CN-117434512-B - Multi-carriage vehicle platform anti-pinch method and device based on laser radar

CN117434512BCN 117434512 BCN117434512 BCN 117434512BCN-117434512-B

Abstract

The invention provides a multi-carriage vehicle platform anti-pinch method and device based on a laser radar, which are used for detecting the positions, close to the junction between carriages, of the laser radar of pedestrians or foreign matters clamped between a vehicle body and a platform shielding door, on two sides of the vehicle body; the method comprises the steps of carrying out laser point cloud twice down sampling to obtain a first group of key points and a second group of key points, fitting a plane equation of a plane where a platform shielding door is located and a plurality of plane equations of planes where a plurality of carriage sides are located based on the first group of key points and the second group of key points respectively, carrying out fine segmentation on the laser point cloud according to the obtained plane equations, carrying out clustering processing on the results of the fine segmentation to detect pedestrians or foreign matters, estimating attribute information of the pedestrians or the foreign matters, and carrying out anti-pinch alarm and controlling carriage door opening and closing based on the attribute information.

Inventors

FENG JIANGHUA
HU YUNQING
LI XIAOGUANG
LI CHENG
YUAN XIWEN
PAN WENBO
LONG TENG

Assignees

中车株洲电力机车研究所有限公司

Dates

Publication Date: 20260512
Application Date: 20220712

Claims (10)

1. A multi-car vehicle dock anti-pinch method based on a lidar, wherein the lidar for detecting pedestrians or foreign objects pinched between a vehicle body and a dock screen door is installed at positions on both sides of the vehicle body near a junction between cars, the multi-car vehicle dock anti-pinch method comprising: Downsampling the point cloud acquired by the laser radar to divide the laser point cloud in a preset area; Performing secondary downsampling on the laser point cloud in the preset area to obtain a first group of key points, and fitting a plane equation of a plane where the platform shielding door is located based on the first group of key points; Performing secondary downsampling on the laser point cloud in the preset area to obtain a second group of key points, and fitting a plurality of plane equations of planes of the side surfaces of the carriage based on the second group of key points; performing fine segmentation on the laser point cloud in the preset area according to a plane equation of the plane where the platform shielding door is positioned and a plurality of plane equations of the planes where the plurality of carriage sides are positioned, clustering the results of the fine segmentation to detect pedestrians or foreign matters sandwiched between the vehicle body and the platform shielding door, and Estimating attribute information of pedestrians or foreign matters sandwiched between the vehicle body and the platform screen door, and performing anti-pinch alarm and controlling opening and closing of the carriage door based on the attribute information.
2. The method for preventing pinching of a platform of a multi-carriage vehicle according to claim 1, wherein the preset area is a space area in a range above the ground and below the roof, the downsampling the point cloud acquired by the lidar to divide the laser point cloud in the preset area comprises: performing downsampling and denoising on the original point cloud acquired by the laser radar based on a three-dimensional voxel mode, and And removing the ground, the road edge and the point cloud higher than the vehicle position according to the priori knowledge of the installation height of the laser radar so as to obtain the laser point cloud in the preset area.
3. The multi-car vehicle dock anti-pinch method of claim 2, wherein the sub-sampling the laser point cloud within the predetermined area to obtain a first set of keypoints comprises: acquiring laser point clouds with the vertical distance from the laser radar within the preset area within the range of 10-40 cm so as to execute secondary downsampling; the plane equation based on the first set of keypoints fitting the plane in which the platform screen door lies comprises: performing plane fitting on the first set of key points by adopting a RANSAC or least square method to obtain a plane equation of a plane in which the platform screen door is located.
4. The multi-car vehicle dock anti-pinch method of claim 2, wherein the re-downsampling the laser point cloud within the predetermined area to obtain a second set of keypoints comprises: And selecting laser point clouds in a plurality of azimuth angle ranges in the preset area to perform secondary downsampling according to the installation position of the laser radar on the vehicle body so as to obtain the second group of key points, wherein one azimuth angle range corresponds to one side surface of the vehicle body.
5. The multi-car vehicle dock anti-pinch method of claim 1, wherein the performing fine segmentation on the laser point cloud in the preset area according to a plane equation of a plane in which the dock screen door is located and a plurality of plane equations of planes in which the plurality of car sides are located comprises: Judging and filtering the platform screen door and the laser point cloud on the side of the platform screen door far from the carriage according to the distance from the laser point cloud to the plane of the platform screen door, and And judging and filtering laser point clouds of the carriage according to the distances from the laser point clouds to planes of the side surfaces of the carriages so as to reserve the laser point clouds between the carriage and the platform shielding door in the preset area.
6. The multi-compartment vehicle station anti-pinch method of claim 1, wherein the attribute information of the pedestrian or foreign matter includes a shape, a position, and a moving speed; the executing anti-pinch alarm based on the attribute information and controlling the opening and closing of the carriage door comprise: Calculating the passing time of the pedestrian or foreign matter through the platform screen door and the carriage door based on the moving speed of the pedestrian or foreign matter; And responding to the current opening of the carriage door, judging whether the passing time is longer than the remaining time for which the carriage door is kept open, and if so, executing the anti-pinch alarm and deferring the closing of the carriage door.
7. The multi-compartment vehicle station anti-pinch method of claim 6, wherein the performing anti-pinch alarm and controlling compartment door opening and closing based on the attribute information further comprises: And responding to the carriage door to start to execute a closing operation, detecting whether the pedestrian or the foreign matter exists between the carriage and the platform shielding door, if so, executing the anti-pinch alarm, and stopping closing the carriage door and recovering to an open state.
8. The multi-compartment vehicle station anti-pinch method of claim 6, wherein the performing anti-pinch alarm and controlling compartment door opening and closing based on the attribute information further comprises: And detecting whether the pedestrian or the foreign matter exists between the carriage and the platform shielding door or not in response to the carriage door and the platform shielding door being closed and the vehicle not being started to drive away, if so, executing the anti-pinch alarm, prohibiting the vehicle from being started and keeping the carriage door and the platform shielding door in a closed state.
9. A multi-carriage vehicle platform anti-pinch device based on lidar for detecting that lidar of pedestrians or foreign matters clamped between a vehicle body and a platform screen door is installed at positions of two sides of the vehicle body near a junction between a carriage and the carriage, the multi-carriage vehicle platform anti-pinch device comprising: Memory, and A processor coupled to the memory, the processor configured to perform the steps of the lidar-based multi-car vehicle platform anti-pinch method of any of claims 1-8.
10. A computer readable medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the lidar-based multi-car vehicle platform anti-pinch method according to any of claims 1 to 8.

Description

Multi-carriage vehicle platform anti-pinch method and device based on laser radar Technical Field The invention relates to the field of laser radar detection, in particular to a multi-carriage vehicle platform anti-pinch method and device based on laser radar. Background Multi-car vehicles, such as intelligent trolleys, are a new form of public transportation, typically guided by articulated rubber-tyred virtual tracks of three cars. Similar to a subway vehicle, after the vehicle enters a stop, a gap exists between the shield door and the vehicle door. When there are a large number of passengers entering and exiting the vehicle, a dock and vehicle pinch event may occur. Because of the gap between the platform screen door and the vehicle, there is a lack of effective and stable methods for detecting foreign objects in the gap for multi-articulated vehicles. In addition, anti-pinch detection devices for multi-car vehicles are typically installed at a station, and a wireless communication link between the station detection device and an inbound vehicle needs to be established, and transmission of the wireless communication link is delayed and susceptible to interference. In order to overcome the defects in the prior art, a multi-carriage vehicle platform anti-pinch method and device based on a laser radar are needed in the art, and the method and device are used for installing the laser radar on the side direction of a multi-articulated vehicle body, effectively detecting targets around the vehicle body, separating the point cloud of the vehicle body and the platform screen door point cloud by dividing the original point cloud, detecting whether pedestrians or foreign matters exist between the two in real time, and timely early warning when a vehicle door is closed once abnormality exists, so that accident occurrence is reduced. Disclosure of Invention The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later. In order to overcome the defects in the prior art, the invention provides a multi-carriage vehicle platform anti-pinch method based on a laser radar, wherein the laser radar for detecting pedestrians or foreign matters clamped between a vehicle body and a platform screen door is arranged at positions, close to the junction between the carriages, on two sides of the vehicle body; the method comprises the steps of obtaining a first group of key points by performing secondary downsampling on laser point clouds in a preset area, fitting plane equations of planes of the platform shielding doors based on the first group of key points, performing secondary downsampling on the laser point clouds in the preset area again to obtain a second group of key points, fitting a plurality of plane equations of planes of the sides of a plurality of carriages based on the second group of key points, performing fine segmentation on the laser point clouds in the preset area according to the plane equations of the planes of the platform shielding doors and the plurality of plane equations of the sides of the plurality of carriages, clustering the fine segmentation result to detect pedestrians or foreign matters clamped between a vehicle body and the platform shielding doors, estimating attribute information of the pedestrians or the foreign matters clamped between the vehicle body and the platform shielding doors, and performing anti-clamping alarm and carriage door opening and closing based on the attribute information. In an embodiment, the preset area is preferably a space area above the ground and below the roof, the down-sampling is performed on the point cloud acquired by the laser radar, and the laser point cloud in the preset area is segmented, including down-sampling and denoising the original point cloud acquired by the laser radar based on a three-dimensional voxel mode, and removing the point cloud above the ground, the road edge and the vehicle position according to the prior knowledge of the mounting height of the laser radar to acquire the laser point cloud in the preset area. In one embodiment, the performing secondary downsampling on the laser point cloud in the preset area to obtain a first set of key points includes obtaining the laser point cloud with a vertical distance from the laser radar in the preset area within a range of 10-40 cm to perform secondary downsampling, and fitting a plane equation of a plane where the platform screen door is located based on the first set of key points includes performing plane fitting on the first set of key points by adopting a RANSAC or least square method