A vehicle depot door control system and method in a fully automatic operation line

Abstract

The present invention relates to a vehicle depot door control system and method in a fully automatic operation line. The control system includes: a signal system for automatically controlling the opening and closing of depot doors according to a plan in normal scenarios, manually controlling the opening and closing of depot doors in case of automatic trigger failure or unplanned situations, and completing signal opening and safety protection through real-time monitoring of the depot door status; an integrated monitoring system for, in case of signal system failure, controlling through the buttons on the IBP panel to complete the opening, closing or bypass operation of depot doors under degraded conditions, and completing the auxiliary judgment of the depot door status by viewing the cameras beside the depot doors; a depot door system for executing the opening and closing control instructions of the signal system and the integrated monitoring system, sending the status of the depot door to the integrated monitoring system and the signal system in real time through cameras, and performing the opening, closing and bypass operations of the depot door through the local control panel of the depot door in case of emergency. Compared with the prior art, the present invention has the advantages of minimizing the impact of depot doors on operation to the greatest extent, etc.

Description

Technical Field

[0001] The present invention relates to the field of automatic control of depot doors, and in particular to a control system and method for depot doors in a vehicle base in a fully automatic operation line. Background Art

[0002] In the traditional manned driving line of urban rail transit subways, the opening and closing of depot doors are managed manually, which brings a great deal of operation and maintenance workload to the operation. Moreover, there is no safety interface between the traditional depot doors and the signal system. If the depot doors lose the open state due to misoperation or other external factors such as wind, it is very likely to exceed the limit and collide with the train, affecting the safety of train operation. Therefore, although the depot doors seem simple, they are actually closely related to the safety and efficiency of train operation.

[0003] For a fully automatic operation line, there is an urgent need for an advanced depot door control and emergency handling solution to ensure a higher automation level, better inbound and outbound efficiency, and better system safety under fully automatic operation. And in the case of system failures, there is a complete emergency handling solution under degradation to minimize the impact on the inbound and outbound operations of the day and improve the operation efficiency. Therefore, how to achieve this has become a technical problem to be solved by the present invention. Summary of the Invention

[0004] The purpose of the present invention is to provide a control system and method for depot doors in a vehicle base in a fully automatic operation line to overcome the defects existing in the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to the first aspect of the present invention, a control system for depot doors in a vehicle base in a fully automatic operation line is provided. The control system includes:

[0007] A signal system, including an ATS subsystem and an interlocking subsystem, for completing the automatic opening and closing control of depot doors according to the plan in normal scenarios, triggering the manual opening and closing control of depot doors automatically in case of failure or unplanned situations, and completing signal opening and safety protection by real-time monitoring of the depot door status;

[0008] An integrated monitoring system, including an IBP panel, for completing the opening, closing or bypass operation of depot doors under degradation through the button control of the IBP panel in case of signal system failures, and completing the auxiliary judgment of the depot door status by viewing the camera beside the depot door;

[0009] A depot door system, including a local control panel of the depot door and a camera, for executing the opening and closing control instructions of the signal system and the integrated monitoring system, sending the status of the depot door to the integrated monitoring system and the signal system in real time through the camera, and performing the opening, closing and bypass operations of the depot door through the local control panel of the depot door in case of emergency.

[0010] As a preferred technical solution, the depot doors include the parking garage depot doors and the car wash garage depot doors, and the control mode of the depot door switch includes signal control, remote IBP panel manual control, and on-site manual control.

[0011] As a preferred technical solution, the signal control includes:

[0012] Remote automatic control, which is the normal control mode for the depot doors. Specifically, it includes: According to the departure plan, shunting operation plan, car wash plan, maintenance plan, and transfer operation plan within the depot section, ATS automatically triggers the opening or closing control commands for the corresponding depot doors in advance or postponed for a period of time. The signal system communicates with the safety relay interface of the depot doors through the interlocking subsystem, and issues the "door opening command" or "door closing command" to realize the function of automatically opening and closing the depot doors under normal circumstances;

[0013] Remote ATS manual control is used for non-scheduled temporary entry and exit operations or scenarios where remote automatic control fails. Specifically, it includes: By operating the control commands for individual depot doors or batch depot doors on the ATS interface, it meets the depot section operation requirements under temporary or faulty conditions.

[0014] As a preferred technical solution, the application scenario of the remote IBP panel manual control is when there is a fault in the signal and depot door interface. Through the open, close, and bypass depot door buttons set on the IBP panel, it realizes the function of remotely opening, closing, or bypassing the depot doors under degraded conditions;

[0015] The on-site manual control is applied when both signal control and remote IBP panel manual control are ineffective. A dedicated control panel is set beside the depot doors. Through the door opening and closing control buttons, it realizes the local opening and closing operations of the depot doors, meeting the requirements of opening and closing operations during emergency or maintenance processes.

[0016] As a preferred technical solution, different priorities are set among the on-site control, remote IBP panel manual control, and signal control: The on-site control has the highest priority, followed by the remote IBP panel manual control, and finally the signal control;

[0017] The implementation method of setting the priority includes controlling the different positions of the remote or local control switches of the IBP panel and the on-site control panel through hardwired circuit design, or it can also be realized by software logic through the depot doors collecting the inputs of different control modes.

[0018] As a preferred technical solution, the priority is specifically executed as follows:

[0019] (1) When both the remote or local control switches of the local control panel are in the local position, neither the remote IBP panel manual control nor the signal system can issue remote control commands. At this time, the depot door only executes the relevant local control instructions of the local control panel, and if the depot door receives remote IBP panel and signal control commands at this time, it should reject the execution;

[0020] (2) When the remote or local control switch of the local control panel is in the remote position and the remote or local control switch on the IBP panel is in the local position, the IBP panel obtains the control right of the depot door. The depot door only executes the commands of opening the depot door, closing the depot door or bypassing the depot door on the IBP panel, and rejects the control commands of the signal and local control;

[0021] (3) When the corresponding remote or local control switches of the local control panel and the IBP panel are both in the remote position, the signal system can obtain the control right of the depot door and perform the automatic or manual control of opening and closing the depot door by the ATS under normal circumstances.

[0022] As a preferred technical solution, for the control and monitoring of the depot door by the signal system, the depot door status feedback to the signal system includes: "door opened and locked state", "remote or local control state", "door bypass state" and "door failure state"; the control commands given by the signal system to the depot door include: "door opening command" and "door closing command".

[0023] As a preferred technical solution, the signal system collects the real-time status of the opening and closing of the depot door. Only when the "door opened and locked state" of the garage door is 1, the signal system allows the entry or exit route to be handled and the entry or exit signal to be opened; when the "door opened and locked state" feedback by the depot door is 0, the signal system will activate the depot door protection area in the depot door projection area, where the depot door projection area is the range exceeding the train operation limit during the opening or closing process of the depot door. CBTC trains outside the depot door protection area are not allowed to enter the depot door protection area, and trains inside the depot door protection area will be braked emergently in real time; non-CBTC trains run according to the status of the signal lights protecting the depot door, thus protecting the safety of train operation.

[0024] As a preferred technical solution, according to the operation's demand for opening the depot door, the ATS subsystem is configured to automatically open all depot doors in advance according to the earliest train departure time in the operation plan or open the depot doors one by one in advance according to the operation plans of each train, where the operation plans include entry and exit plans, shunting operation plans, car washing plans, maintenance plans, and depot transfer operation plans;

[0025] According to the operation's special demand for opening the depot door, the ATS subsystem can be specially configured with the timing of issuing the depot door opening command corresponding to various yard operations.

[0026] As a preferred technical solution, the signal control specifically includes:

[0027] Based on the inbound plan, shunting operation plan, car washing plan, maintenance plan, and transfer operation plan within the yard section, after the train enters the parking garage or leaves the car washing garage, the ATS subsystem triggers the closing control command of the corresponding garage door after a set delay time, or the dispatcher manually operates the garage door closing instruction on the ATS interface. After receiving the ATS closing instruction, the interlocking subsystem checks that the relevant safety conditions are met and then sends a closing command to the garage door through the safety relay interface, while activating the protected area of the garage door to prevent subsequent trains from approaching the garage door area.

[0028] As a preferred technical solution, the content that needs to be checked when the signal system issues a closing command includes: whether there is an established route conflicting with the garage door; whether there is an established protected section conflicting with the garage door; whether there is an intersection between the safe positioning of the train stopped near the garage door and the protected area of the garage door; whether the train running near the garage door can timely withdraw the authorized end point and ensure that it stops in front of the protected area of the garage door; the status of the staff protection switch, whether there is a fault with the garage door, and whether the associated access control is open.

[0029] As a preferred technical solution, the ATS subsystem automatically closes all garage doors after a set delay time based on the arrival time of the latest train corresponding to the operation plan in the yard section, or closes the garage doors one by one according to the operation plans of each train. For the scenario of closing the garage doors one by one, it is determined whether to immediately close the garage door by judging whether there are subsequent inbound and outbound operations and the time interval between the current time and the subsequent plan. If the time of the subsequent operation plan is more than the time configured by the system from the current time, the closing is immediately triggered; if the time interval between the time of the subsequent operation plan and the current time does not exceed the time configured by the system, the closing instruction is not issued to avoid frequent opening and closing of the garage door, which affects the service life of the garage door.

[0030] As a preferred technical solution, according to the operation's requirement for closing the car washing garage door, the ATS subsystem automatically closes the car washing garage door after a set delay time based on the actual car washing process completion time of the latest train in the operation plan, or closes the car washing garage door one by one according to the car washing plans of each train combined with the actual car washing process completion time of each train;

[0031] For the situation of closing the garage doors one by one, it is determined whether to immediately close the car washing garage door by judging the time interval between the current car washing completion time and the subsequent car washing plan. If the time of the subsequent operation plan is more than the time configured by the system from the current train's car washing completion time, the closing is immediately triggered; if the time interval between the time of the subsequent operation plan and the current train's car washing completion time does not exceed the time configured by the system, the closing instruction is not issued temporarily to avoid frequent opening and closing of the garage door, which affects the service life of the garage door.

[0032] As a preferred technical solution, the signal system monitors the "door open and locked status", "remote or local control status", "door bypass status" and "door fault status" in real time, and transmits these warehouse door status information to the integrated monitoring system for centralized equipment status monitoring.

[0033] As a preferred technical solution, through the interface information between the ATS subsystem and the interlocking subsystem, the interface information between the interlocking subsystem and the warehouse door, and the interface information between the maintenance monitoring system and the warehouse door, the ATS subsystem gives specific reasons for door opening and closing failure and operational suggestions according to different door opening and closing failure situations, so as to prompt the dispatcher to perform subsequent downgrade operations after the door opening and closing failure, and organize maintenance in time after the operation ends, so as to restore the normal operation of the warehouse line as soon as possible.

[0034] As a preferred technical solution, the remote IBP disk manual control is specifically as follows:

[0035] Through the opening and closing of the warehouse door, remote or local control switches set on the IBP panel, remote opening and closing of the warehouse door under degradation can be realized. When the remote IBP panel manual control mode is selected, the remote or local control switch on the IBP panel is turned to the local position, and the remote or local control switch of the local control panel is turned to the remote position; when operating the warehouse door closing and bypassing the warehouse door on the IBP panel, it is necessary to ensure that there is no train approaching the warehouse door and no personnel under the warehouse door. The door closing operation on the IBP panel is allowed only after the camera is called up to assist in judging the environment next to the warehouse door; the warehouse door closing switch is designed as a key switch and is operated by a special key.

[0036] As a preferred technical solution, the IBP panel is provided with door opening and closing buttons, a remote or local control switch, a remote bypass door status switch, and a door open and locked status indicator light. The IBP panel adopts another set of independent door status safety acquisition sensors and safety interface circuits that are different from the signal interface to realize the door status indication under degradation. When the remote or local control status of the door is the local control position, the door bypass operation is allowed, and the door bypass switch is set as a key switch, which can only be operated by a special key.

[0037] As a preferred technical solution, the on-site control panel for the garage door is provided with a door opening button, a door closing button, a garage door status bypass button, a remote or local control button and a stop action button to ensure the garage door operation requirements in emergency or maintenance situations. The on-site control of the garage door has the highest priority. When the remote or local control switch on the on-site control panel for the garage door is in the local position, the control is given to the on-site operator. At this time, neither the signal control nor the IBP panel can issue garage door opening and closing control instructions.

[0038] As a preferred technical solution, the signal system, the library door interface, the IBP panel and the library door interface are each provided with an independent power supply, and the control cables of the library door interface are separately arranged to reduce the impact of a single system failure on operation.

[0039] As a preferred technical solution, after the library door receives the door opening / closing instruction and before the door opening / closing action, there is an audible and visual alarm prompt to inform the staff beside the library door and the driver on the vehicle to stay away from the library door. During the audible and visual alarm, the door opening / closing instruction is continuously given; if the door opening / closing instruction is cancelled during the audible and visual alarm, the library door does not execute this door opening / closing command until it receives the next door opening / closing command.

[0040] As a preferred technical solution, the integrated monitoring system monitors the normal working state of the library door through the network interface with the library door, and when the state of the library door is abnormal, it automatically links to view the closed-circuit television monitoring picture of the corresponding library door. The integrated monitoring system supports manual viewing of the closed-circuit television monitoring picture beside the library door. In the scenarios of remote door closing and bypass when the library door control is abnormal, the real-time monitoring picture of the library door is manually retrieved to assist in judging the on-site situation so that the dispatcher can make a correct decision.

[0041] According to the second aspect of the present invention, a method for using the vehicle base library door control system in a fully automatic operation line is provided, and this method includes a door opening control sub-process and a door closing control sub-process.

[0042] As a preferred technical solution, the door opening control sub-process includes the following steps:

[0043] Step 101: The dispatcher defines in advance the train entry / exit operation time of each library line in the departure plan, car wash plan, shunting plan, maintenance plan, and transfer operation plan of the signal system;

[0044] Step 102: When the train is about to perform an entry / exit operation and the library door corresponding to the library line is not in the open and locked state, go to Step 103, otherwise go to Step 114;

[0045] Step 103: For driverless trains, if the train has not been awakened before leaving the depot, the ATS subsystem wakes up the train N minutes in advance, and when there are still M minutes until the departure time during the normal wake-up process, the ATS subsystem issues a command to open the library door in advance. If the wake-up fails before this, the command to open the library door is not issued until the train obtains the normal wake-up information next time;

[0046] Step 104: For manned trains or awakened driverless trains, the ATS subsystem automatically issues a command to open the library door T minutes in advance. If the command to open the library door is successfully issued automatically, go to Step 106; if the command to open the library door fails to be issued automatically, go to Step 105;

[0047] Step 105: The dispatcher, based on the alarm prompt indicating that the automatic opening of the depot door fails, switches to manually operating on the ATS interface to issue a depot door opening command, and proceeds to Step 106;

[0048] Step 106: After the interlocking subsystem receives the depot door opening command issued by the ATS subsystem, it checks that the depot door status is not open and locked, the "remote or local control status" is remote, the staff protection switch status is not activated, the depot door has no faults, and the access control associated with the depot door is not open. After these conditions are met, it sends a door opening request to the depot door through the safety relay interface and proceeds to Step 107; if the conditions are not met, it feeds back the non - satisfied alarm information to the ATS subsystem;

[0049] Step 107: After the depot door receives the continuous door opening command, it gives an audible and visual alarm for a set time, and then starts to execute the door opening action, and proceeds to Step 108;

[0050] Step 108: If the signal receives the open and locked status of the depot door within the maximum action delay time range of the depot door opening, it proceeds to Step 114; if the signal does not receive the open and locked information of the depot door within the opening maximum action delay time range, the ATS subsystem will give an alarm prompt. At this time, the dispatcher makes a judgment in combination with the alarm of the failed door opening given by the ATS subsystem. If the dispatcher has not manually operated the depot door opening or the manual door opening control conditions are not met during the above - mentioned door opening but can be met subsequently, it proceeds to Step 105; if the ATS manual door opening instruction has been operated, and in combination with the alarm reason for the door opening, the door opening control conditions still cannot be met or the reason for not being able to open the door is unknown, it proceeds to Step 109;

[0051] Step 109: The dispatcher checks that the depot door indicator light on the IBP is in the open and locked state, and retrieves the camera next to the depot door to check that the depot door is actually in the open state and no other abnormalities are found, then proceeds to Step 110, otherwise proceeds to Step 112;

[0052] Step 110: The dispatcher operates the depot door bypass on the IBP panel. If the signal receives the open and locked status of the depot door, it proceeds to Step 114, otherwise proceeds to Step 111;

[0053] Step 111: Manually control the depot door to open on the remote IBP control panel. If the signal receives the open and locked status of the depot door within the maximum action delay time range of the door opening, it proceeds to Step 114; if the signal does not receive the open and locked status of the depot door within the opening maximum action delay time range, it proceeds to Step 112;

[0054] Step 112: Manually control the opening of the depot door at the local control panel beside the depot door. If the signal indicating that the depot door is opened and locked is received normally, proceed to Step 114; if the signal indicating that the depot door is opened and locked is still not received, retrieve the camera footage through the dispatcher or confirm on-site that the door is opened and locked. On the premise that there are no other safety risks, the dispatcher operates the bypass depot door button on the IBP panel or the local control panel of the depot door. After that, if the signal indicating that the depot door is opened and locked is received, proceed to Step 114; if the signal indicating that the depot door is opened and locked is still not received after bypassing, proceed to Step 113;

[0055] Step 113: The dispatcher manually activates the standby vehicles on other depot lines to organize the day's operation tasks;

[0056] Step 114: The ATS subsystem automatically processes the inbound and outbound routes and opens the allow signal according to the inbound and outbound times, and the train completes the inbound and outbound operations.

[0057] As an optimal technical solution, the door closing control sub-process includes the following steps:

[0058] Step 201: The dispatcher defines in advance the inbound and outbound times of the trains on each depot line in the outbound plan, car wash plan, yard shunting plan, maintenance plan, and transfer operation plan of the signal system;

[0059] Step 202: The ATS subsystem determines whether the completed train inbound and outbound operation type belongs to outbound or inbound. If it is an outbound operation, proceed to Step 203; if it is an inbound operation, proceed to Step 204;

[0060] Step 203: According to the needs of the operation train operation organization, define in advance whether to close the door after completing the vehicle departure operation in the depot or wait until the train completes the return operation to the depot before closing the door. If the door is to be closed after completing the vehicle departure operation in the depot, proceed to Step 207; if the door is to be closed after the train completes the return operation to the depot, end the current door closing process;

[0061] Step 204: For inbound operations, after the train stops accurately, according to the needs of the operation train operation organization, decide whether to issue a single door closing instruction for the corresponding depot line after all tasks are completed on the same day (proceed to Step 206), or consider closing the door after the outbound operation on this depot line is completed (proceed to Step 205);

[0062] Step 205: The ATS subsystem determines that there are no subsequent outbound and inbound plans within T minutes, and proceeds to Step 207; conversely, if the ATS subsystem determines that there are subsequent outbound and inbound plans within T minutes, do not close the door and end the current door closing process;

[0063] Step 206: The ATS subsystem determines whether this train's inbound operation is the last train in the inbound plan for the same day. If it is, proceed to Step 207; if not, do not close the door and end the current door closing process;

[0064] Step 207: The ATS subsystem automatically issues a command to close the depot door. Before issuing the command, some pre-checks are carried out, such as the SPKS is not activated, and the remote or local control status of the depot door is remote. If the checks fail, an alarm is given, and the automatic command to close the depot door is continued after the conditions are restored.

[0065] Step 208: The ATS subsystem determines whether the automatic issuance fails. If the issuance fails, a corresponding alarm pops up on the ATS interface to prompt the dispatcher to issue the command manually, and then go to Step 209. If the issuance is successful, go to Step 210.

[0066] Step 209: According to the alarm prompt, the dispatcher performs the operation of manually issuing the depot door closing command on the ATS interface.

[0067] Step 210: The CI and the trackside area controller determine whether the safety conditions for closing the door are met. If the conditions are met, go to Step 211. If the conditions are not met, an alarm prompt indicating that the corresponding conditions are not met is given on the ATS interface. After the dispatcher manually determines the cause of the failure, subsequent operations are performed to eliminate the conditions preventing the door from closing. If the conditions are successfully eliminated, go to Step 209 and attempt to close the door manually. If the conditions are not met, the dispatcher can decide whether to go to Step 214 or end this process.

[0068] Step 211: The CI sends a door closing request to the depot door through the safety relay interface, and at the same time activates the depot door protection area to prevent a train from approaching during the door closing process and causing a safety accident.

[0069] Step 212: After receiving the continuous door closing command, the depot door gives an audible and visual alarm for a set time, and then starts to perform the door closing action.

[0070] Step 213: If the ATS subsystem receives the closed and locked state of the depot door within the maximum door closing delay time, this door closing process ends. If the closed and locked state of the depot door is not received within the maximum door closing delay time, an alarm indicating door closing failure is given on the dispatcher interface, and the dispatcher combines the reason for the door closing failure and whether manual door closing has been attempted, and determines to attempt to operate and close the door manually, then go to Step 209. If both automatic and manual door closings fail, stop issuing the door closing command and release the depot door protection area after delaying for the maximum lost door status response time, and then go to Step 214.

[0071] Step 214: The dispatcher manually ensures that there is no train in the projection area of the depot door. If there is a train in the depot, ensure that the train in the depot has stopped stably and will not start again through the staff protection switch. Then, remotely operate the depot door closing button on the IBP panel. After the depot door receives the continuous door closing command, it gives an audible and visual alarm for a set time, and then starts to perform the door closing action.

[0072] Step 215: If the ATS subsystem receives the closed and locked state of the depot door within the maximum closing delay of the depot door, the current closing process ends; if the closed and locked state of the depot door is not received within the maximum closing delay of the depot door, it is manually determined that the closing fails, and go to Step 216;

[0073] Step 216: Manually confirm that there is no vehicle in the projection area of the depot door, activate the staff protection switch, ensure that the train in the depot has stopped stably and will not move anymore, then manually enter the track area and operate the closing button of the local control panel beside the depot door;

[0074] Step 217: The depot door operates normally. After the door is closed, if the signal receives the closed and locked state of the depot door, the current closing process ends; otherwise, organize an inspection of the door operating mechanism and the safety closing circuit of the depot door, and perform repairs as soon as possible.

[0075] Compared with the prior art, the present invention has the following advantages:

[0076] 1. The automatic opening / closing control strategy of the depot door proposed by the present invention reduces the manual intervention of operating personnel on the premise of ensuring system safety, improves the automation level of the system, and can better meet the operating requirements of full-automatic operation lines for high automation levels.

[0077] 2. Compared with traditional lines, the present invention provides a safer depot door protection scheme through the safety interfaces between the depot door and the signal system and the IBP panel, as well as the auxiliary camera monitoring means, and combines various safety control conditions such as the train status near the depot door and the route handling, greatly improving the safety of the system.

[0078] 3. The present invention fully considers the impact of the opening and closing of the depot door on operation, and performs the opening and closing operations of the depot door at the most appropriate time according to various operation plans in the depot, greatly improving the operation efficiency of the CBTC depot entry and exit operations.

[0079] 4. The present invention provides various depot door control means for operation. Each control method has a clear interface and complements each other, and real-time monitoring and alarm of the depot door status are carried out, greatly enriching the dispatcher's operation management of the depot door and providing convenience for the maintenance operation of the depot door.

[0080] 5. The various redundant control strategies under system failures proposed by the present invention can adapt to various complex fault scenarios that occur in urban rail transit lines, minimize the impact of depot door failures and interface failures on operation, and greatly improve the availability of depot operations in urban rail transit lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is the system function and structure diagram of the present invention;

[0082] Figure 2It is the door opening control flow chart of the present invention;

[0083] Figure 3 It is the door closing control flow chart of the present invention;

[0084] Figure 4 It is the typical embodiment example 1 of the present invention;

[0085] Figure 5 It is the typical embodiment example 2 of the present invention. Specific implementation manners

[0086] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0087] For the parking line garage doors and car wash garage doors in the urban rail transit depot / parking lot, the present invention proposes an automatic control and redundant control scheme for the depot garage doors in the full-automatic operation line under system failure. The present invention proposes the garage door control schemes for the parking inspection garage and car wash garage in normal and fault scenarios. On the premise of ensuring system safety, the automation degree of the system is improved as much as possible, and the redundant control scheme proposed in the case of system failure can minimize the impact of the garage doors on the operation.

[0088] As Figure 1 shown, the control system of the present invention includes: a signal system, an integrated monitoring system, and a garage door system. The signal system mainly cooperates with the ATS subsystem and the interlocking subsystem to complete the automatic opening and closing control of the garage doors according to the plan in normal scenarios, the manual opening and closing control of the garage doors in case of automatic trigger failure or unplanned situations, and complete signal opening and safety protection through real-time monitoring of the garage door status. The integrated monitoring system mainly completes the operations such as opening / closing / bypassing of the garage doors under degradation through the buttons on the IBP panel in case of signal system failure, and completes the auxiliary judgment of the garage door status by viewing the cameras beside the garage doors. The garage door system executes the opening and closing control instructions of the signal system and the integrated monitoring system, sends the status of the garage doors to the integrated monitoring system and the signal system in real time, and performs operations such as opening / closing and bypassing of the garage doors through the local control panel in case of emergency to avoid affecting train operation.

[0089] 1. The garage doors mainly include: the garage doors of the parking garage (such as the parking inspection garage / operation garage, etc.) and the car wash garage doors. The present invention mainly has the following 4 types of garage door opening and closing control methods: remote automatic control, remote ATS manual control, remote IBP panel manual control, and local manual control.

[0090] 2. The four types of control methods for the depot doors implemented by the present invention mainly achieve the following controls:

[0091] 1) Remote automatic control: This control mode is the normal control mode for depot doors. The ATS automatically triggers the opening or closing control commands of the corresponding depot doors in advance or postponed for a period of time (the timing is configurable) according to the outbound plan, shunting operation plan, car washing plan, maintenance plan, and transfer operation plan in the depot section, without the intervention of the dispatcher. The signal system issues the "door opening command" or "door closing command" through the interlocking subsystem and the safety relay interface of the depot door, realizing the function of automatically opening and closing the depot door under normal circumstances.

[0092] 2) Remote ATS manual control: For non-scheduled temporary inbound and outbound operations or scenarios where remote automatic control fails, the control commands of individual or batch depot doors can be operated on the ATS interface to meet the inbound and outbound operation requirements under temporary or faulty conditions. The physical interface for realizing this function is the same as that of remote automatic control, both are realized by the interlocking subsystem of the signal system and the relay interface of the depot door.

[0093] 3) Remote IBP panel manual control: When the interface between the signal and the depot door fails, the functions of remotely opening, closing, and bypassing the depot door under degraded conditions can be realized by the open, close, and bypass depot door buttons set on the IBP panel, maximizing the availability of the system.

[0094] 4) Local manual control: When the above three types of controls are all invalid, the depot door professional sets a dedicated control panel next to the depot door, and through the door opening and closing control buttons, realizes the local opening and closing operations of the depot door, meeting the requirements of opening and closing operations during emergency or maintenance.

[0095] 3. To avoid accidents caused by command conflicts under different control modes, different priorities need to be set among local control, remote IBP panel manual control, and signal control. The local control has the highest priority, followed by the remote IBP panel manual control, and finally the signal control. This part can be controlled by setting different positions of the remote / local control switches on the IBP panel and the local control panel.

[0096] 1) When the remote / local control switches of the local control panel are both in the local position, the remote IBP panel manual control and the signal system cannot issue remote control commands. At this time, the depot door only executes the relevant local control instructions of the local control panel, and if the depot door receives remote IBP panel and signal control commands at this time, it should refuse to execute.

[0097] 2) When the remote / local control switch of the local control panel is in the remote position and the remote / local control switch on the IBP panel is in the local position, the IBP panel obtains the control right of the depot door. The depot door only executes the commands of opening the depot door, closing the depot door, and bypassing the depot door on the IBP panel, rejects the control commands of the signal and local control. On the other hand, in this mode, the signal is also blocked, and no control commands related to the depot door are issued.

[0098] 3) Only when the remote / local control switches corresponding to the local control panel and the IBP panel are both in the remote position can the signal system obtain the control right of the depot door and automatically or manually control the opening and closing of the depot door by the ATS under normal circumstances.

[0099] The core of the above control right is that the control party without the control right does not issue control instructions, and the executor blocks and only executes the control instructions of the party with the control right. This part can be achieved by blocking the position of the remote / local control switch on the IBP panel and the local control panel in the circuit design, or by the software logic through the depot door collecting inputs of different control modes.

[0100] 4. The control and monitoring of the signal system for the depot door are realized through the interface between the depot door and the signal interlocking subsystem. The depot door status feedback to the signal system mainly includes but is not limited to: "door open and locked state", "remote / local control state", "door bypass state", and "door fault state"; the control commands from the signal system to the depot door are: "door opening command" and "door closing command". The above interface can also transfer information in the form of a network interface by establishing a secure communication protocol between the signal system and the depot door. In addition, for the internal fault information of the depot door, the signal system can also add an interface of the monitoring system to the depot door to obtain more detailed depot door fault information for the convenience of operation to conduct fault troubleshooting.

[0101] 5. The signal system collects the real-time status of the opening and closing of the depot door. Only when the "door open and locked state" of the garage door is 1, the signal system allows the entry / exit route to be handled and the entry / exit signal (including train route and shunting route) to be opened; when the "door open and locked state" feedback by the depot door is 0, the signal system will activate the depot door protection area in the depot door projection area (the range exceeding the train operation limit during the opening or closing process of the depot door is the depot door projection area). CBTC trains outside the depot door protection area are not allowed to enter the depot door protection area, and trains inside the depot door protection area will be emergently braked in real time; non-CBTC trains run according to the status of the signal machine protecting the depot door, thus protecting the safety of train operation.

[0102] 7. According to the opening requirements of the depot doors for operation, the ATS can be configured to automatically open all depot doors a certain time (configurable) in advance based on the earliest train departure time in the operation plan (inbound / outbound plan, shunting operation plan, car washing plan, maintenance plan, depot transfer operation plan), or it can also open the depot doors one by one a certain time (configurable) in advance according to the operation plan of each train. For example, open the depot doors in advance before the train enters the depot to avoid situations that affect efficiency, such as the signal not being able to be opened due to the depot door not being closed, resulting in the train stopping in the throat area.

[0103] 8. According to the special opening requirements of the depot doors for operation, the ATS can be specially configured for the timing of issuing the depot door opening command corresponding to various yard operations, improving the automation level of the yard and ensuring the maximization of operation efficiency. For example, after the train in the inspection pit has received the car washing task and before it is planned to drive to the car wash, issue the depot door opening command for the car wash in advance. Only after the depot door is normally opened will the route to the car wash be automatically triggered, avoiding the situation where the train arrives at the depot door and then discovers that the depot door status is incorrect, resulting in the inability to start car washing and repeated back-and-forth trips. For example, only when the train meets the departure conditions is it allowed to open the depot door of the corresponding track. For example, when the train fails to wake up or the train has a serious fault, etc., the depot door of the corresponding track is not opened.

[0104] 6. Remote automatic / ATS manual door closing control: According to the inbound plan, shunting operation plan, car washing plan, maintenance plan, depot transfer operation plan in the yard, after the train enters the parking depot or leaves the car wash, the ATS triggers the closing control command of the corresponding depot door after a certain delay (the timing is configurable), or the dispatcher manually operates the depot door closing instruction on the ATS interface. After the interlocking receives the ATS door closing instruction and checks that the relevant safety conditions are met, it sends a door closing command to the depot door through the safety relay interface and activates the depot door protection area at the same time to prevent subsequent trains from approaching the depot door area. Compared with the depot door opening operation, the potential risk of the door closing operation is crashing into a vehicle or hitting someone, so it belongs to the operation on the side of the guiding danger. When the signal system issues the door closing command, at least the following checks need to be added:

[0105] - Whether there is an established route conflicting with the depot door;

[0106] - Whether a protection section conflicting with the depot door has been established;

[0107] - Whether there is an intersection between the safe positioning of the train stopped near the depot door and the depot door protection area;

[0108] - Whether the train running near the depot door can timely withdraw the authorized end point and ensure that it stops in front of the depot door protection area;

[0109] - In addition, conditions such as checking the status of the staff protection switch, whether the depot door has a fault, and whether the associated access control is open can also be added according to the operation requirements.

[0110] 9. According to the operation's requirement for closing the garage doors, ATS can be configured to automatically close all garage doors after a delay (configurable) based on the time when the latest train enters the garage in the operation plan, or it can close the garage doors one by one according to the operation plans of each train. For the scenario of closing the garage doors one by one, it can be determined whether to immediately close the garage doors by judging whether there are any incoming or outgoing operations in the future and the interval time (configurable) between the current time and the subsequent plan. If the time of the subsequent operation plan is more than the time configured by the system from the current time, the door closing will be immediately triggered; if the interval time between the time of the subsequent operation plan and the current time does not exceed the time configured by the system, the door closing command will not be issued, so as to avoid frequent opening and closing of the garage doors and affecting the service life of the garage doors.

[0111] 10. According to the operation's requirement for closing the washing garage doors, ATS can be configured to automatically close the washing garage doors after a delay (configurable) based on the actual time when the latest train completes the car washing process in the operation plan, or it can close the washing garage doors one by one according to the car washing plans of each train combined with the actual time when each train completes the car washing process. For the situation of closing the garage doors one by one, it can be determined whether to immediately close the garage doors by judging the interval time (configurable) between the completion time of this car washing and the subsequent car washing plan. If the time of the subsequent operation plan is more than the time configured by the system from the completion time of the current train's car washing, the door closing will be immediately triggered; if the interval time between the time of the subsequent operation plan and the completion time of the current train's car washing does not exceed the time configured by the system, the door closing command will not be issued temporarily, so as to avoid frequent opening and closing of the garage doors and affecting the service life of the garage doors.

[0112] 11. ATS supports manually issuing open / close garage door commands on the interface, which can open / close a single garage door or batch open multiple or all garage doors at one time.

[0113] 12. The signal system monitors in real time the states such as "door open and locked state", "remote / local control state", "door bypass state" and "door fault state", and can transmit these garage door state information to other systems (such as the integrated monitoring system) for centralized equipment state monitoring.

[0114] 13. Through the interface information between ATS and the interlocking subsystem, the interface information between the interlocking and the garage doors, and the interface information between the maintenance monitoring system and the garage doors, ATS can give specific reasons for the failure of opening and closing the doors and operation suggestions according to different door opening and closing failure situations, so as to prompt the dispatcher to perform subsequent downgraded operations after the door opening and closing failure, and organize maintenance in time after the operation ends to quickly resume the normal operation of this garage line.

[0115] 14. Remote IBP Panel Manual Control Mode: Through the open and close warehouse door buttons and remote / local control switches set on the IBP panel, remote warehouse door opening and closing operations under degraded conditions can be achieved. In this control mode, the remote / local control switch on the IBP panel needs to be set to the local position, and the remote / local control switch on the local control panel needs to be set to the remote position. It should be noted that the states of operating the warehouse door closed and bypassing the warehouse door on the IBP panel both lead to the dangerous side. Strict operation procedures need to be formulated to ensure that no hazardous scenarios occur. At least ensure that there is no train approaching near the warehouse door and no personnel under the warehouse door. And in special cases, after assisting in judging the environment beside the warehouse door by retrieving the closed-circuit television camera, the operation of closing the door on the IBP panel is allowed. To avoid misoperation by the dispatcher, it is recommended to design the warehouse door closing switch as a key switch, which requires a special key to operate.

[0116] 15. In addition to setting the open and close warehouse door buttons and remote / local control switches on the IBP panel, a remote bypass warehouse door status switch and a warehouse door open and locked status indicator light are also set. So that when the signal loses the open and locked status of the warehouse door due to faults such as interface power supply and interface circuit, while the actual warehouse door is in the open and locked state, the dispatcher can know whether the warehouse door is actually in the open and locked state by checking the status of the warehouse door indicator light set on the IBP panel. After confirming the normal status, operate the warehouse door bypass. At this time, the signal system detects that the warehouse door is in the bypass state, and the signal can be normally opened for inbound and outbound operations. At the same time, the activation of the warehouse door protection area is cancelled to authorize the CBTC train to enter and exit the warehouse door protection area normally. It should be noted that operating the warehouse door bypass on the IBP panel may lead to dangerous scenarios. It is required that the warehouse door open and locked status indicator light on the IBP should be able to truly reflect the actual open and locked state of the warehouse door. It is recommended to adopt another set of independent warehouse door status safety acquisition sensors and safety interface circuits different from the signal interface to achieve the warehouse door status indication under degraded conditions. To avoid misoperation by the dispatcher, it is recommended to conduct circuit control. When the remote / local control status of the warehouse door is in the local control position, only the operation of door bypass is allowed, and the door bypass switch is designed as a key switch, which requires a special key to operate.

[0117] 16. Local Control of Warehouse Door: To deal with the scenario of remote control failure, the local control panel of the warehouse door should be set with at least buttons such as an open button, a close button, a warehouse door status bypass button, a remote / local control button, and a stop action button to ensure the warehouse door operation requirements in case of emergency or maintenance. The local control priority of the warehouse door is the highest. When the remote / local control switch on the local control panel is in the local position, the control right is handed over to the local operator. At this time, the signal and the IBP panel cannot issue control instructions for opening and closing the warehouse door.

[0118] 17. For the signal and the interface of the depot door, and the interface between the IBP panel and the depot door, it is advisable to set up an independent power supply for each depot door separately, and it is recommended to set up the interface control cables separately to reduce the impact of a single system failure on the operation.

[0119] 18. Considering the safety of on-site personnel during operation, after the depot door receives the door opening / closing instruction and before the door opening / closing action, audible and visual alarms and other warning prompts should be set up to inform the staff beside the depot door or the driver in the vehicle to stay away from the depot door. During the audible and visual alarm period (the time can be configured), the door opening / closing instruction needs to be continuously given. If the door opening / closing instruction is cancelled during the audible and visual alarm period, the depot door should not execute this door opening / closing command until it receives the next door opening / closing command.

[0120] 19. Through the network interface with the depot door, the integrated monitoring system monitors the normal working status of the depot door. And when the status of the depot door is abnormal, such as in the case of depot door failure or timeout of the depot door opening / closing action, etc., it automatically links to view the corresponding closed-circuit television monitoring video of the depot door. The integrated monitoring system also supports manually viewing the closed-circuit television monitoring video beside the depot door. In scenarios such as when remote door closing or bypassing needs to be executed due to abnormal depot door control, the real-time monitoring video of the depot door is retrieved manually to assist in judging the on-site situation, so that the dispatcher can make the correct decision.

[0121] The present invention also provides a method for controlling the depot door in a vehicle base in a fully automatic operation line, and this method includes an opening control sub-process and a closing control sub-process.

[0122] As Figure 2 shown, the opening control process includes the following steps:

[0123] Step 1: The dispatcher defines in advance the train entry / exit operation time for each depot line in the yard operation plans such as the train departure plan, car wash plan, shunting plan, maintenance plan, and transfer plan in the signal system.

[0124] Step 2: When the train is about to perform the entry / exit operation and the depot door corresponding to the depot line is not in the open and locked state, go to Step 3, otherwise go to Step 14;

[0125] Step 3: For a driverless train, if the train has not been woken up before leaving the depot, the ATS wakes up the train N minutes (configurable) in advance, and when there are still M minutes (configurable) until the departure time during the normal wake-up process, the ATS issues a depot door opening command in advance. If the wake-up fails before this, the depot door opening command is not issued until the train obtains the normal wake-up information next time;

[0126] Step 4: For a manned train or a woken-up driverless train, the ATS automatically issues a depot door opening command T minutes (configurable) in advance. If the depot door automatically issues the depot door opening command successfully, go to Step 6; if the depot door automatically fails to issue the command to open the depot door, go to Step 5;

[0127] Step 5. The dispatcher, based on the alarm prompt that the automatic opening of the depot door fails, switches to manually operating on the ATS interface to issue a depot door opening command, and proceeds to Step 6;

[0128] Step 6. After the interlock receives the depot door opening command issued by the ATS, it checks that the depot door status is not open and locked, the "remote / local control status" is remote, the staff protection switch status is not activated, the depot door has no faults, the access control associated with the depot door is not open, etc. Then, it sends a door opening request to the depot door through the safety relay interface and proceeds to Step 7; if the conditions are not met, it feeds back the unmet alarm information to the ATS;

[0129] Step 7. After the depot door receives the continuous door opening command, it gives an audible and visual alarm for about 5 s (configurable), and then starts to execute the door opening action and proceeds to Step 8;

[0130] Step 8. If the signal receives the depot door open and locked status within the maximum door opening action delay time range of the depot door, it proceeds to Step 14; if the signal does not receive the depot door open and locked information within the maximum door opening action delay time range, the ATS will give an alarm prompt. At this time, the dispatcher makes a judgment in combination with the door opening failure alarm given by the ATS. If the dispatcher has not manually operated the depot door opening or the manual door opening control conditions are not met during the above door opening but can be met subsequently, it proceeds to Step 5; if the ATS manual door opening instruction has been operated and, in combination with the alarm reason for the door opening, the door opening control conditions still cannot be met or the reason for not being able to open the door is unknown, it proceeds to Step 9;

[0131] Step 9. The dispatcher checks that the depot door indicator light on the IBP is in the open and locked state, and retrieves the camera next to the depot door to check that the depot door is actually in the open state and no other abnormalities are found, then proceeds to Step 10, otherwise proceeds to Step 12;

[0132] Step 10. The dispatcher operates the depot door bypass on the IBP panel. If the signal receives the depot door open and locked status, it proceeds to Step 14, otherwise proceeds to Step 11;

[0133] Step 11. Manually control the depot door to open on the remote IBP control panel. If the signal receives the depot door open and locked status within the maximum door opening action delay time range, it proceeds to Step 14; if the signal does not receive the depot door open and locked status within the maximum door opening action delay time range, it proceeds to Step 12;

[0134] Step 12: Manually control the opening of the depot door at the local control panel beside the depot door. If the signal indicating the opened and locked state of the depot door is received normally, proceed to Step 14; if the signal indicating the opened and locked state of the depot door is still not received, retrieve the camera footage through the dispatcher / confirm on-site that the door has been opened and locked. On the premise that there are no other safety risks, the dispatcher operates the bypass depot door button on the IBP panel or the local control panel of the depot door. After that, if the signal indicating the opened and locked state of the depot door is received, proceed to Step 14; if the signal indicating the opened and locked state of the depot door is still not received after bypassing, proceed to Step 13;

[0135] Step 13: The dispatcher manually activates the standby vehicles on other depot lines to organize the operation tasks for the day;

[0136] Step 14: The ATS system automatically processes the inbound and outbound routes and opens the permission signal according to the inbound and outbound times, and the train completes the inbound and outbound operations.

[0137] As Figure 3 shown, the door closing control process includes the following steps:

[0138] Step 1: The dispatcher defines in advance the inbound and outbound times of the trains on each depot line in the depot operation plans such as the outbound plan, car wash plan, shunting plan in the depot, maintenance plan, and transfer plan in the signal system;

[0139] Step 2: The ATS determines whether the completed train inbound and outbound operation type belongs to outbound or inbound. If it is an outbound operation, proceed to Step 3; if it is an inbound operation, proceed to Step 4;

[0140] Step 3: According to the requirements of the operation train operation organization, define in advance whether to close the door after the train completes the departure operation in the depot or wait until the train completes the return operation to the depot before closing the door. If the door is to be closed after the train completes the departure operation in the depot, proceed to Step 7; if the door is to be closed after the train completes the return operation to the depot, end the current door closing process;

[0141] Step 4: For inbound operations, after the train stops accurately, according to the requirements of the operation train operation organization, decide whether to issue a one-time door closing instruction for the corresponding depot line after all tasks for the day are completed (proceed to Step 6), or consider closing the door after the outbound operation on this depot line is completed (proceed to Step 5);

[0142] Step 5: The ATS determines that there are no subsequent outbound and inbound plans within T minutes (configurable), and proceeds to Step 7; conversely, if the ATS determines that there are subsequent outbound and inbound plans within T minutes (configurable), do not close the door and end the current door closing process;

[0143] Step 6: The ATS determines whether this train's inbound operation is the last train in the inbound plan for the day. If it is, proceed to Step 7; if not, do not close the door and end the current door closing process;

[0144] Step 7: The ATS automatically issues a command to close the depot door. Before issuing the command, some pre-checks are carried out, such as the SPKS is not activated, the remote / local control status of the depot door is remote, etc. If the checks fail, an alarm will be given, and the automatic command to close the depot door will be continued after the conditions are restored.

[0145] Step 8: The ATS determines whether the automatic issuance fails. If the issuance fails, a corresponding alarm will pop up on the ATS interface to prompt the dispatcher to issue the command manually, and then go to Step 9; if the issuance is successful, go to Step 10.

[0146] Step 9: According to the alarm prompt, the dispatcher executes the operation of manually issuing the depot door closing command on the ATS interface.

[0147] Step 10: The CI and the trackside area controller determine whether the safety conditions for closing the door are met. If the conditions are met, go to Step 11; if the conditions are not met, a corresponding alarm prompt indicating that the conditions are not met will be given on the ATS interface. After the cause of the failure is judged manually, follow-up operations will be carried out to eliminate the conditions that prevent the door from closing. If the conditions are successfully eliminated, go to Step 9 and try to close the door manually; if the conditions are not met, the dispatcher can decide whether to go to Step 14 or end this process.

[0148] Step 11: The CI sends a door closing request to the depot door through the safety relay interface, and at the same time activates the depot door protection area to prevent a vehicle from approaching during the door closing process, causing a safety accident.

[0149] Step 12: After receiving the continuous door closing command, the depot door gives an audible and visual alarm for about 5 seconds (configurable), and then starts to execute the door closing action.

[0150] Step 13: If the ATS receives the closed and locked state of the depot door within the maximum door closing delay time, this door closing process will end; if the closed and locked state of the depot door is not received within the maximum door closing delay time, an alarm indicating door closing failure will be given on the dispatcher interface, and the dispatcher will combine the reason for the door closing failure and whether manual door closing has been attempted, and determine to try to operate and close the door manually, then go to Step 9; if both automatic and manual door closings fail, stop sending the door closing command and release the depot door protection area after delaying the maximum lost door status response time, then go to Step 14.

[0151] Step 14: The dispatcher manually ensures that there is no vehicle in the projection area of the depot door. If there is a vehicle in the depot, ensure that the train in the depot has stopped stably and will not start again through means such as the staff protection switch. Then, remotely operate the depot door closing button on the IBP panel. After the depot door receives the continuous door closing command, it gives an audible and visual alarm for about 5 seconds, and then starts to execute the door closing action.

[0152] Step 15: If ATS receives the door closed and locked status within the maximum closing delay of the depot door, the current door closing process ends; if ATS does not receive the door closed and locked status within the maximum closing delay of the depot door, it is manually determined that the door closing fails, and proceed to Step 16;

[0153] Step 16: Manually confirm that there is no vehicle in the projection area of the depot door, activate the staff protection switch, ensure that the train in the depot has stopped stably and will not move again, then manually enter the track area and operate the door closing button on the local control panel beside the depot door;

[0154] Step 17: The depot door operates normally. After the door is closed, if the signal receives the door closed and locked status, the current door closing process ends; otherwise, organize an inspection of the door operating mechanism and the safety closing circuit of the depot door and carry out repairs as soon as possible.

[0155] The typical system implementation structure block diagram is as Figure 4 shown. The signal system completes the control of automatically triggering the opening and closing of the depot door in normal scenarios, and in the scenario where the automatic opening and closing of the depot door fails, manually manages the opening and closing of the depot door; and when the depot door is in a lost state, the signal system activates the depot door protection area and closes the signal machine at the start of the route to ensure the train operation safety. The integrated monitoring system mainly completes the operations such as opening / closing / bypassing of the depot door under degraded conditions through the buttons on the IBP panel in the case of signal system failures, and completes the auxiliary judgment of the depot door status by viewing the camera beside the depot door. The depot door system executes the opening and closing control instructions of the signal system and the integrated monitoring system, sends the status of the depot door to the integrated monitoring and signal systems, and controls the opening, closing, bypassing, etc. of the depot door locally in case of emergencies.

[0156] The four depot door control methods proposed by the present invention: remote automatic control, remote ATS manual control, remote IBP panel manual control, and local manual control, with the control levels degrading layer by layer and complementing each other. The implementation form is not limited to specific ATS and IBP panels, etc. For example, the remote automatic control does not necessarily need to be implemented by ATS, it can be implemented by TIAS, or by ISCS or the depot door system, or jointly implemented by several of these systems; the control buttons on the IBP panel do not necessarily need to be integrated by ISCS, and can also be integrated by the signal.

[0157] Figure 5 It is a typical control relay interface circuit diagram between the signal system and the depot door. The information sent from the depot door to the signal at least includes "door open and locked status", "door closed and locked status", "remote / local control status", "door bypass status", and "door fault status"; the information sent from the interlocking to the depot door at least includes "door opening command" and "door closing command". The interface form between the signal system and the depot door is not limited to the relay interface, and it can also be considered to replace the relay interface with a secure communication transmission protocol.

[0158] The interface between the IBP panel and the depot door should preferably adopt a relay interface. The buttons related to the depot door set on the IBP panel should at least include an opening button, a closing button, a remote / local control switch, and a bypass switch. And indicating lights for the opened and locked state of the depot door and for the closed and locked state of the depot door should be set to prompt the opening and closing states of the depot door. And a set of such buttons should be provided for each depot door.

[0159] To avoid accidents caused by command conflicts under different control modes, different priorities need to be set among local control, manual control of the remote IBP panel, and signal control. The local control has the highest priority, followed by the manual control of the remote IBP panel, and finally the signal control. This part can be controlled by judging the different positions of the remote / local control switches on the IBP panel and the local control panel. When the remote / local control switch of the local control panel is in the local position, neither the manual control of the remote IBP panel nor the signal can issue a remote control command. When the remote / local control switch of the local control panel is in the remote position and the remote / local control switch on the IBP panel is in the local position, the IBP panel obtains the control right of the depot door. When the remote / local control switches corresponding to the local control panel and the IBP panel are both in the remote position, the signal can obtain the control right of the depot door to issue the command for opening and closing the depot door by signal.

[0160] Through the network interface with the depot door, the integrated monitoring monitors the working state of the depot door. And in case of abnormal depot door states (such as depot door failures, timeout of the depot door opening and closing operations), it automatically and synchronously calls up the closed-circuit television monitoring images of the corresponding depot door. It is also possible to manually call up the closed-circuit television monitoring images of the depot door when the depot door is manually closed. At least one camera should be set beside each depot door for the integrated monitoring to remotely view the state of the depot door.

[0161] In the interfaces between the signal and the depot door and between the IBP panel and the depot door, each depot door should preferably be provided with an independent power supply to avoid affecting the normal entry and exit operations of too many trains in case of a single power failure.

[0162] To improve the redundancy of the remote control of the signal and the IBP panel, it is recommended to separately set the interface cables between the signal system and the depot door and the interface control cables between the IBP panel and the depot door. Especially for the opening and closing control cables, it is recommended to separately set the signal and the IBP panel.

[0163] The control strategy for the ATS to automatically trigger the opening and closing of the depot door and the ATS processing logic under corresponding faults proposed by the present invention can cover all operation plans within the depot such as the departure plan, the car wash plan, the shunting plan, the maintenance plan, and the transfer operation plan in the depot, and can be appropriately adjusted according to the needs of operation dispatching.

[0164] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A vehicle depot gate control system in a fully automatic operation line, characterized in that, The control system includes: A signal system, including an ATS subsystem and an interlocking subsystem, which is used to complete the automatic control of opening and closing the depot doors under normal scenarios, trigger the manual control of opening and closing the depot doors in case of automatic trigger failure or unplanned situations, and complete signal opening and safety protection through real-time monitoring of the door status; An integrated monitoring system, including an IBP panel, which is used to complete the opening, closing or bypass operation of the depot doors under degraded conditions through the button control of the IBP panel in case of signal system failure, and complete the auxiliary judgment of the door status by viewing the camera beside the depot door; A depot door system, including a local control panel and a camera for the depot doors, which is used to execute the opening and closing control instructions of the signal system and the integrated monitoring system, send the status of the depot doors to the integrated monitoring system and the signal system in real time through the camera, and perform the opening, closing and bypass operations of the depot doors through the local control panel in case of emergency; The depot doors include the parking depot doors and the car wash depot doors, and the control methods for opening and closing the depot doors include signal control, remote IBP panel manual control and local manual control; The signal control includes: Remote automatic control, which is the control mode for the depot doors under normal conditions. Specifically, it includes: ATS automatically triggers the opening or closing control commands of the corresponding depot doors in advance or postponed for a period of time according to the outbound plan, shunting operation plan, car wash plan, maintenance plan and depot transfer operation plan in the yard. The signal system communicates with the safety relay interface of the depot doors through the interlocking subsystem, and issues an "opening command" or a "closing command" to realize the function of automatically opening and closing the depot doors under normal conditions; Remote ATS manual control, which is used for scenarios of unplanned temporary inbound and outbound operations or failure of remote automatic control. Specifically, it includes: operating the control commands of single or batch depot doors on the ATS interface to meet the yard operation requirements under temporary or faulty conditions; There are different priorities among the local control, remote IBP panel manual control and signal control: the local control has the highest priority, followed by the remote IBP panel manual control, and finally the signal control; The implementation method of setting the priority includes controlling the different positions of the remote or local control switches of the IBP panel and the local control panel through hardwired circuit design, or realizing it through software logic by collecting the inputs of different control modes of the depot doors; The specific execution of the priority is as follows: (1) When both the remote or local control switches of the local control panel are in the local position, neither the remote IBP panel manual control nor the signal system can issue remote control commands. At this time, the depot doors only execute the relevant local control instructions of the local control panel, and if the depot doors receive remote IBP panel and signal control commands at this time, they should reject the execution; (2) When the remote or local control switch of the local control panel is in the remote position and the remote or local control switch on the IBP panel is in the local position, the IBP panel obtains the control right of the depot doors, and the depot doors only execute the commands of opening the depot doors, closing the depot doors or bypassing the depot doors on the IBP panel, and reject the control commands of the signal and local control; (3) When the remote or local control switches corresponding to the local control panel and the IBP panel are both in the remote position, the signal system can obtain the control right of the depot door and automatically or manually control the opening and closing of the depot door by the ATS under normal circumstances; The signal control specifically includes: The ATS subsystem, according to the inbound plan, shunting operation plan, car washing plan, maintenance plan, and transfer operation plan in the depot, after the train enters the parking depot or leaves the car washing depot, delays the set time and triggers the closing control command of the corresponding depot door by the ATS, or the dispatcher manually operates the depot door closing instruction on the ATS interface. After the interlocking subsystem receives the ATS closing instruction and checks that the relevant safety conditions are met, it sends a closing command to the depot door through the safety relay interface, and at the same time activates the protection area of the depot door to prevent subsequent trains from approaching the depot door area; The contents that need to be checked when the signal system issues a closing command include: whether there is a route in conflict with the depot door; whether a protected section in conflict with the depot door has been established; whether there is an intersection between the safe positioning of the train stopped near the depot door and the protection area of the depot door; whether the train running near the depot door can timely withdraw the authorized end point and ensure that it stops in front of the protection area of the depot door; the status of the staff protection switch, whether there is a fault with the depot door, and whether the associated access control is open; The ATS subsystem automatically closes all depot doors after delaying the set time according to the inbound time of the latest train corresponding to the operation plan, or closes the depot doors one by one according to the operation plans of each train. For the scenario of closing the depot doors one by one, it is determined whether to immediately close the depot doors by judging whether there are subsequent inbound and outbound operations and the time interval between the current time and the subsequent plan. If the time of the subsequent operation plan is more than the time configured by the system from the current time, the closing is immediately triggered; if the time interval between the subsequent operation plan time and the current time does not exceed the time configured by the system, the closing instruction is not issued to avoid frequent opening and closing of the depot doors and affecting the service life of the depot doors.

2. The vehicle depot gate control system in a fully automatic operation line according to claim 1, characterized in that, The application scenario of the manual control of the remote IBP panel is that when there is a fault in the signal and depot door interface, the functions of remotely opening, closing, or bypassing the depot door under degraded conditions are realized through the open, close, and bypass depot door buttons set on the IBP panel; The on-site manual control is applied when both the signal control and the manual control of the remote IBP panel are ineffective. A dedicated control panel is set beside the depot door, and the local opening and closing operations of the depot door are realized through the opening and closing control buttons to meet the requirements of opening and closing operations during emergency or maintenance.

3. The vehicle depot gate control system in a fully automatic operation line according to claim 1, characterized in that, For the control and monitoring of the depot door by the signal system, the depot door status feedback to the signal system includes: "door open and locked state", "remote or local control state", "door bypass state", and "door fault state"; the control commands sent by the signal system to the depot door include: "open door command" and "close door command".

4. The vehicle depot gate control system in a fully automatic operation line according to claim 3, characterized in that, The signal system collects the real-time status of the depot door switch. Only when the "door open and locked state" of the depot door is 1, the signal system allows the entry or exit route to be processed and the entry or exit signal to be opened; when the "door open and locked state" feedback by the depot door is 0, the signal system will activate the depot door protection area in the projection area of the depot door, where the projection area of the depot door is the range exceeding the train operation limit during the opening or closing process of the depot door. CBTC trains outside the depot door protection area are not allowed to enter the depot door protection area, and trains within the depot door protection area will be emergently braked in real time; non-CBTC trains run according to the status of the signal lights protecting the depot door, thus protecting the safety of train operation.

5. The vehicle depot gate control system in a fully automatic operation line according to claim 1, characterized in that, According to the operation's opening requirements for the depot door, the ATS subsystem is configured to automatically open all depot doors at a preset time in advance according to the earliest train departure time in the operation plan or to open the depot doors one by one at a preset time in advance according to the operation plans of each train, where the operation plan includes the entry and exit plan, shunting operation plan, car wash plan, maintenance plan, and depot transfer operation plan; According to the operation's special opening requirements for the depot door, the ATS subsystem can be specially configured with the timing of issuing the depot door opening command corresponding to various yard operations.

6. The vehicle depot gate control system in a fully automatic operation line according to claim 1, characterized in that, According to the operation's closing requirements for the car wash depot door, the ATS subsystem automatically closes the car wash depot door after a set delay according to the actual car wash process completion time of the last train in the operation plan, or closes the car wash depot doors one by one according to the car wash plans of each train combined with the actual car wash process completion time of each train; For the case of closing the depot doors one by one, it is determined whether to immediately close the car wash depot door by judging the interval time between the current car wash completion time and the subsequent car wash plan. If the time of the subsequent operation plan is more than the time configured by the system from the current train's car wash completion time, the door closing is immediately triggered; if the time of the subsequent operation plan is not more than the time configured by the system from the current train's car wash completion time, the door closing instruction is not issued temporarily to avoid frequent opening and closing of the depot door affecting the service life of the depot door.

7. The vehicle depot gate control system in a fully automatic operation line according to claim 3, characterized in that, The signal system monitors the "door open and locked state", "remote or local control state", "door bypass state", and "door failure state" in real time, and can transmit these depot door state information to the integrated monitoring system for centralized equipment state monitoring.

8. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that Through the interface information between the ATS subsystem and the interlocking subsystem, the interface information between the interlocking subsystem and the depot door, and the interface information between the maintenance monitoring system and the depot door, the ATS subsystem gives specific reasons for the failure of opening and closing the door and operation suggestions according to different failure situations of opening and closing the door, facilitating the dispatcher to perform subsequent degraded operations after the failure of opening and closing the door, and organizing maintenance in a timely manner after the end of operation to quickly resume the normal operation of the depot line.

9. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that The specific manual control of the remote IBP panel is as follows: Through the opening and closing of the warehouse door, remote or local control switches set on the IBP panel, remote opening and closing of the warehouse door under degradation can be realized. When the remote IBP panel manual control mode is selected, the remote or local control switch on the IBP panel is turned to the local position, and the remote or local control switch of the local control panel is turned to the remote position; when operating the warehouse door closing and bypassing the warehouse door on the IBP panel, it is necessary to ensure that there is no train approaching the warehouse door and no personnel under the warehouse door. The door closing operation on the IBP panel is allowed only after the camera is called up to assist in judging the environment next to the warehouse door; the warehouse door closing switch is designed as a key switch and is operated by a special key.

10. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that The IBP panel is provided with buttons for opening and closing the warehouse door, a remote or local control switch, a remote bypass warehouse door status switch, and a warehouse door open and locked status indicator light. The IBP panel adopts another set of independent warehouse door status safety acquisition sensors and safety interface circuits different from the signal interface to realize the warehouse door status indication under degradation. When the remote or local control status of the warehouse door is the local control position, the door bypass operation is allowed, and the door bypass switch is set as a key switch, which can only be operated by a special key.

11. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that The local control panel of the garage door is provided with a door opening button, a door closing button, a garage door status bypass button, a remote or local control button and a stop action button to ensure the garage door operation requirements in emergency or maintenance situations. The local control of the garage door has the highest priority. When the remote or local control switch on the local control panel of the garage door is in the local position, the control right is given to the local operator. At this time, neither the signal control nor the IBP panel can issue the garage door opening and closing control instructions.

12. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that The signal system and the warehouse door interface, the IBP panel and the warehouse door interface and each warehouse door are individually provided with an independent power supply, and the warehouse door interface control cables are separately provided, so as to reduce the impact of a single system failure on the operation.

13. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that After the warehouse door receives the door opening and closing command and before the door opening and closing action, an audible and visual alarm prompt is set to inform the staff next to the warehouse door and the driver in the car to stay away from the warehouse door. During the audible and visual alarm, the door opening and closing command continues to be given; if the door opening and closing command is cancelled during the audible and visual alarm, the warehouse door will not execute the current door opening and closing command until the next door opening and closing command is received.

14. A vehicle depot door control system in a fully automatic operation line according to claim 1, characterized in that The integrated monitoring system monitors the normal working status of the warehouse door through the network interface with the warehouse door, and automatically links to view the closed-circuit television monitoring screen of the corresponding warehouse door when the warehouse door status is abnormal. The integrated monitoring system supports manual viewing of the closed-circuit television monitoring screen next to the warehouse door. In the scenario where the warehouse door control is abnormal and remote door closing and bypass need to be executed, the real-time monitoring screen of the warehouse door is manually retrieved to assist in judging the on-site situation so that the dispatcher can make correct decisions.

15. A method of using the vehicle depot door control system in a fully automatic operation line according to any one of claims 1 - 14, characterized in that The method comprises a door opening control sub-process and a door closing control sub-process.

16. The method according to claim 15, characterized in that The door opening control sub-process comprises the following steps: Step 101, the dispatcher defines the train entry and exit operation time of each depot line in advance in the signal system's depot departure plan, car washing plan, shunting plan, maintenance plan, and depot transfer plan operation plan; Step 102: When the train is about to enter or exit the depot, and the depot door of the corresponding depot line is not in an open and locked state, go to step 103; otherwise, go to step 114; Step 103: For an unmanned train, if the train has not been awakened before leaving the depot, the ATS subsystem will awaken the train N minutes in advance, and in the normal awakening process, when there are M minutes left before the departure time, the ATS subsystem will issue a depot door opening command in advance. If the awakening fails before this, the depot door opening command will not be issued until the train obtains normal awakening information next time; Step 104: For a manned train or an awakened unmanned train, the ATS subsystem automatically issues a door opening command T minutes in advance. If the door automatically issues the door opening command successfully, go to step 106; if the door automatically issues the door opening command failed, go to step 105; Step 105: The dispatcher switches to manually issuing a door opening command on the ATS interface based on the alarm prompt that the door fails to open automatically, and then goes to step 106; Step 106: After receiving the door opening command from the ATS subsystem, the interlocking subsystem checks that the door is in a non-open and locked state, the "remote or local control state" is remote, the worker protection switch is in an inactive state, the door is fault-free, and the door-related access control is not opened. Then, the interlocking subsystem sends a door opening request to the door through the safety relay interface and goes to step 107; if the conditions are not met, an alarm message indicating the non-satisfaction is fed back to the ATS subsystem; Step 107, after receiving the continuous door opening command, the warehouse door performs an audible and visual alarm for a set time, and then starts to execute the door opening action, and then goes to step 108; Step 108: If the signal is received within the maximum delay time range of the door opening action, indicating that the door is open and locked, go to step 114; if the signal is not received within the maximum delay time range of the door opening action, indicating that the door is open and locked, the ATS subsystem will give an alarm prompt. At this time, the dispatcher will make a judgment based on the door opening failure alarm given by the ATS subsystem. If the dispatcher does not manually open the door or the manual door opening control condition is not met during the above-mentioned door opening period but can be met later, go to step 105; if the ATS manual door opening command has been operated, it is judged based on the alarm reason for the door opening that the door opening control condition cannot be met or the reason for the failure to open the door is unknown, go to step 109; Step 109: The dispatcher checks the door indicator light on the IBP to see if it is in the open and locked state, and calls the camera next to the door to see if the door is actually in the open state. If no other abnormalities are found, go to step 110, otherwise go to step 112; Step 110, the dispatcher operates the door bypass on the IBP panel, and if the signal is received that the door is open and locked, go to step 114, otherwise go to step 111; Step 111, the remote IBP control panel manually controls the warehouse door to open, and the signal is received within the maximum delay time range of the door opening action, and the warehouse door is open and locked, and the process goes to step 114; if the signal is not received within the maximum delay time range of the door opening action, and the warehouse door is open and locked, the process goes to step 112; Step 112: Manually control the opening of the depot door at the local control panel beside the depot door. If the signal indicating that the depot door is opened and locked is received normally, proceed to Step 114. If the signal indicating that the depot door is opened and locked is still not received, retrieve the camera footage through the dispatcher or confirm on-site that the door is opened and locked. On the premise that there are no other safety risks, the dispatcher operates the bypass depot door button on the IBP panel or the local control panel of the depot door. After that, if the signal indicating that the depot door is opened and locked is received, proceed to Step 114. If the signal indicating that the depot door is opened and locked is still not received after bypassing, proceed to Step 113. Step 113: The dispatcher manually activates the standby trains on other depot lines to organize the operation tasks for the day. Step 114: The ATS subsystem automatically handles the inbound and outbound routes and opens the allow signal according to the inbound and outbound times, and the train completes the inbound and outbound operations.

17. The method according to claim 15, characterized in thatThe described door closing control sub-process includes the following steps: Step 201: The dispatcher defines in advance the inbound and outbound times of the trains on each depot line in the depot operation plans of the signal system, including the outbound plan, car wash plan, shunting plan in the depot, maintenance plan, and transfer plan. Step 202: The ATS subsystem determines whether the completed train inbound and outbound operation type is outbound or inbound. If it is an outbound operation, proceed to Step 203. If it is an inbound operation, proceed to Step 204. Step 203: According to the requirements of the operation train operation organization, define in advance whether to close the door after the train completes the departure operation in the depot or wait until the train completes the return operation to the depot before closing the door. If the door is to be closed after the train completes the departure operation in the depot, proceed to Step 207. If the door is to be closed after the train completes the return operation to the depot, end the current door closing process. Step 204: For inbound operations, after the train stops accurately, according to the requirements of the operation train operation organization, decide whether to issue the door closing instruction for the corresponding depot line only after all tasks are completed at the end of the day, proceed to Step 206, or consider closing the door after the outbound operation of this depot line is completed, proceed to Step 205. Step 205: The ATS subsystem determines that there are no subsequent outbound and inbound plans within T minutes, and proceeds to Step 207. Otherwise, if the ATS subsystem determines that there are subsequent outbound and inbound plans within T minutes, do not close the door and end the current door closing process. Step 206: The ATS subsystem determines whether this train's inbound operation is the last train in the inbound plan for the day. If it is, proceed to Step 207. If not, do not close the door and end the current door closing process. Step 207: The ATS subsystem automatically issues the depot door closing instruction. Before issuing, some pre-checks are carried out, such as whether the SPKS is not activated and whether the remote or local control status of the depot door is remote. If it does not pass, an alarm prompt will be given, and the automatic issuance of the depot door closing instruction will continue after the conditions are restored. Step 208: The ATS subsystem determines whether the automatic issuance fails. If the issuance fails, a corresponding alarm will pop up on the ATS interface to prompt the dispatcher to issue manually, and proceed to Step 209. If the issuance is successful, proceed to Step 210. Step 209: According to the alarm prompt, the dispatcher performs the operation of manually issuing the depot door closing command on the ATS interface. Step 210: The CI and the trackside area controller determine whether the safety conditions for closing the door are met. If the conditions are met, proceed to Step 211; if not, an alarm prompt indicating that the corresponding conditions are not met will be given on the ATS interface. After the cause of the failure is judged manually, subsequent operations will be performed to eliminate the conditions preventing the door from closing. If the conditions are successfully eliminated, proceed to Step 209 and attempt to close the door manually; if the conditions are not met, the dispatcher can decide whether to proceed to Step 214 or end this process. Step 211: The CI sends a door closing request to the depot door through the safety relay interface and activates the depot door protection area simultaneously to prevent a safety accident caused by a vehicle approaching during the door closing process. Step 212: After receiving a continuous door closing command, the depot door gives an audible and visual alarm for a set time and then starts to perform the door closing action. Step 213: If the ATS subsystem receives the closed and locked state of the depot door within the maximum door closing delay time, this door closing process will end; if the closed and locked state of the depot door is not received within the maximum door closing delay time, an alarm indicating door closing failure will be given on the dispatcher interface, and the dispatcher will determine to attempt to operate the door manually based on the cause of the door closing failure and whether manual door closing has been attempted before, then proceed to Step 209; if both automatic and manual door closings fail, stop sending the door closing command and release the depot door protection area after delaying for the maximum lost door status response time, then proceed to Step 214. Step 214: The dispatcher manually ensures that there is no vehicle in the projection area of the depot door. If there is a vehicle in the depot, ensure that the train in the depot has stopped stably and will not start again by means of the staff protection switch. Then, remotely operate the depot door closing button on the IBP panel. After the depot door receives a continuous door closing command, it gives an audible and visual alarm for a set time and then starts to perform the door closing action. Step 215: If the ATS subsystem receives the closed and locked state of the depot door within the maximum door closing delay time, this door closing process will end; if the closed and locked state of the depot door is not received within the maximum door closing delay time, it is judged manually that the door closing has failed, and proceed to Step 216. Step 216: Manually confirm that there is no vehicle in the projection area of the depot door, activate the staff protection switch, ensure that the train in the depot has stopped stably and will not move again, and then manually enter the track area and operate the door closing button on the local control panel beside the depot door. Step 217: The depot door operates normally. After the door is closed, the signal receives the closed and locked state of the depot door, and this door closing process ends; otherwise, organize an inspection of the door operating mechanism and the safety closing circuit of the depot door and carry out repairs as soon as possible.

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