plate, the other end of the vertical plate is connected to a mounting ear plate, the mounting ear plate is perpendicular to the vertical plate, and a second reinforcing rib is arranged between the mounting ear plate and the vertical plate.
[0007] Based on the above solution, the base is a sideways boss structure, which can be firmly installed on the top door frame of the shield door. The base structure has high strength and will not be affected by the wind pressure of the train and produce angular torsional deviation.
[0008] In some possible implementations, at least one waist-shaped hole is formed on each of the mounting ear plates, and a mounting piece is provided on the top of the side of the subway screen door close to the train door, and the mounting piece matches the waist-shaped hole.
[0009] Based on the above scheme, the detection device can be assembled first and then installed as a whole on the top of the shielding door to achieve rapid installation of the detection device. The preset mounting parts and waist-shaped holes match each other to achieve the effect of angle pre-adjustment.
[0010] In some possible embodiments, the first adjustment bracket includes a first mounting plate, the first mounting plate is parallel to the subway screen door, at least one first telescopic component is arranged on the first mounting plate, the first telescopic component is perpendicular to the first mounting plate, two ends of the first telescopic component are respectively connected to the first mounting plate and the base, and the first telescopic component is used to control the distance between the first mounting plate and the base.
[0011] Based on the above solution, at least one first telescopic assembly is provided to realize horizontal movement of the first mounting plate, and the more first telescopic assemblies are provided, the more flexible the horizontal adjustment angle of the first mounting plate is.
[0012] In some possible embodiments, the first telescopic assembly includes a first bolt, which passes through the base and the first mounting plate and extends to a side of the first mounting plate away from the base, the first bolt is sleeved with a first compression spring, the first compression spring is located between the base and the first mounting plate, and a first adjusting nut is threadedly connected to one end of the first bolt close to the first mounting plate.
[0013] Based on the above solution, the structure of the first telescopic assembly is simple and easy to implement, and the distance between the first mounting plate and the base can be adjusted by twisting the first adjusting nut.
[0014] In some possible embodiments, the second adjustment bracket includes a second mounting plate, a third mounting plate and at least one second telescopic component, the side edge of the second mounting plate is fixedly connected to the first adjustment bracket, the third mounting plate is installed below the second mounting plate through the at least one second telescopic component, the two ends of the second telescopic component are respectively connected to the second mounting plate and the third mounting plate, and the second telescopic component is used to control the distance between the second mounting plate and the third mounting plate.
[0015] Based on the above solution, at least one second telescopic component is provided to realize horizontal movement of the second mounting plate, and the more second telescopic components are provided, the more flexible the vertical adjustment angle of the second mounting plate is.
[0016] In some possible embodiments, the second telescopic assembly includes a second bolt, which passes through the second mounting plate and the third mounting plate and extends to the side of the third mounting plate away from the second mounting plate, the second bolt sleeve is provided with a second compression spring, the second compression spring is located between the second mounting plate and the third mounting plate, and the second bolt has a second adjusting nut threaded on one end close to the third mounting plate.
[0017] Based on the above solution, the structure of the second telescopic assembly is simple and easy to implement, and the distance between the second mounting plate and the third mounting plate can be adjusted by twisting the second adjusting nut.
[0018] In some possible embodiments, the laser radar emits at least three beams of light, at least one of the at least three beams of light is aimed at the subway screen door, at least one of the at least three beams of light is aimed at the train door, and at least one of the at least three beams of light is aimed at the gap between the subway screen door and the train door.
[0019] Based on the above scheme, the laser radar simultaneously detects the subway screen doors, train doors, and the gaps between the subway screen doors and train doors. When the angle of the detection device is changed by the wind pressure of the train, the laser radar can identify the detection results by emitting light.
[0020] In some possible implementations, the prompt module includes a buzzer, and the buzzer is used to prompt that the detection device has been adjusted to a specified position.
[0021] Based on the above scheme, after the detection device adjusts the angle to reach the correct position, the buzzer emits a sound to prompt correctness.
[0022] In some possible implementations, the prompt module includes an indicator light, and the indicator light is used to indicate an angular deviation state of the detection device.
[0023] Based on the above scheme, different indicator light alarms can be set according to whether the detection angle of the detection device is correctly aligned with the target area, thereby achieving the effect of real-time display of the angle status of the detection device, which is convenient for device maintenance.
[0024] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
[0025] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] In order to more clearly illustrate the technical solutions and advantages in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0027] Figure 1 A front view of a gap detection device for subway screen doors and train doors based on laser radar according to an embodiment of the present disclosure is shown;
[0028] Figure 2 A bottom view of a gap detection device for subway screen doors and train doors based on laser radar according to an embodiment of the present disclosure is shown;
[0029] Figure 3 A schematic diagram showing a base of a detection device according to an embodiment of the present disclosure;
[0030] Figure 4 A schematic diagram showing a first adjustment bracket of a detection device according to an embodiment of the present disclosure;
[0031] Figure 5 A schematic diagram showing a second adjustment bracket of a detection device according to an embodiment of the present disclosure;
[0032] Figure 6 A schematic diagram showing a prompt module of a detection device according to an embodiment of the present disclosure;
[0033] Figure 7 A front cutaway view showing a detection device for detecting the gap between a subway platform screen door and a train door according to an embodiment of the present disclosure installed on a rear air plate above the platform screen door;
[0034] Figure 8 A side cutaway view showing a detection device for detecting the gap between a subway platform screen door and a train door according to an embodiment of the present disclosure installed on a rear air plate above the platform screen door.
[0035] In the figure,
[0036] a-detection device; 1-base; 11-mounting ear plate; 12-waist-shaped hole; 2-first adjustment bracket; 21-first mounting plate; 22-first telescopic assembly; 3-second adjustment bracket; 31-second mounting plate; 32-second telescopic assembly; 33-third mounting plate; 4-laser radar; 5-camera module; 6-prompt module; 61-buzzer; 62-indicator light. DETAILED DESCRIPTION
[0037] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.
[0039] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.
[0040] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0041] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.
[0042] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.
[0043] With the rapid development of rail transit autonomous driving technology, the use of traditional mechanical anti-pinch technology in the gap between the shield door and the train door cannot meet the perception requirements of autonomous driving, which will pose a great safety hazard. Although the laser radar sensing equipment used in the relevant technology needs to be installed separately on the beam above the shield door or the rear wind plate, due to the narrow gap between the shield door and the train door, the installation position and angle of the sensing equipment are required to be high, and the laser radar spot is invisible to the naked eye, which greatly increases the difficulty of equipment installation and debugging. The installed equipment will also be affected by the wind pressure generated by the train and other external environmental factors for a long time, which will cause the deviation of the sensing direction angle, thereby affecting the detection results.
[0044] In order to solve the above technical problems, the present disclosure provides a gap detection device for subway screen doors and train doors based on laser radar. Figure 1 and Figure 2The detection device includes: a base 1, fixedly mounted on the top of a side of a subway screen door close to a train door; a first adjustment bracket 2, movably mounted on a side of the base 1 close to the train door, and the first adjustment bracket 2 can move horizontally relative to the base 1; a second adjustment bracket 3, movably mounted on a side of the first adjustment bracket 2 away from the base 1, and the second adjustment bracket 3 can move vertically; a laser radar 4, fixedly mounted on the second adjustment bracket 3, with the transmitting end of the laser radar 4 pointing vertically downward, for detecting the gap between the subway screen door and the train door, and the laser radar 4 is communicatively connected with the control device of the peripheral device; a camera module 5, fixedly mounted on the second adjustment bracket 3, with the camera of the camera module 5 pointing vertically downward, for photographing the gap between the subway screen door and the train door and imaging, and the camera module 5 is communicatively connected with the control device; a prompt module 6, fixedly mounted on the second adjustment bracket 3, for emitting sound and light prompts, and the prompt module 6 is communicatively connected with the control device. The main function of the detection device is that, on the one hand, when installing the detection device, the first adjustment bracket 2 and the second adjustment bracket 3 can realize the angles of the horizontal and vertical dimensions, so that the laser radar 4 and the camera module 5 are aimed at the target area, reducing the difficulty of initial installation and debugging; on the other hand, when the detection angle of the detection device is offset due to the influence of external force, the detection device can self-check and alarm, and then adjust the angle through the first adjustment bracket 2 and the second adjustment bracket 3 to correct it back to its original position. Among them, the first adjustment bracket 2 and the second adjustment bracket 3 together constitute an angle adjustment device.
[0045] In the embodiment of the present disclosure, the detection device detects whether there are pedestrians or debris in the gap between the subway screen door and the train door, so as to prevent the subway screen door from closing directly and causing pedestrians to be accidentally trapped and injured, or to prevent debris in the gap between the subway screen door and the train door from damaging the equipment. It should be understood that the detection device of the embodiment of the present disclosure is not limited to being installed on the subway screen door, but can also be used in other rail transit scenarios. The installation position of the detection device in the embodiment of the present disclosure is the top of the side of the subway screen door close to the train door, please refer to Figure 7 and Figure 8 , specifically, it can be a beam above the shield door or a rear wind plate.
[0046] In the embodiments of the present disclosure, please refer to Figure 3The base 1 includes a support frame, and the support frame includes a horizontal plate and vertical plates vertically installed on both sides of the horizontal plate. One end of the vertical plate is connected to the end of the horizontal plate, and a first reinforcing rib is arranged between the vertical plate and the horizontal plate. The other end of the vertical plate is connected to a mounting ear plate 11, and the mounting ear plate 11 is perpendicular to the vertical plate. A second reinforcing rib is arranged between the mounting ear plate 11 and the vertical plate. Based on the above configuration, the base 1 adopts a side-inverted boss structure, which is convenient for the laser radar 4 and the camera module 5 to align with the gap between the subway screen door and the train door, and also avoids the detection device from causing physical interference with the subway screen door components or train components. In order to ensure the strength of the boss structure, the base 1 uses two pairs of reinforcing ribs to ensure the overall stability of the detection device, ensuring that the laser radar 4 and the camera module 5 are accurate when performing detection.
[0047] In the embodiments of the present disclosure, please refer to Figure 3 , at least one waist-shaped hole 12 is provided on each mounting ear plate 11 of the base 1, and a mounting piece is provided on the top of the side of the subway screen door close to the train door, and the mounting piece matches the waist-shaped hole 12. Based on the above configuration, when installing the detection device, the components of the detection device can be assembled first, or a modular detection device product can be directly used, and the installation can be completed by matching the mounting piece with the waist-shaped hole 12. The mounting piece in this embodiment can be a bolt and nut piece, or a quick-release joint; similarly, the waist-shaped hole 12 in this embodiment can also be replaced by a mounting hole of other shapes or other mounting structures. In a specific embodiment, a group of bolts are pre-set on the crossbeam of the subway screen door, and the bolts are arranged in a rectangular shape. Two waist-shaped holes 12 are respectively provided on each mounting ear plate 11 of the base 1. When installing, align the waist-shaped hole 12 of the base 1 with the bolt, and screw the nut on, then adjust the position of the base 1 laterally, and finally tighten the nut. Through the above scheme, the detection device can be installed quickly and accurately.
[0048] In the embodiment of the present disclosure, the two adjustment brackets are components for realizing the angle adjustment of the detection device. Figure 4 The first adjustment bracket 2 includes a first mounting plate 21, the first mounting plate 21 is parallel to the subway screen door, and at least one first telescopic component 22 is arranged on the first mounting plate 21, the first telescopic component 22 is perpendicular to the first mounting plate 21, and the two ends of the first telescopic component 22 are respectively connected to the first mounting plate 21 and the base 1, and the first telescopic component 22 is used to control the distance between the first mounting plate 21 and the base 1. Please refer to Figure 5The second adjustment bracket 3 includes a second mounting plate 31, a third mounting plate 33 and at least one second telescopic component 32. The side edge of the second mounting plate 31 is fixedly connected to the first adjustment bracket 2. The third mounting plate 33 is installed under the second mounting plate 31 through at least one second telescopic component 32. The two ends of the second telescopic component 32 are respectively connected to the second mounting plate 31 and the third mounting plate 33. The second telescopic component 32 is used to control the distance between the second mounting plate 31 and the third mounting plate 33.
[0049] In the disclosed embodiment, a single telescopic component can realize the spacing control between the plates, but a single telescopic component can only control the displacement in one length direction and cannot cope with the situation of complex angle displacement. For example, in the first adjustment bracket 2, if only one first telescopic component 22 is included, then the movement trajectory of the first mounting plate 21 relative to the base 1 is a horizontal straight line, that is, the first mounting plate 21 and the base 1 remain horizontal and flush, and when the first mounting plate 21 produces an angle deviation relative to the horizontal line, such as an upward, downward, leftward or other angle deviation, the angle correction cannot be completed by only a single first telescopic component 22. To cope with this situation, more than two first telescopic components 22 are required. In a specific embodiment, the first adjustment bracket 2 includes four first telescopic components 22, and the four first telescopic components 22 are distributed at the four corners of the first mounting plate 21. Through the telescopic cooperation of the four first telescopic components 22, the offset angles in eight directions can be corrected. In another specific embodiment, the first adjustment bracket 2 includes more than eight first telescopic components 22, and more than eight first telescopic components 22 are distributed on the first mounting plate 21 according to a circular trajectory. Through the telescopic cooperation of the first telescopic components 22, more precise angle control can be achieved. Similarly, the second telescopic assembly 32 may also be configured according to the above-mentioned implementation manner, and no further elaboration will be given in the embodiment of the present disclosure.
[0050] In the embodiment of the present disclosure, the first telescopic assembly 22 and the second telescopic assembly 32 may be of different structures or of the same structure, for example, both are spring bolt structures. For details, please refer to Figure 4 The first telescopic assembly 22 includes a first bolt, which passes through the base 1 and the first mounting plate 21 and extends to the side of the first mounting plate 21 away from the base 1. The first bolt sleeve is provided with a first compression spring, which is located between the base 1 and the first mounting plate 21. The end of the first bolt close to the first mounting plate 21 is threaded with a first adjusting nut; please refer to Figure 5The second telescopic assembly 32 includes a second bolt, which passes through the second mounting plate 31 and the third mounting plate 33 and extends to the side of the third mounting plate 33 away from the second mounting plate 31. The second bolt sleeve is provided with a second compression spring, and the second compression spring is located between the second mounting plate 31 and the third mounting plate 33. The second bolt has a second adjusting nut screwed on one end close to the third mounting plate 33.
[0051] In some possible embodiments, the first telescopic assembly 22 and the second telescopic assembly 32 may also be configured as electric components, such as electric telescopic rods or screw rod structures driven by servo motors, etc. Through the above configuration, the difficulty of adjusting the angle of the detection device can be further reduced, and the accuracy of adjusting the angle can be improved.
[0052] In the disclosed embodiment, the laser radar 4 emits at least three beams of light, at least one of the at least three beams of light is aimed at the subway screen door, at least one of the at least three beams of light is aimed at the train door, and at least one of the at least three beams of light is aimed at the gap between the subway screen door and the train door. Based on the above configuration, the detection principle of the detection device is that the laser radar 4 simultaneously detects the subway screen door, the train door, and the gap between the subway screen door and the train door. Under normal circumstances, there is no person or foreign object in the gap between the subway screen door and the train door, and only the subway screen door and the train door can be detected. When there are people or foreign objects in the gap between the subway screen door and the train door, the control device issues an alarm based on the detection result of the laser radar 4, and issues an instruction to make the camera module 5 take pictures. In addition, the above configuration can also realize the angle self-check of the detection device. When the detection signal corresponding to the two beams of light used by the laser radar 4 to detect the subway screen door and the train door is missing, that is, the detection angle of the laser radar 4 is offset, the control device can issue an alarm through the prompt module 6. Among them, please refer to Figure 6 The prompt module 6 includes a buzzer 61 and an indicator light 62. The buzzer 61 is used to prompt that the detection device has been adjusted to the specified position. For example, when the detection device is installed or the angle of the detection device is corrected, if the detection angle of the laser radar 4 and the camera module 5 is accurate, the buzzer 61 will sound; the indicator light 62 is used to indicate the angle deviation status of the detection device. For example, when the detection angle of the laser radar 4 and the camera module 5 is accurate, the indicator light 62 will display green, and when the angle deviates, the indicator light 62 will display red.
[0053] In a specific implementation, please refer to Figure 8, the figure shows a side cut of the rear wind plate above the subway screen door and the detection device for detecting the gap between the screen door and the train door, wherein the laser radar 4 is a 4-line laser radar 4, that is, it emits 4 detection rays (light curtains), and the 4 layers of light curtains of the 4-line laser radar 4 are distributed in the gap, one layer of the light curtain hits the screen door, two layers of the light curtain hit the gap, and the last layer of the light curtain hits the train door. In this way, when there are people or cut cables in the gap, they can be identified. During the long-term operation of the equipment, it will be affected by the wind pressure of the train and external environmental factors, resulting in angle deviation. The 2 and 3-line light curtains used by the laser radar 4 to detect the gap will hit the car body and cause false alarms. Therefore, the laser radar 4 and the camera module 5 regularly self-check, compare the current point cloud and image data, and correct the angle in time.
[0054] In the disclosed embodiment, the laser radar 4 and the camera module 5 in the detection device can be two independent components, that is, the laser radar 4 and the camera module 5 are respectively installed on the second adjustment bracket 3; the laser radar 4 and the camera module 5 can also be integrated, that is, the laser radar 4 and the camera module 5 can be integrated into a separate module or device. In addition, the control device can also be integrated into the above-mentioned separate module or device, and communication interfaces such as a communication network port, a CAN port, and input and output hard wire IO are set. The camera module 5, the buzzer 61 and the indicator light 62 are controlled through the output hard wire IO, and other communication interfaces are used for data communication and function control with the controller of the gap detection.
[0055] In a specific embodiment, please refer to Figure 1-Figure 6 The camera module 5 and the prompt module 6 are integrated into the laser radar 4, that is, the laser radar 4 is an integrated laser-visual integrated device with a camera module 5, a buzzer 61 and an indicator light 62. The advantage of choosing to configure an integrated laser-visual integrated device is that it can simplify the structure of the detection device and reduce the size of the detection device.
[0056] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.
Claims
1. A gap detection device for subway screen doors and train doors based on laser radar, characterized in that: The detection device comprises: A base (1) is fixedly mounted on the top of the subway screen door on a side close to the train door; A first adjustment bracket (2) is movably mounted on a side of the base (1) close to the train door, and the first adjustment bracket (2) is movable in a horizontal direction relative to the base (1); A second adjustment bracket (3) is movably mounted on a side of the first adjustment bracket (2) away from the base (1), and the second adjustment bracket (3) is movable in a vertical direction; A laser radar (4) is fixedly mounted on the second adjustment bracket (3), the transmitting end of the laser radar (4) is vertically downward, and is used to detect the gap between the subway screen door and the train door. The laser radar (4) is communicatively connected with the control device of the peripheral device; A camera module (5) is fixedly mounted on the second adjustment bracket (3), the camera head of the camera module (5) is vertically downward, and is used to photograph the gap between the subway screen door and the train door and form an image, and the camera module (5) is in communication connection with the control device; A prompt module (6) is fixedly mounted on the second adjustment bracket (3) and is used to emit sound and light prompts. The prompt module (6) is communicatively connected to the control device.
2. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The base (1) comprises a support frame, the support frame comprises a horizontal plate and vertical plates vertically mounted on both sides of the horizontal plate, one end of the vertical plate is connected to the end of the horizontal plate, a first reinforcing rib is arranged between the vertical plate and the horizontal plate, the other end of the vertical plate is connected to a mounting ear plate (11), the mounting ear plate (11) is perpendicular to the vertical plate, and a second reinforcing rib is arranged between the mounting ear plate (11) and the vertical plate.
3. The gap detection device for subway screen door and train door based on laser radar according to claim 2 is characterized in that: At least one waist-shaped hole (12) is formed on each of the mounting ear plates (11); a mounting piece is provided on the top of the side of the subway screen door close to the train door, and the mounting piece matches the waist-shaped hole (12).
4. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The first adjustment bracket (2) comprises a first mounting plate (21), the first mounting plate (21) being parallel to the subway screen door, at least one first telescopic component (22) being arranged on the first mounting plate (21), the first telescopic component (22) being perpendicular to the first mounting plate (21), two ends of the first telescopic component (22) being respectively connected to the first mounting plate (21) and the base (1), and the first telescopic component (22) being used to control the distance between the first mounting plate (21) and the base (1).
5. The gap detection device for subway screen door and train door based on laser radar according to claim 4 is characterized in that: The first telescopic assembly (22) comprises a first bolt, the first bolt passing through the base (1) and the first mounting plate (21) and extending to a side of the first mounting plate (21) facing away from the base (1), the first bolt sleeve being provided with a first compression spring, the first compression spring being located between the base (1) and the first mounting plate (21), and a first adjusting nut being threadedly connected to one end of the first bolt close to the first mounting plate (21).
6. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The second adjustment bracket (3) comprises a second mounting plate (31), a third mounting plate (33) and at least one second telescopic component (32); the side edge of the second mounting plate (31) is fixedly connected to the first adjustment bracket (2); the third mounting plate (33) is mounted below the second mounting plate (31) through the at least one second telescopic component (32); two ends of the second telescopic component (32) are respectively connected to the second mounting plate (31) and the third mounting plate (33); the second telescopic component (32) is used to control the distance between the second mounting plate (31) and the third mounting plate (33).
7. The gap detection device for subway screen door and train door based on laser radar according to claim 6 is characterized in that: The second telescopic assembly (32) comprises a second bolt, which passes through the second mounting plate (31) and the third mounting plate (33) and extends to a side of the third mounting plate (33) away from the second mounting plate (31), the second bolt sleeve is provided with a second compression spring, the second compression spring is located between the second mounting plate (31) and the third mounting plate (33), and a second adjusting nut is screwed to one end of the second bolt close to the third mounting plate (33).
8. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The laser radar (4) emits at least three beams of light, at least one of the at least three beams of light is aimed at the subway screen door, at least one of the at least three beams of light is aimed at the train door, and at least one of the at least three beams of light is aimed at the gap between the subway screen door and the train door.
9. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The prompt module (6) comprises a buzzer (61), and the buzzer (61) is used to prompt that the detection device has been adjusted to a specified position.
10. The gap detection device for subway screen door and train door based on laser radar according to claim 1 is characterized in that: The prompt module (6) comprises an indicator light (62), and the indicator light (62) is used to indicate the angular deviation state of the detection device.