Boarding apparatus and boarding apparatus control method

Abstract

Provided are a boarding apparatus and a boarding apparatus control method. The boarding apparatus comprises a control module (10), a motion actuator (11), a boarding step (12), and an obstacle detection sensor (13). Controlling the movement of the boarding step by means of the motion actuator solves the problem of the boarding apparatus being restricted by infrastructure under different rail lines, thereby making the boarding apparatus more flexible and convenient; in addition, obstacle detection is performed by means of the obstacle detection sensor during the movement of the boarding step, and when an obstacle has been detected, the obstacle detection sensor can feed back a detection signal to the control module, which in turn controls the motion actuator to adjust the position of the boarding step, so as to prevent collisions and squeezing between the boarding apparatus and the obstacle, thereby enhancing the safety of the boarding apparatus.

Description

Pedaling device and pedaling device control method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 12, 2024, with application number 202410051346.8 and invention name “A pedaling device and a pedaling device control method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of rail transportation technology, and in particular to a pedaling device and a pedaling device control method. Background Art

[0003] Currently, there are two common configurations for the stepping devices used by rail transit vehicles for drivers, passengers, and maintenance personnel to board and exit the vehicle. One method involves installing a fixed stepping device on the lower side of the vehicle body beam near the driver's cab door. When the vehicle is stopped on a track or at a station, the driver and passengers use this fixed stepping device to board or exit the vehicle. However, due to the increasing number of rail vehicles operating across multiple lines, the lower clearance dimensions of infrastructure vary between lines. As a result, vehicles equipped with fixed stepping devices often collide with ground infrastructure during actual operation, seriously affecting the safe operation of rail vehicles.

[0004] Another approach is to avoid fixed access devices and instead have the rail lines and stations install fixed steps or stairs at selected locations that match the height of the rail vehicle access doors, making it easier for drivers, passengers, and maintenance personnel to access the vehicles. However, this approach requires rail vehicles to be parked at designated locations, which not only inconveniences drivers, passengers, and ground maintenance personnel, but also wastes rail vehicle parking resources.

[0005] In view of the above problems, how to solve the lack of flexibility and convenience of the current pedaling device is an issue that needs to be urgently addressed by technicians in this field.

[0006] Summary of the Invention

[0007] The purpose of this application is to provide a pedaling device and a pedaling device control method to solve the problem of insufficient flexibility and convenience of current pedaling devices.

[0008] To solve the above technical problems, the present application provides a pedaling device, comprising: a control module, a motion actuator, a pedal, and an obstacle detection sensor; wherein the fixed end of the pedal is arranged at the side beam of the entrance door of a railway locomotive, and the movable end of the pedal is connected to the movable end of the motion actuator;

[0009] The obstacle detection sensor is provided at the active end of the pedal and is in communication with the control module, and is used to feed back a detection signal to the control module when an obstacle is detected;

[0010] The motion actuator is in communication with the control module, and is configured to receive a driving instruction sent by the control module and drive the movable end of the pedal to move according to the driving instruction;

[0011] The control module is used to receive the detection signal and control the motion execution mechanism to adjust the movement of the pedal according to the detection signal.

[0012] Preferably, the pedal comprises a first-stage fixed pedal and a second-stage movable pedal;

[0013] One end of the first-stage fixed pedal is provided at the side beam of the entrance door of the railway locomotive as the fixed end of the pedal; the other end of the first-stage fixed pedal is movably connected to one end of the second-stage movable pedal;

[0014] The other end of the second-stage movable pedal serves as the movable end of the pedaling pedal and is connected to the movable end of the motion actuator.

[0015] Preferably, it also includes a pressure sensor;

[0016] The pressure sensor is arranged on the upper surface of the first-level fixed pedal and is communicatively connected to the control module. It is used to feedback a pressure change signal to the control module when a pressure change is detected, so that the control module can control the motion actuator to reset the pedal according to the pressure change signal.

[0017] Preferably, it also includes an early warning device;

[0018] The early warning device is communicatively connected to the obstacle detection sensor, and is used to receive instructions sent by the obstacle detection sensor when it detects the obstacle, and output early warning information according to the instructions.

[0019] Preferably, it further comprises an elastic element;

[0020] One end of the elastic element is connected to the movable end of the pedal, and the other end of the elastic element is fixed to the housing of the motion execution mechanism.

[0021] Preferably, it also includes an anti-collision protection strip;

[0022] The anti-collision protection strip is provided at the movable end of the pedal;

[0023] Wherein, the obstacle detection sensor is arranged between the anti-collision protection strip and the movable end of the pedal.

[0024] To solve the above technical problems, the present application further provides a pedaling device control method, which is applied to the above pedaling device; the method comprises:

[0025] sending a driving instruction to a motion execution mechanism, so that the motion execution mechanism drives the movable end of the pedal to move according to the driving instruction;

[0026] Determine whether a detection signal fed back by an obstacle detection sensor when an obstacle is detected is received;

[0027] If not, controlling the motion actuator to drive the movable end of the pedal to move to a preset position above the ground;

[0028] If so, the motion execution mechanism is controlled to adjust the movement of the pedal according to the detection signal.

[0029] Preferably, before sending the driving instruction to the motion execution mechanism, the method further includes:

[0030] Determine whether the pedaling process is allowed;

[0031] If not, then end;

[0032] If so, proceed to the step of sending the driving instruction to the motion execution mechanism.

[0033] Preferably, when pedaling from the ground toward the vehicle, the determining whether to allow the pedaling process to be executed includes:

[0034] Determining whether a control switch is turned on; wherein the control switch is provided on the outside of the rail vehicle and is used to generate a pedaling demand signal indicating that there is a pedaling demand;

[0035] If the control switch is not turned on, confirming that the pedaling process is not allowed to be executed;

[0036] If the control switch is turned on, determining whether the current speed of the rail vehicle is zero speed;

[0037] If the current speed of the rail vehicle is not zero, confirming that the pedaling process is not allowed to be executed;

[0038] If the current speed of the rail vehicle is zero, it is confirmed that the pedaling process is allowed to be executed, and the external button of the entrance door corresponding to the rail vehicle and the pedaling device is activated to enter the step of sending the driving instruction to the motion execution mechanism.

[0039] Preferably, when getting off the vehicle from the inside to the ground, the determining whether the stepping-off process is allowed includes:

[0040] activating a button inside an entrance door of the rail vehicle corresponding to the stepping device;

[0041] Determining whether the current speed of the rail vehicle is zero;

[0042] If the current speed of the rail vehicle is not zero, confirming that the pedaling process is not allowed to be executed;

[0043] If the current speed of the rail vehicle is zero, it is confirmed that the pedaling process is allowed to be executed, and the step of sending a driving instruction to the motion execution mechanism is entered.

[0044] Preferably, controlling the motion actuator to adjust the movement of the pedal according to the detection signal includes:

[0045] determining, based on the detection signal, whether the contact force between the pedal and the obstacle is greater than a threshold;

[0046] If not, stop moving the pedal and maintain the current position of the pedal;

[0047] If so, the pedal is controlled to move upward a preset distance relative to the ground, and the process returns to the step of determining whether a detection signal fed back by the obstacle detection sensor when detecting an obstacle is received.

[0048] Preferably, after controlling the motion execution mechanism to drive the active end of the pedal to move to a preset position above the ground, the method further comprises:

[0049] acquiring a pressure change signal from a pressure sensor and an entrance door state corresponding to the pedaling device;

[0050] The motion actuator is controlled according to the pressure change signal and the state of the entrance door to reset the pedal.

[0051] Preferably, when pedaling from the ground toward the vehicle, controlling the motion actuator to reset the pedal according to the pressure change signal and the state of the entrance door includes:

[0052] Determining whether the pressure change signal represents a change in pressure from zero to positive and then back to zero;

[0053] If the pressure change signal does not indicate a change in pressure from zero to pressure and then back to zero, maintaining the current position of the pedal;

[0054] If the pressure change signal indicates a change in pressure from zero to positive and then back to zero, determining whether the state of the entrance door is switched from an open state to a closed state;

[0055] If the state of the entrance door is not switched from the open state to the closed state, maintaining the current position of the pedal;

[0056] If the state of the entrance door is switched from an open state to a closed state, the motion execution mechanism is controlled to reset the pedal.

[0057] Preferably, when getting out of the vehicle from the inside to the ground, controlling the motion actuator to reset the pedal according to the pressure change signal and the state of the entrance door includes:

[0058] Determining whether the state of the entrance door is switched from an open state to a closed state;

[0059] If the state of the entrance door is not switched from the open state to the closed state, maintaining the current position of the pedal;

[0060] If the state of the entrance door switches from an open state to a closed state, determining whether the pressure change signal represents a change in pressure from no pressure to pressure and then to no pressure;

[0061] If the pressure change signal does not indicate a change in pressure from zero to pressure and then back to zero, maintaining the current position of the pedal;

[0062] If the pressure change signal represents a change in pressure from zero to pressure and then back to zero, the motion actuator is controlled to reset the pedal.

[0063] The pedaling device provided in the present application includes a control module, a motion actuator, a pedal, and an obstacle detection sensor. The fixed end of the pedal is disposed on the side beam of the entrance door of a railway locomotive, and the movable end of the pedal is connected to the movable end of the motion actuator. The obstacle detection sensor is disposed at the movable end of the pedal and is in communication with the control module, and is configured to feed back a detection signal to the control module when an obstacle is detected. The motion actuator is in communication with the control module, and is configured to receive a drive instruction sent by the control module and drive the movable end of the pedal to move according to the drive instruction. The control module is configured to receive the detection signal and control the motion actuator to adjust the movement of the pedal according to the detection signal. It can be seen that the above scheme can control the movement of the pedal through the motion actuator, thereby solving the problem that the pedaling device is restricted by the infrastructure under different railway lines, making it more flexible and convenient. At the same time, the obstacle detection sensor detects the movement of the pedal. When an obstacle is detected, it can feed back a detection signal to the control module, which in turn controls the motion actuator to adjust the movement of the pedal, preventing the pedaling device from colliding with the obstacle and greatly improving the safety of the pedaling device.

[0064] In addition, the present application also provides a pedaling device control method, which is applied to the above-mentioned pedaling device and has the same effect as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0066] FIG1 is a schematic diagram of a pedaling device provided in an embodiment of the present application;

[0067] FIG2 is a schematic diagram of another pedaling device provided in an embodiment of the present application;

[0068] FIG3 is a flow chart of a pedaling device control method provided in an embodiment of the present application;

[0069] FIG4 is a flow chart of an obstacle detection process of a pedaling device provided in an embodiment of the present application.

[0070] Among them, 10 is a control module, 11 is a motion actuator, 12 is a pedal, 13 is an obstacle detection sensor, 121 is a first-level fixed pedal, 122 is a second-level movable pedal, 14 is a pressure sensor, 15 is a warning device, 16 is an elastic element, 17 is an anti-collision protection strip, and 18 is a control switch. DETAILED DESCRIPTION

[0071] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0072] The core of this application is to provide a pedaling device and a pedaling device control method to solve the problem of insufficient flexibility and convenience of current pedaling devices.

[0073] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0074] Rail transit boasts large passenger capacity, excellent safety, and high reliability. With the rapid development of cities and urban agglomerations, rail transit is also rapidly developing. Cross-line transport by rail vehicles will become the norm.

[0075] Currently, there are two common configurations for the stepping devices used by rail transit vehicles for drivers, passengers, and maintenance personnel to board and exit the vehicle. One method involves installing a fixed stepping device on the lower side of the vehicle body beam near the driver's cab door. When the vehicle is stopped on a track or at a station, the driver and passengers use this fixed stepping device to board or exit the vehicle. However, due to the increasing number of rail vehicles operating across multiple lines, the lower clearance dimensions of infrastructure vary between lines. As a result, vehicles equipped with fixed stepping devices frequently collide with ground infrastructure during actual operation, seriously affecting the safe operation of rail vehicles.

[0076] Another approach is to eliminate fixed stepping devices on rail vehicles and instead have the lines and stations install fixed steps or staircases at selected locations that match the height of the rail vehicle's stepping doors, making it easier for drivers, passengers, and maintenance personnel to access the vehicles. However, while this approach can address the issue of fixed stepping devices colliding with infrastructure during cross-line transport, it causes inconvenience for drivers, passengers, and ground maintenance personnel, and results in a waste of rail vehicle parking resources.

[0077] In view of the above problems, the present application provides a pedaling device to solve the problem that current pedaling devices lack flexibility and convenience.

[0078] Figure 1 is a schematic diagram of a pedaling device provided in an embodiment of the present application. As shown in Figure 1 , the device includes a control module 10, a motion actuator 11, a pedal 12, and an obstacle detection sensor 13. The fixed end of the pedal is attached to the side beam of a rail vehicle entrance door, and the movable end of the pedal is connected to the movable end of the motion actuator.

[0079] The obstacle detection sensor is arranged at the active end of the pedal and is in communication with the control module, and is used to feed back a detection signal to the control module when an obstacle is detected;

[0080] The motion actuator is in communication with the control module, and is used to receive a driving instruction sent by the control module and drive the movable end of the pedal to move according to the driving instruction;

[0081] The control module is used to receive the detection signal and control the motion actuator to adjust the movement of the pedal according to the detection signal.

[0082] Specifically, the control module is a control unit that controls the motion actuator of the pedaling device and is configured to output a drive signal to the motion actuator. In this embodiment, the type of control module is not limited and can be a device with control and data processing functions, such as a central processing unit or a microprocessor unit, depending on the specific implementation.

[0083] The step is used by drivers, passengers, and maintenance personnel to board and exit the locomotive. Its fixed end is secured to the side beam of the locomotive's entrance door, and its movable end is connected to the movable end of a motion actuator. Controlled by the motion actuator, the step can be lowered relative to the ground for deployment and raised relative to the ground for retraction. The specific structure of the step is not limited in this embodiment; it only needs to ensure that it can be retracted and extended under the control of the motion actuator, which will be determined based on the specific implementation.

[0084] The motion actuator is a driving device for driving the pedals and is communicatively connected to the control module. When the pedaling device is in operation, the motion actuator can receive a driving signal from the control module and drive the movable end of the pedals to move through its movable end according to the driving signal, thereby achieving the purpose of retracting and extending the pedals. In this embodiment, there is no restriction on the specific driving type of the motion actuator. It can be driven by a cylinder, a hydraulic rod, or a motor, depending on the specific implementation situation. In addition, in this embodiment, there is no restriction on the location of the motion actuator. For example, it can be set at the side beam of the entrance door of the railway locomotive, or it can be fixed to the fixed end of the pedals, depending on the specific implementation situation.

[0085] The obstacle detection sensor is located at the active end of the pedal and is in communication with the control module. It is primarily used to detect obstacles. In this embodiment, the specific type of obstacle detection sensor is not limited; it can be a pressure sensor, an ultrasonic sensor, or an infrared sensor, depending on the specific implementation. When the obstacle sensor detects an obstacle, it feeds a detection signal back to the control module, which then controls the motion actuator based on the detection signal, thereby controlling the movement of the pedal.

[0086] In this embodiment, a pedaling device includes a control module, a motion actuator, a pedal, and an obstacle detection sensor. The fixed end of the pedal is mounted on the side beam of a rail vehicle entrance door, and the movable end of the pedal is connected to the movable end of the motion actuator. The obstacle detection sensor is mounted on the movable end of the pedal and is in communication with the control module, configured to feed back a detection signal to the control module when an obstacle is detected. The motion actuator is in communication with the control module, configured to receive a drive instruction from the control module and drive the movable end of the pedal to move according to the drive instruction. The control module is configured to receive the detection signal and control the motion actuator to adjust the movement of the pedal based on the detection signal. As can be seen, the above scheme can control the movement of the pedal through the motion actuator, solving the problem of the pedaling device being restricted by infrastructure under different rail lines, making it more flexible and convenient. Furthermore, the obstacle detection sensor detects obstacles during the movement of the pedal. When an obstacle is detected, it can feed back a detection signal to the control module, which in turn controls the motion actuator to adjust the movement of the pedal, preventing the pedaling device from colliding with the obstacle and significantly improving the safety of the pedaling device.

[0087] FIG2 is a schematic diagram of another pedaling device provided by an embodiment of the present application. Based on the above embodiment, in some embodiments, as shown in FIG2 , the pedaling pedal 12 includes a first-stage fixed pedal 121 and a second-stage movable pedal 122;

[0088] One end of the first-stage fixed pedal is provided at the side beam of the entrance door of the railway locomotive as the fixed end of the pedal; the other end of the first-stage fixed pedal is movably connected to one end of the second-stage movable pedal;

[0089] The other end of the second-stage movable pedal serves as the movable end of the pedaling pedal and is connected to the movable end of the motion execution mechanism.

[0090] Specifically, the pedaling pedal comprises a first-stage fixed pedal and a second-stage movable pedal. One end of the first-stage fixed pedal is fixed to the side beam of the entrance door of the railway locomotive as the pedaling pedal's fixed end; the other end of the first-stage fixed pedal is movably connected to one end of the second-stage movable pedal; and the other end of the second-stage movable pedal is connected to the movable end of the motion actuator as the pedaling pedal's movable end.

[0091] It should be noted that due to the movable connection between the first-stage fixed pedal and the second-stage movable pedal, when the pedal is driven by the motion actuator, the only part that can move relative to the ground and the rail locomotive is the second-stage movable pedal, and the first-stage fixed pedal is stationary relative to the ground and the rail locomotive.

[0092] Furthermore, in this embodiment, there is no limitation on the method of articulating the first-stage fixed pedal and the second-stage movable pedal. The method can be articulated via a rotating shaft or longitudinally articulated via a sleeve, depending on the specific implementation. Accordingly, when the first-stage fixed pedal and the second-stage movable pedal are articulated via a rotating shaft, the second-stage movable pedal can rotate; when the first-stage fixed pedal and the second-stage movable pedal are articulated via a sleeve, the second-stage movable pedal can slide longitudinally.

[0093] In this embodiment, the pedal comprises a first-stage fixed pedal and a second-stage movable pedal, so that it can be driven more reasonably by the motion actuator to facilitate the driver and passengers to get on and off the vehicle.

[0094] On the basis of the above embodiment, in some embodiments, as shown in FIG2 , the pedaling device further includes a pressure sensor 14 ;

[0095] The pressure sensor is arranged on the upper surface of the first-level fixed pedal and is communicated with the control module. It is used to feedback a pressure change signal to the control module when a pressure change is detected, so that the control module can control the motion actuator to reset the pedal according to the pressure change signal.

[0096] In a specific implementation, a pressure sensor is installed on the upper surface of the first-stage fixed pedal. The purpose of the pressure sensor is to detect the action of the driver, passenger, or operator using the pedal. When the driver or passenger uses the pedal, the pressure applied to the pedal can be detected by the pressure sensor.

[0097] Furthermore, the pressure sensor is communicatively connected to the control module and can transmit a detected pressure change signal to the control module, thereby enabling the control module to detect pressure changes on the pedal and, therefore, to determine whether the driver or passenger has boarded or exited the vehicle. This allows the control module to control the movement and reset of the pedal based on the pressure change. The specific process by which the control module controls the movement of the pedal based on the pressure change signal is not limited in this embodiment and is determined based on specific implementation circumstances.

[0098] In this embodiment, the pressure applied by the driver and passenger to the pedal is detected by the pressure sensor, so that the control module controls the movement of the pedal according to the pressure change signal, thereby achieving the purpose of more reasonable control of the pedal.

[0099] In order to remind the driver and passengers that there is an obstacle under the pedaling device, based on the above embodiment, in some embodiments, as shown in FIG2 , the pedaling device further includes an early warning device 15;

[0100] The early warning device is in communication connection with the obstacle detection sensor, and is used to receive instructions sent by the obstacle detection sensor when it detects an obstacle, and output early warning information according to the instructions.

[0101] Specifically, in order to warn the driver and passengers when the obstacle detection sensor detects an obstacle when the second-stage movable pedal moves downward, an early warning device is provided for the pedaling device in this embodiment.

[0102] The warning device is communicatively connected to the obstacle detection sensor, receiving commands sent by the obstacle detection sensor when an obstacle is detected and outputting warning information based on the commands. This embodiment does not limit the type of warning information, and it can be either a light warning or an audible warning, depending on the specific implementation. Furthermore, this embodiment does not limit the specific location and number of warning devices, depending on the specific implementation. For example, in a specific implementation, multiple warning devices can be installed on the side beam where the pedals are located, making it easier for drivers and passengers to intuitively receive warning information.

[0103] In this embodiment, the warning device is communicatively connected to the obstacle detection sensor, and is used to receive instructions sent by the obstacle detection sensor when it detects an obstacle, and output warning information according to the instructions so that the driver and passengers can be informed of the warning of the existence of the obstacle in a timely manner.

[0104] On the basis of the above embodiment, in some embodiments, as shown in FIG2 , the pedaling device further includes an elastic element 16 ;

[0105] One end of the elastic element is connected to the movable end of the pedal, and the other end of the elastic element is fixed to the housing of the motion actuator.

[0106] In practice, the motion actuator may fail to control the movement of the pedal. In order to reset the pedal when the motion actuator fails and prevent the normal operation of the railway vehicle from being affected, the pedal device further includes an elastic element in this embodiment.

[0107] The elastic element can be a spring or other structural component with an elastic modulus. One end of the elastic element is connected to the movable end of the pedal, and the other end is fixed to the housing of the motion actuator. If the motion actuator fails, the second-stage movable pedal can be restored to its original position under the action of the elastic element, thereby ensuring the safety of vehicle operation.

[0108] Based on the above embodiment, in some embodiments, the pedaling device further includes an anti-collision protection strip 17;

[0109] The anti-collision protection strip is set at the movable end of the pedal;

[0110] Among them, the obstacle detection sensor is arranged between the anti-collision protection strip and the active end of the pedal.

[0111] Specifically, the anti-collision protection strip is located at the movable end of the pedal, which is also the movable end of the second-stage movable pedal. When the second-stage movable pedal moves downward relative to the ground and encounters an obstacle, the anti-collision protection strip is squeezed and stressed, thereby protecting the obstacle detection sensor between the anti-collision protection strip and the second-stage movable pedal, preventing the obstacle detection sensor from directly colliding with the obstacle.

[0112] FIG3 is a flow chart of a pedaling device control method provided in an embodiment of the present application. The method is applied to the pedaling device in the above embodiment; as shown in FIG3 , the method includes:

[0113] S10: Sending a driving instruction to the motion actuator, so that the motion actuator drives the movable end of the pedal to move according to the driving instruction.

[0114] S11: Determine whether a detection signal fed back by the obstacle detection sensor when detecting an obstacle is received; if not, proceed to step S12; if yes, proceed to step S13.

[0115] S12: Control the motion actuator to drive the movable end of the pedal to move to a preset position above the ground.

[0116] S13: Controlling the motion actuator to adjust the movement of the pedal according to the detection signal.

[0117] Specifically, based on the pedaling device of the above embodiment, when the pedaling device is running, the control module sends a driving instruction to the motion actuator, so that the motion actuator drives the movable end of the pedal to move according to the driving instruction.

[0118] Furthermore, the control module determines whether it has received a detection signal from the obstacle detection sensor indicating an obstacle. If not, it determines that there is no obstacle in the pedal's path and controls the motion actuator to move the pedal's movable end to a predetermined position above the ground. If so, it determines that there is an obstacle in the pedal's path. To prevent further collisions between the pedal and the obstacle, the control module controls the motion actuator to adjust the pedal's movement based on the detection signal.

[0119] It should be noted that the present embodiment does not impose any restrictions on the preset position, which is determined according to specific implementation conditions. In addition, the present embodiment does not impose any restrictions on the specific process by which the control module controls the motion actuator to adjust the movement of the pedal according to the detection signal, which is determined according to specific implementation conditions.

[0120] In this embodiment, a driving instruction is sent to the motion actuator so that the motion actuator drives the movable end of the pedal to move according to the driving instruction. It is determined whether a detection signal fed back by the obstacle detection sensor when an obstacle is detected is received; if not, the motion actuator is controlled to drive the movable end of the pedal to move to a preset position from the ground. If so, the motion actuator is controlled to adjust the movement of the pedal according to the detection signal. It can be seen that the above scheme can control the pedal to move to a preset position from the ground through the motion actuator, solving the problem that the pedaling device is restricted by the infrastructure under different track lines, making it more flexible and convenient; at the same time, the obstacle detection sensor is used to detect obstacles on the movement of the pedal. When an obstacle is detected, the detection signal can be fed back to the control module, thereby controlling the motion actuator to adjust the movement of the pedal to prevent the pedaling device from colliding and squeezing with the obstacle, greatly improving the safety of the pedaling device.

[0121] In order to ensure that the pedaling device can operate normally, based on the above embodiment, in some embodiments, before sending the driving instruction to the motion execution mechanism, the following steps are further included:

[0122] S14: Determine whether the pedaling process is allowed; if not, end; if so, enter step S10.

[0123] Specifically, the pedaling process of the pedaling device is controlled by the rail vehicle control system. If the pedaling process is not allowed, the process ends and the pedaling device is not allowed to operate. If the pedaling process is allowed, the pedaling device is allowed to operate and the process proceeds to the step of sending a drive instruction to the motion actuator.

[0124] It should be noted that, in this embodiment, the specific process of determining whether to allow the pedaling process to be executed is not limited and is determined according to specific implementation conditions.

[0125] In specific implementation, since the pedaling device needs to be operated when the driver and passengers get on and off the vehicle, the process of determining whether the pedaling process is allowed will occur when the driver and passengers get on and off the locomotive.

[0126] Specifically, when pedaling from the ground toward the vehicle, determining whether the pedaling process is allowed includes:

[0127] S140: Determine whether the control switch is turned on; wherein the control switch is set on the outside of the rail vehicle and is used to generate a pedaling demand signal indicating the existence of a pedaling demand; if not, proceed to step S141; if so, proceed to step S142.

[0128] S141: Confirm that the pedaling process is not allowed.

[0129] S142: Determine whether the current speed of the locomotive is zero. If not, proceed to step S141; if so, proceed to step S143.

[0130] S143: Confirm that the pedaling process is allowed to be executed, activate the external button of the entrance door corresponding to the railway locomotive and the pedaling device, and enter step S10.

[0131] In practice, when the driver or passenger steps onto the train from the ground, the system first determines whether the control switch 18 is on. It's important to note that the control switch, located on the outside of the locomotive, generates a pedaling request signal, indicating a pedaling request, and transmits it to the rail vehicle control system. The control switch also serves as a master switch for the pedaling mechanism, enabling control using a single-piece key or a dedicated key with a square hole. Specifically, if the control switch is off, the system determines that the pedaling process is not permitted. If the control switch is on, the system further determines whether the locomotive is currently at zero speed.

[0132] It's important to note that to ensure safe boarding for drivers and passengers, the pedaling mechanism must be in operation while the vehicle is stationary. Therefore, if the vehicle's current speed is not zero, the pedaling process is disallowed; if it is, the pedaling process is permitted. Specifically, activating the external button on the entrance door corresponding to the vehicle and the pedaling mechanism initiates the step of sending a drive command to the motion actuator.

[0133] Accordingly, when exiting the vehicle from the vehicle, determining whether the exiting process is allowed includes:

[0134] S144: Activate the inner button of the entrance door corresponding to the rail vehicle and the pedaling device.

[0135] S145: Determine whether the current speed of the locomotive is zero; if not, proceed to step S146; if so, proceed to step S147.

[0136] S146: Confirm that the pedaling process is not allowed.

[0137] S147: Confirm that the pedaling process is allowed to be executed and go to step S10.

[0138] In practice, when the driver or passengers exit the train, they first need to activate the corresponding internal door button on the train and the stepping device to open the door. The system then determines whether the train is at zero speed to ensure safe exiting.

[0139] If the current speed of the rail locomotive is not zero, it is confirmed that the pedaling process is not allowed to be executed; if the current speed of the rail locomotive is zero, it is confirmed that the pedaling process is allowed to be executed, and the step of sending a drive instruction to the motion actuator is entered.

[0140] FIG4 is a flow chart of an obstacle detection process for a pedaling device according to an embodiment of the present application. To improve the safety of the pedaling device, based on the above embodiments, in some embodiments, as shown in FIG4 , controlling the motion actuator to adjust the movement of the pedal according to the detection signal includes:

[0141] S130: Determine whether the contact force between the pedal and the obstacle is greater than a threshold value based on the detection signal; if not, proceed to step S131; if so, proceed to step S132.

[0142] S131: Stop moving the pedal and maintain the current position of the pedal.

[0143] S132: Control the pedal to move upwards by a preset distance relative to the ground, and return to step S11.

[0144] Specifically, when the obstacle detection sensor detects an obstacle, it determines the pressure between the pedals to prevent further impact from the obstacle. Specifically, the sensor determines whether the contact force between the pedals and the obstacle exceeds a threshold based on the detection signal. It's important to note that the obstacle detection sensor is actually a pressure sensor.

[0145] If the detection signal determines that the contact force between the pedal and the obstacle is not greater than a threshold, the pedal stops moving and maintains its current position to prevent further collision and compression between the pedal and the obstacle. If the detection signal determines that the contact force between the pedal and the obstacle is greater than the threshold, the pressure between the pedal and the obstacle is deemed excessive, posing a safety risk. Therefore, the pedal is controlled to move upward a preset distance relative to the ground, and the process returns to the step of determining whether a detection signal from the obstacle detection sensor has been received to recheck for the obstacle.

[0146] It should be noted that the threshold value is not limited in this embodiment and is determined based on specific implementation circumstances. The preset distance is also not limited and is determined based on specific implementation circumstances. For example, in some embodiments, the preset distance can be set to 5 mm. This improves the safety of the pedaling device.

[0147] In order to reset the pedal and ensure normal driving, after the motion actuator is controlled to drive the active end of the pedal to move to a preset position from the ground, the following steps are also included:

[0148] S16: Obtaining a pressure change signal from the pressure sensor and an entrance door state corresponding to the pedaling device.

[0149] S17: Control the motion actuator to reset the pedal according to the pressure change signal and the entrance door state.

[0150] In practice, to reset the pedal after use, the pressure sensor's pressure change signal and the door status corresponding to the pedaling device must first be acquired. The actuator is then controlled based on the pressure change signal and the door status to reset the pedal.

[0151] It's important to note that the pedal reset must ensure that the driver or passenger completes the pedaling or exiting process to prevent accidents caused by the pedal reset during the process. Therefore, the pedal reset process after the pedaling and exiting process is crucial. Furthermore, due to the different preparations for the pedaling mechanism during the pedaling and exiting processes, the pedal reset process after the pedaling and exiting processes also differs.

[0152] Specifically, when pedaling from the ground toward the vehicle, controlling the motion actuator to reset the pedal according to the pressure change signal and the state of the entrance door includes:

[0153] S171: Determine whether the pressure change signal represents a change from no pressure to pressure and then back to no pressure; if not, proceed to step S172; if so, proceed to step S173.

[0154] S172: Maintain the current position of the pedal;

[0155] S173: Determine whether the entrance door state is switched from open to closed; if not, proceed to step S172; if so, proceed to step S174.

[0156] S174: Control the motion actuator to reset the pedal.

[0157] Specifically, a determination is first made as to whether the pressure change signal represents a change in pressure from zero to positive and then back to zero. It is understood that since the driver or passenger pedals the bicycle by stepping on the pressure sensor located on the upper surface of the first-stage fixed pedal, the pedaling process reflected on the pressure sensor is the pressure change signal representing the change in pressure from zero to positive and then back to zero.

[0158] Therefore, if the pressure change signal does not indicate a change from zero to positive pressure and then back to zero, it is assumed that the driver or passenger has not yet pedaled, and the pedal must be maintained in its current position. If the pressure change signal indicates a change from zero to positive pressure and then back to zero, it is assumed that the driver or passenger has already pedaled, but it is unknown whether the door has been closed. Therefore, it is necessary to further determine whether the entrance door has switched from open to closed. If the entrance door has not switched from open to closed, it is assumed that the door is open and the pedal must be maintained in its current position. If the entrance door has switched from open to closed, it is assumed that the door is closed and the driver or passenger has completed the entire pedaling process, and the motion actuator can be controlled to reset the pedal.

[0159] Correspondingly, when exiting the vehicle from the vehicle, the motion actuator is controlled to reset the pedal according to the pressure change signal and the state of the entrance door, including:

[0160] S175: Determine whether the entrance door state is switched from open to closed; if not, proceed to step S176; if so, proceed to step S177.

[0161] S176: Maintain the current position of the pedal.

[0162] S177: Determine whether the pressure change signal represents a change from no pressure to pressure and then back to no pressure; if not, proceed to step S176; if so, proceed to step S178.

[0163] S178: Control the motion actuator to reset the pedal.

[0164] Specifically, it is first determined whether the state of the entrance door has switched from an open state to a closed state. It is understandable that since the driver and passengers need to open the entrance door before getting off the vehicle, and the entrance door is closed after getting off the vehicle, it is first necessary to determine whether the change in the state of the entrance door satisfies the requirements for the driver and passengers to get off the vehicle.

[0165] If the entrance door state has not switched from open to closed, it is considered that the driver and passengers have not gotten off the vehicle at this time, and the current position of the pedal needs to be maintained; if the entrance door state switches from open to closed, it is considered that the driver and passengers have completed getting off the vehicle at this time, and it is necessary to further determine whether the pressure change signal represents a change from no pressure to pressure and then to no pressure; if the pressure change signal does not represent a change from no pressure to pressure and then to no pressure, it is considered that the driver and passengers are still on the pedal at this time, and the current position of the pedal needs to be maintained; if the pressure change signal represents a change from no pressure to pressure and then to no pressure, it is considered that the driver and passengers have reached the ground at this time, and the motion actuator can be further controlled to reset the pedal.

[0166] In this way, the pedals for the driver and passengers to step on and off the vehicle are reset, and the safety of the driver and passengers is guaranteed.

[0167] The above is a detailed introduction to a pedaling device and a pedaling device control method provided by the present application. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0168] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A pedaling device, characterized in that, Including: A control module (10), a motion actuator (11), a boarding pedal (12), and an obstacle detection sensor (13); wherein, a fixed end of the boarding pedal (12) is disposed at a side beam of an entrance door of a rail locomotive, and a movable end of the boarding pedal (12) is connected to a movable end of the motion actuator (11); The obstacle detection sensor (13) is disposed at the movable end of the boarding pedal (12) and is communicatively connected to the control module (10) for feeding back a detection signal to the control module (10) when an obstacle is detected; The motion actuator (11) is communicatively connected to the control module (10) for receiving a driving instruction sent by the control module (10) and driving the movable end of the boarding pedal (12) to move according to the driving instruction; The control module (10) is configured to receive the detection signal and control the motion actuator (11) to adjust the movement of the boarding pedal (12) according to the detection signal.

2. The pedaling device according to claim 1, wherein The boarding pedal (12) includes a first-stage fixed pedal (121) and a second-stage movable pedal (122); One end of the first-stage fixed pedal (121) is disposed at the side beam of the entrance door of the rail locomotive as the fixed end of the boarding pedal (12); the other end of the first-stage fixed pedal (121) is movably connected to one end of the second-stage movable pedal (122); The other end of the second-stage movable pedal (122) is connected to the movable end of the motion actuator (11) as the movable end of the boarding pedal (12).

3. The pedaling device according to claim 2, wherein, It further includes a pressure sensor (14); The pressure sensor (14) is disposed on an upper surface of the first-stage fixed pedal (121) and is communicatively connected to the control module (10) for feeding back a pressure change signal to the control module (10) when a pressure change is detected, so that the control module (10) controls the motion actuator (11) to reset the boarding pedal (12) according to the pressure change signal.

4. The pedaling device according to claim 3, characterized in that, It further includes a warning device (15); The warning device (15) is communicatively connected to the obstacle detection sensor (13) for receiving an instruction sent by the obstacle detection sensor (13) when the obstacle is detected and outputting a warning message according to the instruction.

5. The pedaling device according to claim 4, characterized in that, It further includes an elastic element (16); One end of the elastic element (16) is connected to the movable end of the boarding pedal (12), and the other end of the elastic element (16) is fixed to a housing of the motion actuator (11).

6. The pedaling device according to claim 5, characterized in that It further includes an anti-collision protection rubber strip (17); The anti-collision protection rubber strip (17) is disposed at the movable end of the boarding pedal (12); Wherein, the obstacle detection sensor (13) is disposed between the anti-collision protection rubber strip (17) and the movable end of the boarding pedal (12).

7. A control method for a pedaling device, characterized in that, Applied to the boarding device according to any one of claims 1 to 6; the method includes: Sending a driving instruction to the motion actuator for the motion actuator to drive the movable end of the boarding pedal to move according to the driving instruction; Determine whether a detection signal fed back when an obstacle detection sensor detects an obstacle is received; If not, control the motion execution mechanism to drive the movable end of the boarding pedal to move to a preset position from the ground; If so, control the motion execution mechanism to adjust the movement of the boarding pedal according to the detection signal.

8. The pedaling device control method according to claim 7, characterized in that, Before sending the drive instruction to the motion execution mechanism, it further includes: Determine whether to allow the execution of the boarding process; If not, end; If so, enter the step of sending the drive instruction to the motion execution mechanism.

9. The pedaling device control method according to claim 8, characterized in that When boarding from the ground into the vehicle, the determination of whether to allow the execution of the boarding process includes: Determine whether the control switch is turned on; wherein, the control switch is arranged outside the rail vehicle and is used to generate a boarding demand signal indicating the existence of a boarding demand; If the control switch is not turned on, confirm that the execution of the boarding process is not allowed; If the control switch is turned on, determine whether the current speed of the rail vehicle is zero speed; If the current speed of the rail vehicle is not zero speed, confirm that the execution of the boarding process is not allowed; If the current speed of the rail vehicle is zero speed, confirm that the execution of the boarding process is allowed, activate the external button of the entrance door corresponding to the boarding device of the rail vehicle, and enter the step of sending the drive instruction to the motion execution mechanism.

10. The pedaling device control method according to claim 8, characterized in that, When getting off from the vehicle to the ground, the determination of whether to allow the execution of the boarding process includes: Activate the internal button of the entrance door corresponding to the boarding device of the rail vehicle; Determine whether the current speed of the rail vehicle is zero speed; If the current speed of the rail vehicle is not zero speed, confirm that the execution of the boarding process is not allowed; If the current speed of the rail vehicle is zero speed, confirm that the execution of the boarding process is allowed, and enter the step of sending the drive instruction to the motion execution mechanism.

11. The pedaling device control method according to claim 7, characterized in that, The control of the motion execution mechanism to adjust the movement of the boarding pedal according to the detection signal includes: Judge whether the contact force between the boarding pedal and the obstacle is greater than a threshold value according to the detection signal; If not, stop moving the boarding pedal and keep the current position of the boarding pedal; If so, control the boarding pedal to move upward a preset distance relative to the ground, and return to the step of determining whether a detection signal fed back when the obstacle detection sensor detects an obstacle is received.

12. The pedaling device control method according to claim 7, wherein After controlling the motion execution mechanism to drive the movable end of the boarding pedal to move to a preset position from the ground, it further includes: Obtain the pressure change signal of the pressure sensor and the state of the entrance door corresponding to the boarding device; Control the motion execution mechanism according to the pressure change signal and the entrance door state To reset the boarding pedal.

13. The pedaling device control method according to claim 12, characterized in that, When boarding from the ground into the vehicle, the control of the motion execution mechanism to reset the boarding pedal according to the pressure change signal and the entrance door state includes: Judge whether the pressure change signal represents a change in pressure from non-existent to existent and then to non-existent; If the pressure change signal does not represent a change in pressure from non-existent to existent and then to non-existent, keep the current position of the boarding pedal; If the pressure change signal characterizes the change of pressure from non - existent to existent and then to non - existent, determine whether the state of the entrance door changes from the open state to the closed state; If the state of the entrance door does not change from the open state to the closed state, maintain the current position of the boarding pedal; If the state of the entrance door changes from the open state to the closed state, control the motion actuator to reset the boarding pedal.

14. The pedaling device control method according to claim 12, wherein When getting off the vehicle from the inside to the ground, the control of the motion actuator to reset the boarding pedal according to the pressure change signal and the state of the entrance door includes: Determine whether the state of the entrance door changes from the open state to the closed state; If the state of the entrance door does not change from the open state to the closed state, maintain the current position of the boarding pedal; If the state of the entrance door changes from the open state to the closed state, determine whether the pressure change signal characterizes the change of pressure from non - existent to existent and then to non - existent; If the pressure change signal does not characterize the change of pressure from non - existent to existent and then to non - existent, maintain the current position of the boarding pedal; If the pressure change signal characterizes the change of pressure from non - existent to existent and then to non - existent, control the motion actuator to reset the boarding pedal.

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