Method and monitoring system for detecting foreign objects in the gap between a platform screen door and a train door

Abstract

The application discloses a kind of method and monitoring system for detecting the gap foreign matter between platform shielding door and train door, wherein, platform area is provided with ultrasonic detection system, the detection range of ultrasonic detection system at least covers the gap between platform shielding door and the train door of train parked in platform, method is used for ultrasonic detection system, the method for detecting the gap foreign matter between platform shielding door and train door includes: obtaining the ultrasonic detection signal for the gap between platform shielding door and train door;According to ultrasonic detection signal, determine that there is foreign matter in the gap between platform shielding door and train door;Send the information of existing foreign matter to platform station door control system, to trigger interlocking protection.The method for detecting the gap foreign matter between platform shielding door and train door of the application, utilize ultrasonic wave to carry out the detection of foreign matter, and ultrasonic wave is small, and foreign matter detection is more accurate, and compared with the use of light curtain generator, detection range is more comprehensive and not easy to be disturbed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rail transit, in particular to a method and a monitoring system for detecting foreign matter in the gap between a platform screen door and a train door. BACKGROUND

[0002] After the train is parked on the platform, passengers get on and off the train, and then the train door is closed. During this process, passengers or their belongings may be trapped in the gap between the train door and the platform screen door due to crowding or other unexpected situations. The signal system or the platform door system should be able to detect the presence of foreign matter between the train door and the platform screen door in time, and then trigger the signal system to protect the train to avoid accidental injury to passengers or accidental damage to their belongings. For traditional fully automatic subway projects, a physical protection method of installing a protective baffle below the platform screen door is usually used, that is, when the platform screen door is closed, the protective baffle can block passengers from entering the gap between the train door and the platform screen door. A special gap protection device is also set up, which sets up a light curtain generator and a light curtain receiving device at a suitable position on the platform. In this way, when there is foreign matter between the train door and the platform screen door, part of the light curtain will be blocked from reaching the receiving device, thereby triggering the protection function of the signal system.

[0003] The above method uses physical protection, which is relatively rigid. Small items in the gap cannot be detected or handled in time, and the risk of damage to passengers' belongings is relatively high. The light curtain generator and the light curtain receiving device are installed between the platform screen door and the train door. The light curtain generator generally emits an infrared light curtain or a laser light curtain, which has a small divergence range and cannot cover the entire area of the gap between the platform screen door and the train door. It is easy to be disturbed by the environment and cause false alarms. SUMMARY

[0004] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one of the objects of the present application is to provide a method for detecting foreign matter in the gap between a platform screen door and a train door, which uses ultrasonic waves to detect foreign matter. The ultrasonic wave diffraction phenomenon is small, the foreign matter detection is more accurate, and the detection range is more comprehensive and less susceptible to interference compared to using a light curtain generator.

[0005] A second object of the present application is to provide an ultrasonic detection system.

[0006] A third object of the present application is to provide a train monitoring system.

[0007] In order to achieve the above object, the method for detecting foreign matter in the gap between the platform shielding door and the train door according to the first aspect of the present application is characterized in that: an ultrasonic detection system is arranged in the platform area, and the detection range of the ultrasonic detection system covers at least the gap between the platform shielding door and the train door of the train parked at the platform; the method is used for the ultrasonic detection system, and the method comprises the following steps: acquiring an ultrasonic detection signal of the gap between the platform shielding door and the train door; determining that there is foreign matter in the gap between the platform shielding door and the train door according to the ultrasonic detection signal; and sending information about the existence of the foreign matter to a platform door control system to trigger interlocking protection.

[0008] According to the method for detecting foreign matter in the gap between the platform shielding door and the train door, the ultrasonic detection system is arranged in the platform area, the reflection characteristics of ultrasonic waves are used to detect foreign matter, the diffraction of ultrasonic waves is small, the detection accuracy of foreign matter is higher, the ultrasonic detection signal cannot be perceived by passengers, and therefore the riding experience of the passengers is not affected. The detection range of the ultrasonic detection system can comprehensively cover the gap between the platform shielding door and the train door of the train parked at the platform, and compared with the light curtain generator, the detection range is more comprehensive. In addition, the ultrasonic detection result is not affected by adverse weather conditions, air pollution and the like, and unnecessary false positives are reduced. When it is determined that there is foreign matter in the gap between the platform shielding door and the train door, interlocking protection of the train is triggered, and damage to the object or the passengers can be avoided.

[0009] In some embodiments of the present application, the ultrasonic detection system comprises at least one ultrasonic sensor, and after it is determined that there is foreign matter in the gap between the platform shielding door and the train door according to the ultrasonic detection signal, the method further comprises the following steps: acquiring the propagation time of the ultrasonic detection signal; estimating the distance from the foreign matter to the ultrasonic sensor according to the propagation speed of ultrasonic waves in the air and the propagation time; and determining the target platform shielding door where the foreign matter is located according to the distance from the foreign matter to the ultrasonic sensor. The reflection characteristics of ultrasonic waves are used to detect foreign matter, the approximate distance from the foreign matter to the ultrasonic sensor can be quickly estimated, and the target platform shielding door where the foreign matter is located is determined, so that the specific position of the foreign matter can be quickly located by the comprehensive dispatching system and the platform crew.

[0010] In some embodiments of the present application, the ultrasonic detection system comprises at least one ultrasonic sensor, and after it is determined that there is foreign matter in the gap between the platform shielding door and the train door according to the ultrasonic detection signal, the method further comprises the following steps: acquiring the propagation time of the ultrasonic detection signal; estimating the distance from the foreign matter to the ultrasonic sensor according to the propagation speed of ultrasonic waves in the air and the propagation time; and determining the target platform shielding door where the foreign matter is located according to the distance from the foreign matter to the ultrasonic sensor. The reflection characteristics of ultrasonic waves are used to detect foreign matter, the approximate distance from the foreign matter to the ultrasonic sensor can be quickly estimated, and the target platform shielding door where the foreign matter is located is determined, so that the specific position of the foreign matter can be quickly located by the comprehensive dispatching system and the platform crew.

[0011] By setting multiple ultrasonic sensors in the platform area, the detection range of the ultrasonic detection system can be expanded, the gap between the platform screen door and the train door stopped at the platform is fully covered, even if the foreign matter is small, it can also be detected by the system, and the detection effect is improved. And analyzing the detection results of multiple ultrasonic sensors can obtain more accurate foreign matter position, improve detection accuracy, and avoid damage to passengers or passenger items.

[0012] In some embodiments of the application, the method further comprises: sending the position information of the foreign matter to a platform video monitoring system, so that the platform video monitoring system collects image information of the foreign matter and uploads the position information and the image information to a comprehensive dispatching system, wherein the position information of the foreign matter at least includes the target platform screen door.

[0013] The method for detecting foreign matter in the gap between the platform screen door and the train door according to the embodiments of the application proposes a new detection method, which links the estimation of the position of the foreign matter and the video monitoring system in the area where the foreign matter is located. After analyzing the estimated position of the foreign matter and matching it with the platform camera, the shortcomings of the current traditional gap detection method can be compensated. When it is determined that there is a foreign matter in the gap between the platform screen door and the train door, the video controller controls the nearest camera to take pictures, and then uploads the foreign matter picture and the foreign matter position to the comprehensive dispatching system, so that the line dispatcher can determine the approximate position of the foreign matter and the characteristics of the foreign matter at the first time, and then can quickly and effectively arrange the situation of the gap being pinched or the object being pinched, and take effective measures to avoid panic on the spot and long delay of the train.

[0014] In order to achieve the above purpose, the second aspect of the application further proposes an ultrasonic detection system, which is arranged on a platform and comprises: an ultrasonic sensing module, the detection range of the ultrasonic sensing module covers at least the gap between the platform screen door and the train door stopped at the platform, and the ultrasonic sensing module is used to emit and receive ultrasonic signals to generate ultrasonic detection signals; a controller connected with the ultrasonic sensing module, used to execute the method for detecting foreign matter in the gap between the platform screen door and the train door.

[0015] The ultrasonic detection system according to the embodiment of the present application is arranged at the platform, adopts the ultrasonic sensing module to emit the ultrasonic detection signal, and detects the foreign matter by using the reflection characteristic of the ultrasonic wave, so that the detection precision is high, the ultrasonic detection signal cannot be perceived by the passenger, and the riding experience of the user is not affected. The detection range of the ultrasonic sensing module covers at least the gap between the platform shielding door and the train door stopped at the platform, so that the detection range is more comprehensive. The controller can confirm the existence of the foreign matter in the gap between the platform shielding door and the train door stopped at the platform according to the ultrasonic detection signal received by the ultrasonic sensing module, timely report the information of the existence of the foreign matter, the detection speed is fast, and the situation of the gap is quickly and effectively arranged, so that effective measures are taken to avoid the panic on the scene and the long-time delay of the train.

[0016] In some embodiments, the ultrasonic detection system further comprises a reflection plate for reflecting the ultrasonic wave signal emitted by the ultrasonic sensing module and enabling the ultrasonic sensor to receive the reflected ultrasonic wave signal.

[0017] In some embodiments of the present application, the platform area has a first boundary and a second boundary arranged along the running direction of the train; the reflection plate comprises a first reflection plate and a second reflection plate, the first reflection plate is arranged at the first boundary, and the second reflection plate is arranged at the second boundary, wherein the first reflection plate and the second reflection plate are oppositely arranged. The ultrasonic sensing module comprises a first ultrasonic unit arranged at the first reflection plate and a second ultrasonic unit arranged at the second reflection plate, and the detection ranges of the first ultrasonic unit and the second ultrasonic unit cover different ranges of the gap from top to bottom.

[0018] In some embodiments of the present application, the height of the first reflection plate and the second reflection plate is equal to the height of the platform shielding door or equal to the height of the train bottom plate from the roof; the first ultrasonic unit comprises a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor is arranged close to the top of the first reflection plate, and the second ultrasonic sensor is arranged close to the bottom of the first reflection plate; the second ultrasonic unit comprises a third ultrasonic sensor, and the third ultrasonic sensor is arranged at the middle part of the second reflection plate.

[0019] To achieve the above object, the train monitoring system according to the third aspect of the present application comprises: a platform screen door control system and a platform video monitoring system; the ultrasonic detection system according to any one of the above second aspect of the present application, which is in communication connection with the platform screen door control system and the platform video monitoring system; an interlocking system, which is in communication connection with the platform screen door control system, and is used for starting interlocking protection for the train when receiving information that there is a foreign matter in the gap between the platform screen door and the train door; and a comprehensive dispatching system, which is in communication connection with the platform video monitoring system, and is used for sending line dispatching information when receiving the position information and the image information of the foreign matter.

[0020] The train monitoring system according to the embodiments of the present application can detect the foreign matter by using the reflection characteristics of ultrasonic waves, and has high detection accuracy, fast detection speed and wide detection range. The ultrasonic detection system is linked with the platform video monitoring system to accurately obtain the position and image information of the foreign matter. The comprehensive dispatching system can quickly and clearly determine the approximate position of the foreign matter and the characteristics of the foreign matter according to the position information and the image information of the foreign matter, and send line dispatching information. Thus, the situation of the foreign matter being caught in the gap can be quickly and effectively arranged, and effective measures can be taken to avoid panic on the scene and long delay of the train. The interlocking system can protect the life and property safety of passengers by including the detection of the foreign matter in the protection range of the interlocking.

[0021] In some embodiments of the present application, the platform video monitoring system comprises: a plurality of cameras, each of which is arranged between adjacent two platform screen doors and above the gap between the train door and the platform screen door; and a video controller, which is connected with each camera and is used for controlling the corresponding camera to move to collect the image information of the foreign matter according to the position information of the foreign matter.

[0022] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A flowchart of a method for detecting a foreign matter in a gap between a platform screen door and a train door according to an embodiment of the present application;

[0025] Figure 2 A schematic diagram of an ultrasonic detection system according to an embodiment of the present application;

[0026] Figure 3Flow chart of the method for detecting foreign matter in the gap between the platform screen door and the train door according to another embodiment of the present application;

[0027] Figure 4 Schematic diagram of the position of the platform screen door according to one embodiment of the present application;

[0028] Figure 5 Schematic diagram of the platform camera according to one embodiment of the present application;

[0029] Figure 6 Block diagram of the ultrasonic detection system according to one embodiment of the present application;

[0030] Figure 7 Block diagram of the ultrasonic detection system according to another embodiment of the present application;

[0031] Figure 8 Block diagram of the train monitoring system according to one embodiment of the present application;

[0032] Figure 9 Schematic diagram of the train monitoring system according to one embodiment of the present application.

[0033] Reference signs:

[0034] Train monitoring system 100;

[0035] Ultrasonic detection system 10, platform station door control system 20, platform video monitoring system 30, interlocking system 40, integrated dispatching system 50;

[0036] Ultrasonic sensing module 1, reflecting plate 2, controller 3;

[0037] First boundary a1, second boundary a2, first reflecting plate 21, second reflecting plate 22;

[0038] First ultrasonic sensor C1, second ultrasonic sensor C2, third ultrasonic sensor C3, platform screen door PSD1, platform screen door PSD2, platform screen door PSD3, platform screen door PSD4, camera 301, camera 302. DETAILED DESCRIPTION

[0039] Embodiments of the present application are described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary, and embodiments of the present application are described in detail below.

[0040] The following describes Figures 1-5 The method for detecting foreign matter in the gap between the platform screen door and the train door according to the first aspect embodiment of the present application is described below.

[0041] In some embodiments of the present application, as Figure 1As shown in the figure, it is a flow chart of the method for detecting the foreign matter in the gap between the platform shielding door and the train door according to an embodiment of the present application. In the method, the platform area is provided with an ultrasonic detection system, the ultrasonic detection system comprises at least one ultrasonic sensor, the ultrasonic sensor can be used for transmitting and receiving ultrasonic waves, the ultrasonic wave is an inaudible sound wave for human ears, belongs to a mechanical wave, and the ultrasonic wave is generated due to high-frequency vibration of an object, and the frequency is above 20000 Hz. The ultrasonic wave has a long propagation distance, and can be reflected on the surface of different media. By using the characteristics that the ultrasonic wave is received by the ultrasonic sensor after being reflected on the surface of different media, it can be judged whether the foreign matter exists in the gap between the train door and the shielding door, and the position of the foreign matter can also be calculated according to the time of transmitting and receiving the ultrasonic wave.

[0042] In the embodiment of the present application, the ultrasonic detection system is applied to the detection of the foreign matter in the gap between the platform shielding door and the train door stopped on the platform, the ultrasonic detection system is arranged in the platform area, and the frequency and the detection range of the ultrasonic wave emitted by the ultrasonic sensor in the ultrasonic detection system can be adjusted according to actual needs, for example, the detection range of the ultrasonic detection system covers at least the gap between the platform shielding door and the train door stopped on the platform, so that the detection of the foreign matter in the gap between the platform shielding door and the train door stopped on the platform can be realized.

[0043] The method for detecting the foreign matter in the gap between the platform shielding door and the train door can be used for the ultrasonic detection system, for example, Figure 1 As shown in the figure, the method for detecting the foreign matter in the gap between the platform shielding door and the train door comprises at least steps S1-S3, and the details are as follows.

[0044] S1, obtaining the ultrasonic detection signal for the gap between the platform shielding door and the train door.

[0045] In the method, the ultrasonic detection system comprises the ultrasonic sensor, in some embodiments, the beam of the ultrasonic detection signal emitted by the ultrasonic sensor can fully cover the gap between the platform shielding door and the train door stopped on the platform. In the method, the ultrasonic sensor can be selected as the ultrasonic sensor with integrated transmitting and receiving function or the ultrasonic sensor with separated transmitting and receiving function, when the ultrasonic sensor with separated transmitting and receiving function is used, the ultrasonic detection signal generating device and the ultrasonic detection signal receiving device need to be installed on the same side, so as to detect the foreign matter in the gap between the platform shielding door and the train door stopped on the platform.

[0046] Specifically, taking the ultrasonic sensor with transceiving function as an example, after the vehicle enters the platform, the platform shielding door is opened corresponding to the train door, passengers get on and off the vehicle, and after the door is closed, the ultrasonic sensor transmits ultrasonic waves. When there is no foreign matter in the gap between the platform shielding door and the train door, the ultrasonic sensor will not receive the ultrasonic waves reflected by the foreign matter. Conversely, when there is a foreign matter in the gap between the platform shielding door and the train door, the ultrasonic waves transmitted by the ultrasonic sensor are reflected by the foreign matter, and then the reflected ultrasonic waves are received by the ultrasonic sensor. The ultrasonic sensor generates an ultrasonic detection signal based on the detection of the reflected ultrasonic waves.

[0047] Further, in some embodiments, considering the complexity of the configuration of the train platform, the ultrasonic sensor arranged above will receive a large number of interference signals. In order to improve the detection accuracy, the ultrasonic detection system can also be provided with a reflecting plate. The reflecting plate is used to reflect the ultrasonic wave signals transmitted by the ultrasonic sensor and make the ultrasonic sensor receive the reflected ultrasonic wave signals, that is, the ultrasonic wave signals are transmitted through the reflecting plate to avoid the ultrasonic wave signals transmitted by the ultrasonic sensor being reflected by other objects to cause interference signals. When there is no foreign matter in the gap between the platform shielding door and the train door, the ultrasonic sensor receives the ultrasonic wave signals reflected by the reflecting plate. When there is a foreign matter in the gap between the platform shielding door and the train door, the ultrasonic wave signals transmitted by the ultrasonic sensor are reflected by the foreign matter, that is, the ultrasonic wave signals transmitted by the foreign matter are received by the ultrasonic sensor. In other words, when there is a foreign matter in the gap, the time of the reflected ultrasonic wave signals received by the ultrasonic sensor changes. The ultrasonic sensor generates an ultrasonic detection signal based on this.

[0048] S2, determining whether there is a foreign matter in the gap between the platform shielding door and the train door according to the ultrasonic detection signal.

[0049] Specifically, when there is a foreign matter in the gap between the platform shielding door and the train door, the ultrasonic detection signal with the foreign matter as the transmission path is reflected on the surface of the foreign matter due to the blockage of the foreign matter, and then the reflected ultrasonic wave signals are received by the ultrasonic sensor. Therefore, when the ultrasonic sensor receives the reflected ultrasonic wave signals or when the ultrasonic detection signal received by the ultrasonic sensor changes, it is confirmed that there is a foreign matter in the corresponding detection area.

[0050] Therefore, the detection range of the ultrasonic detection system of the embodiment can fully cover the gap between the platform shielding door and the train door parked on the platform, and when some personal belongings or part of the body of a passenger is clamped in the gap, it will be detected. Moreover, the system uses the reflection characteristics of ultrasonic waves to detect foreign matters, and the ultrasonic wave diffraction phenomenon is small. Even if the foreign matter is very small, it can also be detected by the system, and the detection effect is good, so that the situation that the passenger or the passenger's belongings are damaged can be avoided.

[0051] S3, send the information of existence of foreign matter to the platform station door control system to trigger interlocking protection.

[0052] Specifically, the platform station door control system is in communication connection with the interlocking system, when it is determined that there is foreign matter in the gap between the platform screen door and the train door, the ultrasonic detection system sends the information of existence of foreign matter to the platform station door control system, the platform station door control system will include the information of existence of foreign matter into the screen door state information of the platform station door control system, the screen door state information will show the abnormality, and the interlocking system will be triggered to protect the train, the interlocking system will automatically lock the train in the platform area to make it unable to move. By starting the interlocking protection of the train when receiving the information of existence of foreign matter in the gap between the platform screen door and the train door, personal injury to passengers can be avoided.

[0053] According to the method for detecting foreign matter in the gap between the platform screen door and the train door, the ultrasonic detection system is arranged in the platform area, the reflection characteristics of ultrasonic waves are used for foreign matter detection, the diffraction phenomenon of ultrasonic waves is small, so that the foreign matter detection accuracy is higher, and the ultrasonic detection signal cannot be perceived by passengers, thereby not affecting the riding experience of users. The detection range of the ultrasonic detection system can comprehensively cover the gap between the platform screen door and the train door parked in the platform, and compared with the light curtain generator, the detection range is more comprehensive. Moreover, the ultrasonic detection result is not affected by bad weather environment and air pollution, unnecessary false alarms are reduced. When it is determined that there is foreign matter in the gap between the platform screen door and the train door, the interlocking protection of the train is started, and personal injury to passengers can be avoided.

[0054] In some embodiments of the present application, as shown in Figure 2 The flow chart of the method for detecting foreign matter in the gap between the platform screen door and the train door according to another embodiment of the present application is shown in FIG. 3, wherein the ultrasonic detection system 10 includes at least one ultrasonic sensor, for example, the at least one ultrasonic sensor can be 1 or 2 or 3 or 4 or 5, etc. After determining that there is foreign matter in the gap between the platform screen door and the train door according to the ultrasonic detection signal, the method of the embodiment of the present application further includes determining the specific position of the existence of foreign matter, specifically including the following steps S21-S23.

[0055] S21, acquiring the propagation time of the ultrasonic detection signal.

[0056] For example, the at least one ultrasonic sensor includes 3 ultrasonic sensors, as shown in Figure 3The first ultrasonic sensor C1, the second ultrasonic sensor C2 and the third ultrasonic sensor C3 are shown, and the three ultrasonic sensors are used to transmit and receive ultrasonic detection signals. The ultrasonic sensors arranged on the platform can be controlled by a controller such as a PLC (Programmable Logic Controller). The controller controls the opening or closing state of the three ultrasonic sensors, and the controller can also record the time when any ultrasonic sensor transmits and receives ultrasonic detection signals, and obtain the time difference of the ultrasonic detection signals transmitted and received by the ultrasonic sensor, that is, the propagation time of the ultrasonic detection signals. For example, the controller records the time when the ultrasonic sensor transmits the ultrasonic detection signal as t1, and the time when the ultrasonic detection signal is reflected on the surface of the foreign object and received as t2, and then calculates the propagation time of the ultrasonic detection signal as (t2-t1).

[0057] S22, estimating the distance of the foreign object to the ultrasonic sensor according to the propagation speed and the propagation time of the ultrasonic wave in the air.

[0058] In the embodiment, the controller can also estimate the approximate distance of the foreign object to the ultrasonic sensor according to the propagation speed and the propagation time of the ultrasonic detection signal in the air, so that the integrated dispatching system and the platform crew can quickly locate the specific position of the foreign object.

[0059] For example, the time when the ultrasonic sensor transmits the ultrasonic detection signal in the above embodiment is t1, the time when the ultrasonic detection signal is reflected on the surface of the foreign object and received is t2, and the propagation time of the ultrasonic detection signal is (t2-t1). The distance of the foreign object to the ultrasonic sensor can be calculated according to formula (1-1), wherein S represents the distance of the foreign object to the ultrasonic sensor, and v is the propagation speed of the ultrasonic wave in the air, which is 340 m / s.

[0060]

[0061] S23, determining the target platform shielded door where the foreign object is located according to the distance of the foreign object to the ultrasonic sensor.

[0062] In the embodiment, the distance of the foreign object to the ultrasonic sensor can be estimated according to the distance of the platform shielded door to the ultrasonic sensor. For example, the distance of the foreign object to the ultrasonic sensor can be estimated according to the distance of the platform shielded door to the ultrasonic sensor. Figure 4The diagram shows the location of platform screen doors according to an embodiment of the present invention. The platform screen doors are arranged symmetrically around the platform centerline, and the total length of the platform area is denoted as L. When a vehicle stops in the platform area, taking an example with four platform screen doors, the four doors are defined as platform screen door PSD1, platform screen door PSD2, platform screen door PSD3, and platform screen door PSD4, from right to left as shown in the diagram. Taking the installation of three ultrasonic sensors as an example... Figure 4 As shown, ultrasonic sensors C1 and C2 are installed at the left boundary of the platform area (the installation locations are as follows). Figure 4 As shown in the figure, an ultrasonic sensor C3 is installed at the right boundary of the platform area.

[0063] Specifically, the location of the foreign object at the target platform platform door can be determined based on the distance between the foreign object and the ultrasonic sensor. For example... Figure 4 As shown, the distances from one side of platform screen doors PSD1, PSD2, and PSD3 to the second boundary a2 are L1, L2, and L3, respectively. The distance from the foreign object to the third ultrasonic sensor C3 is denoted as S. When the distance S ≤ L1, the foreign object is located at platform screen door PSD1; when L1 ≤ S ≤ L2, it is located at platform screen door PSD2; when L2 ≤ S ≤ L3, it is located at platform screen door PSD3; and when L3 ≤ S ≤ L, it is located at platform screen door PSD4. Therefore, for a platform area equipped with a single ultrasonic sensor, the target platform screen door where the foreign object is located can be directly determined based on the distance S from the foreign object to the ultrasonic sensor.

[0064] Furthermore, alarm devices can be installed, or ultrasonic sensors with alarm functions can be used to issue alarm information based on the location of foreign objects, so as to notify the integrated dispatching system and platform staff. This allows staff to quickly obtain the location information of foreign objects and handle them on-site, thereby reducing train delays.

[0065] In some embodiments, at least one ultrasonic sensor includes multiple ultrasonic sensors with detection ranges covering different ranges of the gap from top to bottom. The use of multiple ultrasonic sensors expands the detection range of the ultrasonic detection system 10, and by combining and analyzing the detection results of multiple ultrasonic sensors, a more accurate location of the foreign object can be obtained. Figure 2 As shown, the method for detecting foreign objects in the gap between the platform screen door and the vehicle door in this embodiment of the invention further includes step S24.

[0066] S24, determining the position of the foreign object on the target platform screen door according to the ultrasonic detection signals of the plurality of ultrasonic sensors.

[0067] For example, as shown in Figure 4 The plurality of ultrasonic sensors includes a first ultrasonic sensor C1, a second ultrasonic sensor C2, and a third ultrasonic sensor C3. The detection range of the first ultrasonic sensor C1 covers the A area in the diagram, the detection range of the second ultrasonic sensor C2 covers the C area in the diagram, and the detection range of the third ultrasonic sensor C3 covers the B area in the diagram. That is, the detection ranges of the plurality of ultrasonic sensors cover different ranges of the gap from top to bottom, so that the foreign object can be detected when it exists at different positions of the gap, and the detection range is wider.

[0068] Specifically, the position of the foreign object on the target platform screen door can be described in combination with Table 1.

[0069] Table 1

[0070]

[0071]

[0072] As shown in Table 1, taking the plurality of ultrasonic sensors including a third ultrasonic sensor C3 as an example, S represents the distance of the foreign object to the third ultrasonic sensor C3. An information tag can be set based on each piece of judgment information, including A1, A2, A3, B1, B2, B3, C1, C2, C3, D1, D2, and D3.

[0073] For example, taking the presence of a foreign object at the platform screen door PSD1 as an example. The specific position of the foreign object can be determined according to the information tag. For example, under the premise that A1 is true, when A2 is true and A3 is false, it is determined that the foreign object is located at the upper part of the platform screen door PSD1; when A2 is false and A3 is true, it is determined that the foreign object is located at the lower part of the platform screen door PSD1; when A2 is true and A3 is true, it is determined that the foreign object is located at the platform screen door PSD1; and when A2 is false and A3 is false, it is determined that the foreign object is located at the middle of the platform screen door PSD1. For another example, under the premise that A1 is false, when A2 is true, it is determined that the foreign object is located above the platform screen door PSD1; and when A3 is true, it is determined that the foreign object is located below the platform screen door PSD1. Wherein, “true” means that the foreign object is detected, and “false” means that the foreign object is not detected.

[0074] Further, three ultrasonic sensors with alarm function can also send alarm information according to the position of the foreign object on the target platform screen door, and different alarm information can be set according to the position of the foreign object. Specifically, the three ultrasonic sensors are used to detect whether there is a foreign object in the A zone, the C zone and the B zone. When the foreign object exists in only one of the zones, the other two detection zones are normal, and then the ultrasonic sensor responsible for the detection zone is responsible for sending the alarm information. If the foreign object exists in all three zones, only one ultrasonic sensor gives an alarm information, and the other two ultrasonic sensors do not repeat the alarm. For example, a voice prompt device can also be set, and the voice prompt device is connected with the three ultrasonic sensors, so that the voice prompt can be directly performed according to the detection result of the ultrasonic sensor, such as directly broadcasting the specific position of the foreign object to prompt the staff.

[0075] Similarly, for the foreign object existing in different parts of the platform screen door PSD2 or the platform screen door PSD3 or the platform screen door PSD4, the position of the foreign object on the target platform screen door can also be determined according to the above analysis.

[0076] By setting multiple ultrasonic sensors in the platform area, the detection range of the ultrasonic detection system can be expanded, and the gap between the platform screen door and the train door stopped at the platform can be fully covered. Even if the foreign object is small or in a relatively high position or a relatively low position, it can also be detected by the ultrasonic detection system, which improves the detection effect. Moreover, the detection results of multiple ultrasonic sensors are analyzed to obtain more accurate foreign object position, which improves the detection accuracy and avoids the situation that the passenger or the passenger's belongings are damaged. In addition, through the alarm prompt, the integrated dispatching system and the platform crew can be notified in time, so that the staff can quickly obtain the position information of the foreign object and perform on-site processing.

[0077] Further, in some embodiments, the ultrasonic detection system of the embodiment of the present application can also be linked with the platform video monitoring system to provide specific foreign object position information to the integrated dispatching system. Specifically, as shown in Figure 4 The method of the embodiment of the present application further includes the step S25.

[0078] S25, the position information of the foreign object is sent to the platform video monitoring system, so that the platform video monitoring system collects image information of the foreign object and uploads the position information and the image information to the integrated dispatching system, wherein the position information of the foreign object at least includes the target platform screen door.

[0079] The platform video monitoring system comprises a plurality of cameras and a video controller. The cameras are used to extract foreign matter images during gap detection and upload the extracted foreign matter image information to the video controller. Generally, the camera pictures of the platform can be transmitted to the integrated dispatching system via a transmission network so that the line dispatchers can view them in time. After the position of the foreign matter is estimated, the position information can be transmitted to the video controller. After matching the position information, the video controller can call the nearest camera. The video controller is connected with each camera and is used to control the corresponding camera to move to collect the image information of the foreign matter according to the position information of the foreign matter. The video controller controls the camera to rotate by an appropriate angle to focus on the position of the foreign matter, take a clear picture of the current foreign matter and directly push it to the integrated dispatching system for alarm. The line dispatchers can quickly make a treatment according to the position of the foreign matter and the picture of the foreign matter, such as performing remote car stopping operation, thereby greatly saving the fault positioning time and avoiding personal injury to passengers.

[0080] Specifically, each camera can be arranged between two adjacent platform shield doors and above the gap between the train door and the platform shield door, that is, the camera is preferably arranged at the middle position of the two adjacent platform shield doors, above the gap between the train door and the platform shield door, and the shooting range of a single camera should at least include the gap between the two platform shield doors and the train door. For example, the arrangement position, rotation angle and shooting angle of the camera can be referred to the description in Figure 5 Figure 5 Fig. 1 shows a schematic diagram of a platform camera according to an embodiment of the present application.

[0081] For example, four platform shield doors are arranged in the platform area, and the four platform shield doors are sequentially defined as platform shield door PSD1, platform shield door PSD2, platform shield door PSD3 and platform shield door PSD4 according to the normal running direction of the train. The cameras are exemplified by camera 301 and camera 302. The camera 301 is arranged between the platform shield door PSD1 and the platform shield door PSD2 and above the gap between the train door and the platform shield door, and the camera 302 is arranged between the platform shield door PSD3 and the platform shield door PSD2 and above the gap between the train door and the platform shield door.

[0082] ​The camera 301 and the camera 302 are connected with a video controller (not shown in the figure). When there is a foreign matter at the gap of the platform screen door PSD3 or the gap of the platform screen door PSD4, the camera 301 is rotated by an angle β to focus and take a picture, and when there is a foreign matter at the gap of the platform screen door PSD1 or the gap of the platform screen door PSD2 and the train door, the camera 302 is rotated by an angle β to focus and take a picture under the control of the video controller, and the picture of the foreign matter is pushed to the platform video monitoring system. The value of the angle β can be calculated according to formula (1-2), wherein L1 represents the distance between the centers of the platform doors, H1 represents the height of any one camera from the ground, and H2 represents the height of the platform screen door.

[0083]

[0084] Further, after the platform video monitoring system collects the image information of the foreign matter and uploads the position information and the image information to the comprehensive dispatching system, the comprehensive dispatching system can also remotely control the train based on the pushing of the position information and the image information of the foreign matter. For example, the line dispatching staff can quickly process according to the position of the foreign matter and the picture of the foreign matter, such as remotely sending the line dispatching information of emergency braking to retain the train on the platform, and notifying the platform crew to handle the scene until the foreign matter is removed and the report information of the completed fault handling is received, and then sending the line dispatching information to remotely release the emergency braking of the train to resume operation, thereby greatly saving the fault positioning time and avoiding possible personal injury.

[0085] The method for detecting the foreign matter in the gap between the platform screen door and the train door according to the embodiment of the application can compensate for the deficiency of the traditional gap detection method by proposing a new detection method, linking the estimation of the position of the foreign matter and the video monitoring system in the region, matching the estimated position of the foreign matter with the platform camera, and when it is determined that there is a foreign matter in the gap between the platform screen door and the train door, the video controller controls the nearest camera to take a picture, and then uploads the picture of the foreign matter and the position of the foreign matter to the comprehensive dispatching system to alarm, so that the line dispatching can immediately determine the approximate position of the foreign matter and the characteristics of the foreign matter, and then quickly and effectively arrange the situation of the gap and take effective measures to avoid the panic on the scene and the long delay of the train.

[0086] The following will refer to the accompanying drawings Figure 6 and 7 The ultrasonic detection system according to the second aspect of the application will be described.

[0087] In some embodiments of the application, as Figure 6The diagram shown is a block diagram of an ultrasonic testing system according to an embodiment of the present invention. The ultrasonic testing system 10 is installed on a platform and includes an ultrasonic sensing module 1 and a controller 3.

[0088] The ultrasonic sensing module 1 has a detection range that at least covers the gap between the platform screen door and the train door stopped at the platform. It is used to transmit and receive ultrasonic signals to generate ultrasonic detection signals. In this embodiment, the ultrasonic sensing module 1 can be an integrated ultrasonic transceiver module or a relatively arranged ultrasonic transceiver unit.

[0089] Specifically, when there are no foreign objects in the gap between the platform screen door and the train door at the platform, the ultrasonic sensor module 1 will not receive the ultrasonic waves reflected by the foreign objects. Conversely, when there are foreign objects in the gap between the platform screen door and the train door at the platform, the ultrasonic waves emitted by the ultrasonic sensor module 1 are reflected by the foreign objects, and the reflected ultrasonic waves are received by the ultrasonic sensor module 1. The ultrasonic sensor module 1 generates an ultrasonic detection signal based on the detection of the reflected ultrasonic waves.

[0090] Furthermore, in some embodiments, considering the complexity of train platform configurations, the ultrasonic sensing module 1 described above may receive a large number of interference signals. To improve detection accuracy, the ultrasonic detection system 10 may also be equipped with a reflector. For example... Figure 7 The diagram shown is a block diagram of an ultrasonic detection system according to another embodiment of the present invention. The reflector 2 reflects the ultrasonic signal emitted by the ultrasonic sensing module 1, allowing the ultrasonic sensing module 1 to receive the reflected ultrasonic signal. In other words, the ultrasonic signal is emitted through the reflector 2 to prevent the ultrasonic signal emitted by the ultrasonic sensing module 1 from being reflected by other objects and causing interference. When there are no foreign objects in the gap between the platform screen door and the train door, the ultrasonic sensing module 1 receives the ultrasonic signal reflected by the reflector 2. However, when there are foreign objects in the gap, the ultrasonic signal emitted by the ultrasonic sensing module 1 is reflected by the foreign objects, meaning the ultrasonic sensing module 1 receives the ultrasonic signal emitted by the foreign objects. In other words, when there are foreign objects in the gap, the timing of the reflected ultrasonic signal received by the ultrasonic sensing module 1 changes, and based on this, the ultrasonic sensing module 1 generates an ultrasonic detection signal.

[0091] Specifically, it can be combined with Figure 3The setting position of the ultrasonic sensing module 1 and the reflection plate 2 of the embodiment of the application is described, wherein the platform area has a first boundary a1 and a second boundary a2 arranged along the train running direction. The reflection plate 2 includes a first reflection plate 21 and a second reflection plate 22, the first reflection plate 21 is arranged at the first boundary a1, and the second reflection plate 22 is arranged at the second boundary a2, wherein the height of the first reflection plate 21 and the second reflection plate 22 is equal to the height of the platform screen door or equal to the height of the train floor from the roof. H represents the height of the first reflection plate 21 and the second reflection plate 22, wherein when the height of the platform door is lower than the height of the train floor from the roof, H is equal to the height of the platform door of the platform area, and when the height of the platform door is higher than the height of the train floor from the roof, H is equal to the height of the train floor from the roof.

[0092] The ultrasonic sensing module 1 includes a first ultrasonic unit and a second ultrasonic unit, the first ultrasonic unit is arranged on the first reflection plate 21, and the second ultrasonic unit is arranged on the second reflection plate 22, and the first ultrasonic unit and the second ultrasonic unit are used to emit and receive ultrasonic detection signals to detect foreign matter in the gap between the platform screen door and the train door. Wherein the first reflection plate 21 and the second reflection plate 22 are oppositely arranged, and then the first ultrasonic unit and the second ultrasonic unit are oppositely arranged. When there is no foreign matter in the gap between the platform screen door and the train door parked on the platform, the ultrasonic detection signal emitted by the first ultrasonic unit will be received by the first ultrasonic unit after being reflected by the second reflection plate 22, and the ultrasonic detection signal emitted by the second ultrasonic unit will be received by the second ultrasonic unit after being reflected by the first reflection plate 21.

[0093] And the detection range of the first ultrasonic unit and the second ultrasonic unit covers different ranges of the gap from top to bottom. Specifically, the first ultrasonic unit includes a first ultrasonic sensor C1 and a second ultrasonic sensor C2, and the second ultrasonic unit includes a third ultrasonic sensor C3. Wherein the three ultrasonic sensors can be selected as ultrasonic sensors with integrated transmitting and receiving functions or as ultrasonic sensors with separated transmitting and receiving functions. When the ultrasonic sensors with separated transmitting and receiving functions are adopted, the ultrasonic detection signal generating device and the ultrasonic detection signal receiving device need to be installed on the same side to detect whether there is foreign matter in the gap between the platform screen door and the train door parked on the platform.

[0094] As shown in Figure 3 The first ultrasonic sensor C1 is arranged near the top of the first reflection plate 21, and its detection range covers area A in the figure. The second ultrasonic sensor C2 is arranged near the bottom of the first reflection plate 22, and its detection range covers area C in the figure. The third ultrasonic sensor C3 is arranged in the middle of the second reflection plate 22, and its detection range covers area B in the figure. That is, the three ultrasonic sensors are arranged as Figure 3The positions shown allow the three ultrasonic sensors to cover different areas of the gap from top to bottom, thus providing a more comprehensive detection range. This is understandable. Figure 3 This is just one example of how ultrasonic sensors can be set up; it is not limited to this method. Other methods that cover the gaps in the detection range are also possible.

[0095] Specifically, such as Figure 3 As shown, the heights of the first reflector 21 and the second reflector 22 are denoted as H, and the total length of the platform area is denoted as L. The height of the third ultrasonic sensor C3 from the platform ground can be set to satisfy H3 = 1 / 2H, the height of the first ultrasonic sensor C1 from the platform ground can be set to satisfy H1 = H, and the height of the second ultrasonic sensor C2 from the platform ground can be set to satisfy H2 = 1 / 50H. Since the ultrasonic detection signals emitted by any ultrasonic sensor will be dispersed at a certain angle, in order to better allocate the detection range, the diffusion angle θ of the ultrasonic waves emitted by the third ultrasonic sensor C3 can be adjusted to satisfy tanθ = H / 2L, and the diffusion angle α of the ultrasonic waves emitted by the first ultrasonic sensor C1 and the second ultrasonic sensor C2 can be adjusted to satisfy tan2α = H / 2L. That is, the detection ranges corresponding to the first ultrasonic sensor C1, the second ultrasonic sensor C2, and the third ultrasonic sensor C3 are respectively area A, area C, and area B. This ensures that the detection range of each ultrasonic sensor covers different areas of the gap from top to bottom, minimizing or eliminating the overlap of the detection ranges of the three ultrasonic sensors. This achieves full coverage of the gap between the platform screen door and the train doors stopped on the platform without wasting resources.

[0096] The controller 3 is connected to the ultrasonic sensing module 1 and is used to detect foreign objects in the gap between the platform screen door and the train door according to the method described in the above embodiment. The controller 3 can be a control device with data processing and data storage functions, such as a PLC, and can also store a control program. The controller 3 can confirm the presence of foreign objects in the gap between the platform screen door and the train door stopped at the platform based on the ultrasonic detection signal received by the ultrasonic sensing module 1, and then send information indicating the presence of foreign objects.

[0097] Furthermore, the controller 3 can control the on / off state of the ultrasonic sensing module 1 according to instructions, and the controller 3 can also record the time when any ultrasonic sensor transmits and receives ultrasonic detection signals to obtain the time difference between the transmission and reception of ultrasonic detection signals by each ultrasonic sensor, i.e., the propagation time of the ultrasonic detection signal. The method for determining the distance from the foreign object to the ultrasonic sensor and the location of the foreign object at the target platform platform screen door based on the ultrasonic detection signals of multiple ultrasonic sensors can be found in the above embodiments and will not be repeated here.

[0098] According to the ultrasonic detection system 10 provided by the embodiment of the present application, the ultrasonic detection system 10 is arranged at the platform, the ultrasonic detection signal is transmitted by the ultrasonic sensing module 1, and the foreign matter is detected by using the reflection characteristics of the ultrasonic wave, so that the detection accuracy is high, the ultrasonic detection signal cannot be perceived by the passenger, and the riding experience of the user is not affected. The detection range of the ultrasonic sensing module 1 is arranged to cover at least the gap between the platform screen door and the train door stopped at the platform, so that the detection range is more comprehensive. The controller 3 can confirm the existence of the foreign matter in the gap between the platform screen door and the train door stopped at the platform according to the ultrasonic detection signal received by the ultrasonic sensing module 1, timely report the information of the existence of the foreign matter, the detection speed is fast, and then the pinch / foreign matter situation of the gap can be quickly and effectively arranged, and effective measures are taken to avoid the panic on the scene and the long delay of the train.

[0099] The train monitoring system according to the third aspect of the present application will be described below with reference to the accompanying drawings.

[0100] In some embodiments of the present application, as shown in Figure 8 a block diagram of the train monitoring system according to an embodiment of the present application, wherein the train monitoring system 100 comprises the ultrasonic detection system 10, the platform station door control system 20, the platform video monitoring system 30, the interlocking system 40 and the integrated dispatching system 50 of any one of the above embodiments. The train monitoring system 100 can be applied to full-automatic operation projects such as GOA4 project, full-automatic operation cloud bus project, full-automatic operation subway project, etc.

[0101] The ultrasonic detection system 10 is in communication connection with the platform station door control system 20 and the platform video monitoring system 30, and is used for detecting the foreign matter in the gap between the train door and the platform screen door, acquiring the position information of the foreign matter, etc., and uploading the acquired information to the platform station door control system 20 and the platform video monitoring system 30.

[0102] The platform station door control system 20 can be used to control the start / stop state of the ultrasonic detection system 10, for example, the platform station door control system 20 can send an instruction to the controller 3 in the ultrasonic detection system 10 to control the opening or closing of the ultrasonic sensing module 1. The hard-wired interface can be used between the ultrasonic detection system 10 and the platform station door control system 20, so that the ultrasonic detection system 10 can quickly feed back the position information of the foreign matter to the platform station door control system 20. Specifically, the information transmission between the modules in the train monitoring system 100 can be described as follows. Figure 9 Figure 9 ​As shown, it is a schematic diagram of a train monitoring system according to an embodiment of the present application. Wherein, the platform screen door control system 20 is connected with the controller 3, when any one of the first ultrasonic sensor C1, the second ultrasonic sensor C2 and the third ultrasonic sensor C3 detects the gap between the platform screen door and the train door stopped at the platform, the controller 3 can send the information of the existence of foreign matter to the platform screen door control system 20 according to the obtained ultrasonic detection signal.

[0103] In addition, the platform screen door control system 20 can also be used to control the opening and closing state of the platform screen door. For example, when the platform screen door control system 20 obtains the information of the existence of foreign matter sent by the controller 3, it can timely control all platform screen doors to open, or when the target platform screen door where the foreign matter is located is determined, the platform screen door control system 20 can control the target platform screen door to open.

[0104] The controller 3 can also send the information of the existence of foreign matter to the platform video monitoring system 30.

[0105] Wherein, the platform video monitoring system 30 includes a plurality of cameras and a video controller. Wherein, the platform video monitoring system 30 can be referred to as Figure 5 The platform video monitoring system 30 described in the embodiment of the present application, the camera is used for extracting the foreign matter image during the gap detection, and uploading the extracted foreign matter image information to the video controller. Generally, the camera picture of the platform can reach the integrated dispatching system through the transmission network so that the line dispatcher can view it in time. Each camera is arranged between adjacent two platform screen doors and above the gap between the train door and the platform screen door, so that each camera can monitor the gap between the adjacent two train doors and the platform screen doors, which will not cause resource waste and can realize comprehensive monitoring.

[0106] The video controller is connected with each camera, and is used for controlling the corresponding camera to move to collect the image information of the foreign matter according to the foreign matter position information. When the ultrasonic detection system 10 estimates the position of the foreign matter, the position information can be transmitted to the video controller, and the video controller can call the nearest camera after matching the position information. For example, the video controller can control the camera to rotate an appropriate angle to focus on the position of the foreign matter, and shoot a clear picture of the current foreign matter. By linking the ultrasonic detection system 10 with the platform video monitoring system 30 in the area, analyzing the estimated position of the foreign matter and matching with the platform camera, the shortcomings of the current traditional gap detection method can be made up, the time for fault positioning can be greatly saved, and the personal injury to passengers can be avoided.

[0107] In addition, the communication interface between the ultrasonic detection system 10 and the platform video monitoring system 30, as well as the interface connecting the video controller and each camera, can all adopt network interfaces, so that the ultrasonic detection system 10 can transmit the foreign object location information to the platform video monitoring system 30, which facilitates the push of images between the camera and the video controller and the alarm of the foreign object location.

[0108] Interlocking system 40 is communicatively connected to platform door control system 20, such as Figure 9 As shown, the platform door control system 20 can send information about the presence of foreign objects to the interlocking system 40. The interlocking system 40 is used to activate interlocking protection for the train when it receives information about the presence of foreign objects in the gap between the platform screen doors and the train doors. Specifically, when it is determined that there are foreign objects in the gap between the platform screen doors and the train doors, the platform door control system 20 will insert the received information about the presence of foreign objects into the platform screen door status of the platform door control system 20. The platform screen door status information will show an abnormality, which will trigger the interlocking system 40 to protect the train. The interlocking system 40 will automatically lock the train in that platform area, preventing it from moving and leaving the station until the foreign object is removed. Including foreign object detection in the interlocking protection scope can better ensure the safety of passengers' property and personal safety, and also facilitate platform staff to quickly and effectively handle situations where people or objects are trapped in the gap.

[0109] The integrated dispatching system 50 and the platform video monitoring system 30 are connected for communication, such as Figure 9 As shown, the integrated dispatch system 50 can receive the location information and image information of foreign objects sent by the platform video monitoring system 30, and can send dispatch information in a timely manner according to the received location information and image information of foreign objects.

[0110] Specifically, when a foreign object is present in the gap between the platform screen doors and the train doors, the platform video monitoring system 30 will upload the location and image information of the foreign object to the integrated dispatching system 50. The integrated dispatching system 50 can also remotely control the train based on the location and image information of the foreign object. For example, dispatching personnel can quickly take action based on the location and image of the foreign object, such as remotely sending an emergency braking dispatching message to detain the train on the platform and notifying the platform crew to handle the situation on-site. After the foreign object is removed and a report that the fault has been resolved is received, a dispatching message is sent again to remotely release the emergency braking, and the train resumes operation. This can greatly save time in fault location and avoid potential personal injury.

[0111] The train monitoring system 100 according to the embodiments of the present application adopts the ultrasonic detection system 10 of any one of the above embodiments to detect foreign matters by using the reflection characteristics of ultrasonic waves, and has high detection accuracy, fast detection speed and wide detection range. The ultrasonic detection system 10 is linked with the platform video monitoring system 30 to accurately obtain the position and image information of the foreign matters. The integrated dispatching system 50 further sends dispatching information according to the position information and image information of the foreign matters to quickly and clearly determine the approximate position of the foreign matters and the characteristics of the foreign matters, thereby quickly and effectively arranging the situation of the foreign matters being caught in the gap and taking effective measures to avoid panic on the spot and long delay of the train. The interlocking system 40 includes the detection of foreign matters in the protection range of interlocking to protect the safety of passengers' lives and property.

[0112] Other configurations and operations of the train monitoring system 100 according to the embodiments of the present application are known to those skilled in the art, and will not be described in detail here.

[0113] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example.

[0114] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method of detecting a foreign object in a gap between a platform screen door and a train door, characterized by, The platform area is provided with an ultrasonic detection system, a detection range of the ultrasonic detection system covering at least a gap between a platform shielding door and a train door of a train stopped at the platform, the ultrasonic detection system comprising a plurality of ultrasonic sensors, a detection range of the plurality of ultrasonic sensors covering different positions from top to bottom of the gap, the method being used for the ultrasonic detection system, the method comprising: acquiring an ultrasonic detection signal of the gap between the platform shielding door and the train door; determining, according to the ultrasonic detection signal, that there is a foreign object in the gap between the platform shielding door and the train door; determining, according to a distance of the foreign object to the ultrasonic sensor, a target platform shielding door where the foreign object is located, and obtaining, based on the distance of the foreign object to the ultrasonic sensor and a determination logic of each ultrasonic sensor for a foreign object position, an information tag of the target platform shielding door corresponding to each ultrasonic sensor, and determining, according to the information tag, a part of the target platform shielding door where the foreign object is located; sending information that there is a foreign object to a platform door control system to trigger interlocking protection.

2. The method for detecting a foreign object in a gap between a platform shielding door and a train door according to claim 1, acquiring a propagation time of the ultrasonic detection signal; estimating, according to a propagation speed of ultrasonic waves in air and the propagation time, the distance of the foreign object to the ultrasonic sensor.

3. The method of claim 1, wherein, The method further comprises: sending position information of the foreign object to a platform video monitoring system, so that the platform video monitoring system collects image information of the foreign object and uploads the position information and the image information to a comprehensive dispatching system, wherein the position information of the foreign object at least comprises the target platform shielding door.

4. An ultrasonic testing system characterized by, The ultrasonic detection system is arranged at a platform and comprises: an ultrasonic sensing module, a detection range of the ultrasonic sensing module covering at least a gap between a platform shielding door and a train door of a train stopped at the platform, for emitting and receiving ultrasonic signals to generate an ultrasonic detection signal; a controller connected with the ultrasonic sensing module, for executing the method for detecting a foreign object in a gap between a platform shielding door and a train door according to any one of claims 1-3.

5. The ultrasonic detection system of claim 4, wherein, The ultrasonic detection system further comprises a reflecting plate for reflecting ultrasonic signals emitted by the ultrasonic sensing module and enabling the ultrasonic sensing module to receive the reflected ultrasonic signals.

6. The ultrasonic detection system according to claim 5, wherein: the platform area has a first boundary and a second boundary arranged along a train running direction; the reflecting plate comprises a first reflecting plate arranged at the first boundary and a second reflecting plate arranged at the second boundary; the ultrasonic sensing module comprises a first ultrasonic unit arranged at the first reflecting plate and a second ultrasonic unit arranged at the second reflecting plate, and a detection range of the first ultrasonic unit and the second ultrasonic unit covers different ranges of the gap from top to bottom.

7. The ultrasonic detection system according to claim 6, wherein: The height of the first and second reflection plates is equal to the height of the platform screen door or the height of the train floor from the roof; The first ultrasonic unit comprises a first ultrasonic sensor and a second ultrasonic sensor, the first ultrasonic sensor is arranged near the top of the first reflection plate, and the second ultrasonic sensor is arranged near the bottom of the first reflection plate; The second ultrasonic unit comprises a third ultrasonic sensor, and the third ultrasonic sensor is arranged in the middle of the second reflection plate.

8. A train monitoring system characterized by comprising: Comprise: A platform door control system and a platform video monitoring system; The ultrasonic detection system according to any one of claims 4-7, wherein the ultrasonic detection system is communicatively connected with the platform door control system and the platform video monitoring system; An interlocking system, wherein the interlocking system is communicatively connected with the platform door control system, and is configured to activate interlocking protection for a train when receiving information that there is a foreign object in the gap between the platform screen door and the train door; An integrated dispatching system, wherein the integrated dispatching system is communicatively connected with the platform video monitoring system, and is configured to send line dispatching information when receiving the position information and image information of the foreign object.

9. The train monitoring system of claim 8, wherein, The platform video monitoring system comprises: A plurality of cameras, each of which is arranged between two adjacent platform screen doors and above the gap between the train door and the platform screen door; A video controller, wherein the video controller is connected with each camera, and is configured to control the corresponding camera to move to collect image information of the foreign object according to the position information of the foreign object.

Images