A method, system, and computer readable storage medium for safely closing a platform screen door

Abstract

The application relates to the technical field of control, and relates to a control method and system of a platform screen door and a computer readable storage medium. The method comprises the following steps: in a closing process of a platform screen door, based on a real-time air pressure difference and a current closing degree of the platform screen door, the output torque risk threshold of a corresponding platform screen door driving motor is adjusted in real time; the current output torque of the driving motor is monitored; in the case that the platform screen door is not completely closed, whether the current output torque of the driving motor is greater than the current output torque risk threshold of the driving motor is judged; if yes, the platform screen door is controlled to retreat by a preset distance to the left and right sides respectively, and to keep still for a preset time length, and then the closing is re-executed. Through the above method, the closing efficiency, smoothness and safety of the platform screen door can be effectively improved, and the situation that the platform screen door cannot be successfully closed or is abnormally closed due to the air pressure difference between the inner side and the outer side can be avoided.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to control methods, systems, and computer-readable storage media for platform screen doors. Background Technology

[0002] With the rapid development of rail transit, a rich network of rail transit systems has emerged, including subways, high-speed railways, and urban rail transit. Platform screen door systems have been widely used in these rail transit networks, becoming an indispensable component of the rail transit system.

[0003] Platform screen doors not only prevent the air suction generated by trains on the platform side, avoiding the danger of passengers sticking their heads onto the tracks, but also shield waiting passengers from pollutants carried out by trains in the tracks and reduce aerodynamic noise generated by trains, thus optimizing the waiting environment for passengers. In short, platform screen doors create a safe and comfortable travel environment for passengers, ensure the rapid entry and exit of trains from and from stations, and improve the transportation efficiency of rail transit.

[0004] However, in the actual operation of rail transit, in some subway stations using platform screen doors, due to tunnel fans, track ventilation fans, and train entry, there is a significant difference in airflow velocity between the train side and the waiting side of the platform screen doors. For example... Figure 1 As shown, even when the train is stopped, the gap between the platform screen door 1, the fixed door 2 and the train is small, and the airflow speed is faster when passing through this side; conversely, on the platform side of the platform screen door 1 and the fixed door 2, the space is open and the airflow speed is slow.

[0005] When platform screen doors are subjected to excessive wind pressure, the closing force is insufficient, leading to uneven closure, failure to close properly, or even misdetection and trapping of passengers. Therefore, the control method for platform screen doors is crucial for the operation and maintenance of rail transit. In conclusion, ensuring efficient and smooth closure of platform screen doors under varying wind pressures, while preventing passenger injury and guaranteeing safety during operation, is a pressing technical problem that needs to be solved. Summary of the Invention

[0006] To address the aforementioned technical problems with existing platform screen doors, this invention provides a method for safely closing platform screen doors, which can adjust the screen door drive motor to ensure high efficiency, smoothness, and safety in closing the platform screen door.

[0007] The method for safely closing platform screen doors provided by this invention includes the following steps:

[0008] Step S1: Control the platform screen door to close at the target speed, detect the current closure degree of the platform screen door and the real-time air pressure difference between its inner and outer sides in real time, and calculate the output torque risk threshold of the platform screen door drive motor in real time based on the closure degree and air pressure difference parameters.

[0009] Step S2: Determine whether the platform screen door is fully closed. If it is closed, the method for safely closing the platform screen door ends. If it is not closed, monitor the current output torque of the drive motor of the platform screen door in real time. If the current output torque of the drive motor does not exceed the output torque risk threshold set in step S1, then execute step S1. Otherwise, determine whether the current output torque of the drive motor is greater than the abnormal threshold. If yes, control the platform screen door to retract and alarm. Otherwise, execute step S3.

[0010] Step S3: Check if there are any obstacles between the platform screen doors. If there are obstacles, proceed to step S4; otherwise, proceed to step S1.

[0011] Step S4: Control the platform screen doors to retract a preset distance to the left and right respectively, and keep them stationary for a preset time, then return to step S3.

[0012] Furthermore, the output torque risk threshold is equal to the preset base torque plus the balancing torque required to balance the real-time air pressure difference between the inside and outside of the platform screen door; the balancing torque is obtained by inputting the real-time air pressure difference between the inside and outside of the platform screen door and the current closure degree of the platform screen door into the balancing torque calculation model; the balancing torque calculation model is obtained by training the neural network model with training samples consisting of the closure degree of the platform screen door when it is in torque balance state, the air pressure difference between the inside and outside, and the output torque corresponding to the drive motor.

[0013] Furthermore, the real-time air pressure difference between the inside and outside of the platform screen door is obtained by the gate control unit of the platform screen door through the air pressure difference sensor, and together with the current closure degree of the platform screen door, it is used as the input parameter of the locally running balance torque calculation model in the gate control unit to obtain the current balance torque. The gate control unit adds the current balance torque to the base torque to obtain the current output torque risk threshold of the platform screen door, and uploads the current output torque risk threshold to the platform screen door intelligent operation and maintenance platform for display in real time.

[0014] Furthermore, the input parameters of the balance torque calculation model are sent from the gate control unit to the remote server via a bus cable for calculation. The current balance torque is then sent back to the gate control unit via the bus cable. The gate control unit adds the current balance torque to the base torque to obtain the current output torque risk threshold of the platform screen door.

[0015] Furthermore, in step S1, controlling the platform screen door to close at the target speed is achieved by: setting the reference speed in the platform screen door drive motor speed control loop to the speed value corresponding to the target speed, and setting the feedback control quantity in the platform screen door drive motor speed control loop to its current speed; and adjusting the output torque of the platform screen door drive motor.

[0016] Furthermore, the presence of obstacles between the platform screen doors is detected by an obstacle sensor, which is configured as an infrared laser transceiver array.

[0017] Corresponding to the above-described method for safely closing platform screen doors, the present invention also provides a computer-readable storage medium storing program code, wherein a door control unit executes the program code to implement the above-described method for safely closing platform screen doors.

[0018] Furthermore, the remote server executes the program code, and based on the input real-time air pressure difference and the current closure degree of the platform screen doors, runs the balance torque calculation model to obtain the current balance torque.

[0019] Corresponding to the above-described method for safely closing platform screen doors, the present invention also provides a system for safely closing platform screen doors. The system includes: an obstacle sensor, a differential pressure sensor, a drive motor, a limit sensor, a door control unit, and a remote communication bus. The door control unit collects obstacle information through the obstacle sensor to determine whether the platform screen door can perform a closing operation. The door control unit uses the limit sensor to determine whether the platform screen door is fully closed. The door control unit controls the drive motor to perform the closing operation.

[0020] Furthermore, the gate control unit obtains the real-time air pressure difference through the air pressure difference sensor; the gate control unit calculates the current closure degree of the platform screen door through the rotation angle data provided by the rotation angle sensor; the gate control unit inputs the real-time air pressure difference and the current closure degree, and calculates the current output torque risk threshold according to the balance torque calculation model.

[0021] Those skilled in the art generally believe that before closing a platform screen door, it is necessary to determine whether there are obstacles between the screen doors before deciding whether to initiate the closing action. However, the inventors of this invention have overcome the bias of existing technologies and adopted a different technical solution, prioritizing the closing action. Even if there are obstacles between the screen doors, it does not mean that closing the screen doors will result in a "person being trapped." Obstacle detection is only performed when the torque of the drive motor increases to determine whether a "person is trapped." The advantages of this approach are obvious: it ensures both safety and the closing efficiency of the screen doors.

[0022] The technical solution provided by this invention also makes reasonable use of real-time air pressure difference data on both sides of the platform screen doors and obstacle detection results inside the platform screen doors to design a method for controlling the closing of platform screen doors. This method not only ensures efficient and smooth closing of the platform screen doors, but also prevents passengers from being pinched during the closing process, guaranteeing the reliability and safety of the screen doors during operation. It achieves the desired effect and has extremely high social benefits and significant progress. Attached Figure Description

[0023] Figure 1 Schematic diagram of aerodynamic layout of a train platform;

[0024] Figure 2 This is a flowchart of the method for safely closing the shielding door;

[0025] Figure 3 Schematic diagram of the layout of the shielded door sensors and door control unit. Detailed Implementation

[0026] The following will combine Figure 2 , Figure 3 The technical solutions in the embodiments of this application will be clearly and completely described.

[0027] Obviously, the described embodiments are only some, and not all, of the embodiments of this application. The various sensor components of the embodiments of this application, typically described and illustrated in the accompanying drawings, can be arranged and designed in a variety of different configurations.

[0028] Therefore, the following detailed description of the embodiments of this application is for illustrative purposes only and not intended to limit the scope of the claims. Specific details regarding various particular system structures and technologies are provided to aid in understanding the embodiments of this application. Based on the embodiments of this application, those skilled in the art should understand that all other embodiments obtained without inventive effort are within the scope of protection of this application.

[0029] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] In this embodiment, the flowchart of the method for implementing the safe closing of the platform screen door 1 provided by the present invention is as follows: Figure 2 As shown, the method for safely closing the platform screen door 1 provided by the present invention includes:

[0032] In step S1, the gate control unit DCU7 controls the platform screen door 1 to close at the target speed. During the closing process of the platform screen door 1, the real-time air pressure difference between the inside and outside of the platform screen door and the current degree of closure of the platform screen door 1 are detected in real time, so as to adjust the output torque risk threshold of the corresponding platform screen door drive motor 5 in real time.

[0033] The closure degree of the platform screen door 1 refers to the ratio of the total distance from both sides of the platform screen door to the corresponding entrance to the width of the entrance. This is because the resistance encountered by the platform screen door 1 during the closing process is related to the pressure acting on the extended area (i.e., the degree of closure) of the platform screen door 1.

[0034] The real-time air pressure difference between the inside and outside of the platform screen door 1 is preferably obtained by using an air pressure difference sensor 4.

[0035] Step S2: Determine whether the platform screen door 1 is fully closed. If yes, the closing process ends. If the platform screen door 1 is not fully closed, obtain the current output torque of the drive motor 5 of the platform screen door 1, and further determine whether the current output torque of the drive motor 5 is greater than the current output torque risk threshold. If it is still within the safe range of the output torque risk threshold, continue to execute step S1. Otherwise, it needs to be compared with the abnormal output torque threshold. If the abnormal threshold is not reached, execute step S3. Otherwise, it means that there is an abnormal situation with the current platform screen door 1, and continuing to forcibly close it poses a significant safety hazard. Therefore, the platform screen door 1 retracts and issues an alarm to remind the platform operation personnel to intervene manually to eliminate the abnormality, and the closing process ends.

[0036] Whether the platform screen door 1 is fully closed is preferably determined by the limit sensor 4.

[0037] The current output torque of the drive motor 5 is provided by the torque sensor of the drive motor 5.

[0038] In step S3, the gate control unit DCU7 receives the signal from the obstacle sensor 3 and determines whether there is an obstacle between the platform screen doors 1. If there is no obstacle, proceed to step S1; otherwise, proceed to step S4.

[0039] Step S4: When there are obstacles between the platform screen doors, the door control unit DCU7 controls the platform screen doors 1 to retract a preset distance to the left and right respectively, and remain stationary for a preset time before re-executing step 1.

[0040] The risk threshold of the output torque of the drive motor 5 of the platform screen door 1 is adjusted in real time. This is because as the closing degree of the screen door increases and the closing degree of other platform screen doors changes, the air pressure difference between the inside and outside of the platform screen door 1 will change in real time, which in turn will cause the resistance encountered by the platform screen door 1 during the closing process to change in real time.

[0041] This invention controls the platform screen door 1 to close at a constant target speed, while dynamically adjusting the output risk torque threshold of the platform screen door 1 drive motor 5. Based on this output risk torque threshold, the output torque of the platform screen door drive motor is controlled. First, it can ensure that even if the platform screen door hits a passenger during the closing process, no injury will be caused. Second, when the output torque is higher than the threshold, it can be combined with obstacle sensors to confirm whether there is a risk of "trapping" and then control the platform screen door 1 to retreat a preset distance to the left and right.

[0042] Furthermore, the real-time adjustment of the output torque risk threshold of the corresponding platform screen door drive motor 5 is equal to the addition of the balancing torque required to balance the real-time air pressure difference between the inside and outside of the platform screen door 1, in addition to the preset basic torque.

[0043] Furthermore, the balancing torque is obtained by inputting the real-time air pressure difference between the inside and outside of the platform screen door 1, and the current closure degree of the platform screen door 1, into the balancing torque calculation model. The balancing torque calculation model is obtained by training a neural network model with training samples consisting of the closure degree of the platform screen door 1 when it is in a torque balance state, the air pressure difference between the inside and outside, and the output torque of the corresponding drive motor 5. The balancing torque calculation process is preferably run in the gate control unit DCU7.

[0044] Further, in step S1, the platform screen door 1 is controlled to close at the target speed, which is achieved as follows: the target speed is 0.10~0.8m / s, the reference speed in the platform screen door drive motor speed control loop is set to the speed value corresponding to the target speed, and the feedback control quantity in the platform screen door drive motor speed control loop is set to its current speed; the output torque of the platform screen door drive motor is adjusted.

[0045] Furthermore, the gate control unit DCU7 of the platform screen door 1 adds the current balancing torque to the base torque to obtain the current output torque risk threshold of the platform screen door 1, and uploads the current output torque risk threshold to the platform screen door intelligent operation and maintenance platform in real time via the bus cable 9 for display.

[0046] Furthermore, the equilibrium torque calculation model can also run on the server side, communicating with the gate control unit DCU7 in real time via bus cable 9 to obtain the closure degree of each platform screen door and the real-time air pressure difference between the inside and outside, and calculate the current output torque risk threshold of each platform screen door in real time, and then send it to the gate control unit DCU7 for execution in real time via bus cable 9.

[0047] Corresponding to the method for safely closing platform screen door 1 described above, the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores program code; when the program code is executed by the door control unit DCU7 of platform screen door 1 or by a remote server, it implements the method for safely closing platform screen door 1 described above.

[0048] The system for implementing the safe closing platform screen door provided by this invention is as follows: Figure 3 As shown, it includes: obstacle sensor 3, air pressure differential sensor 4, drive motor 5, limit sensor 6, gate control unit DCU 7, and remote communication bus 9.

[0049] Obstacle sensor 3, differential pressure sensor 4, drive motor 5, and limit sensor 6 are all connected to the gate control unit DCU7 via cables. The gate control unit DCU7 is installed on the train passage side of platform 8, located below the platform steps. The gate control unit DCU7 is connected to a remote server via bus cable 9, sending uplink commands and receiving downlink commands. Uplink commands include, but are not limited to, providing the server with real-time differential pressure and current closure information of the platform screen doors. Downlink commands include, but are not limited to, output torque risk thresholds issued by the remote server.

[0050] Obstacle detection can be achieved through cameras, ranging radars, infrared laser transceiver arrays, etc. Preferably, the obstacle sensor 3 is an infrared laser transceiver array.

[0051] Furthermore, obstacle sensors can be installed on the pillars on both sides of the platform screen doors. Preferably, the obstacle sensors are installed on the side of the platform screen doors that are in relative motion, which provides more accurate obstacle detection.

[0052] Furthermore, the drive motor 5 is preferably a stepper motor, which allows for relatively precise control. The stepper motor is equipped with a step angle sensor, which can provide angle information to the door control unit to calculate the closure degree of the platform screen door 1.

[0053] Fully enclosed platforms have drive motors mounted on the gantry crane beams; semi-enclosed platforms have drive motors mounted on the platform facing the track.

[0054] Limit sensor 6 is a position sensor that can provide a detection signal to determine whether the platform screen door 1 is fully closed. One limit sensor is installed at the boarding position and the closed position of each side of the screen door.

[0055] The differential pressure sensor 4 is a micro differential pressure sensor, consisting of two sensing elements and a signal converter. The differential pressure sensor 4 is preferably installed inside the platform screen door, ensuring it does not contact the fixed door during sliding. Its preferred location is below the door frame on the opposite side of the moving side. Figure 3 As shown, the two detection elements face the platform side and the track side, respectively.

[0056] Furthermore, in fully enclosed platforms, the differential pressure sensor 4 can also be installed above the platform screen doors.

[0057] Furthermore, the real-time pressure difference can also be calculated using an air velocity sensor based on Bernoulli's formula in fluid mechanics.

[0058] According to the principle of energy conservation in a fluid between two locations, Bernoulli's formula can be expressed as:

[0059]

[0060] P represents pressure, ρ represents fluid density, v represents flow velocity, g represents gravitational acceleration, and h represents the fluid's height between two points. When the difference in height between the two sides of the equation can be ignored, the flow rate formula can be further simplified to:

[0061] Δp=k(v2 2 -v1 2 )

[0062] Where k is a constant related to the density of the fluid, and Δp represents the air pressure difference. The simplified formula shows that the air pressure difference is only related to the air velocity on both sides of the platform screen door, and can be calculated by the gate control unit DCU after collecting the air velocity on both sides in real time.

[0063] The gate control unit DCU7 can read the program code in the storage medium that implements the method of safely closing the platform screen door, and execute the above program code. It can call the signal of obstacle sensor 3 in real time to determine whether there is an obstacle; it can call the signal of air pressure differential sensor 4 in real time, and calculate the current closure degree of the platform screen door in real time. It can run the balance torque calculation model to obtain the output torque risk threshold of drive motor 5, and control drive motor to perform closing or opening actions.

[0064] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0065] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for safely closing platform screen doors, characterized in that, Includes the following steps: Step S1: Control the platform screen door to close at the target speed, detect the current closure degree of the platform screen door and the real-time air pressure difference between its inner and outer sides in real time, and calculate the output torque risk threshold of the platform screen door drive motor in real time based on the closure degree and air pressure difference parameters. Step S2: Determine whether the platform screen door is fully closed. If it is closed, the method for safely closing the platform screen door ends. If it is not closed, monitor the current output torque of the drive motor of the platform screen door in real time. If the current output torque of the drive motor does not exceed the output torque risk threshold set in step S1, then execute step S1. Otherwise, determine whether the current output torque of the drive motor is greater than the abnormal threshold. If yes, control the platform screen door to retract and alarm. Otherwise, execute step S3. Step S3: Check if there are any obstacles between the platform screen doors. If there are obstacles, proceed to step S4; otherwise, proceed to step S1. Step S4: Control the platform screen doors to retract a preset distance to the left and right respectively, and keep them stationary for a preset time, then return to step S3; The output torque risk threshold is equal to the preset base torque plus the balancing torque required to balance the real-time air pressure difference between the inside and outside of the platform screen door. The balancing torque is obtained by inputting the real-time air pressure difference between the inside and outside of the platform screen door and the current closure degree of the platform screen door into the balancing torque calculation model. The equilibrium torque estimation model is obtained by training a neural network model using training samples consisting of the closure degree of the platform screen door when it is in a torque balance state, the air pressure difference between the inside and outside, and the output torque of the drive motor, which are obtained from experiments.

2. The method for safely closing platform screen doors according to claim 1, characterized in that, The real-time air pressure difference between the inside and outside of the platform screen door is obtained by the gate control unit of the platform screen door through the air pressure difference sensor. Together with the current closure degree of the platform screen door, it is used as the input parameter of the local operation balance torque calculation model in the gate control unit to obtain the current balance torque. The gate control unit adds the current balance torque to the base torque to obtain the current output torque risk threshold of the platform screen door. The current output torque risk threshold is then uploaded to the platform screen door intelligent operation and maintenance platform for display in real time.

3. The method for safely closing platform screen doors according to claim 2, characterized in that, The input parameters of the balance torque calculation model are sent from the gate control unit to the remote server via a bus cable for calculation. The current balance torque is then sent back to the gate control unit via the bus cable. The gate control unit adds the current balance torque to the base torque to obtain the current output torque risk threshold of the platform screen door.

4. The method for safely closing platform screen doors according to any one of claims 1-3, characterized in that, In step S1, the platform screen door is controlled to close at the target speed by setting the reference speed in the platform screen door drive motor speed control loop to the speed value corresponding to the target speed, and setting the feedback control quantity in the platform screen door drive motor speed control loop to its own current speed. Adjust the output torque of the platform screen door drive motor.

5. The method for safely closing platform screen doors according to claim 1, characterized in that, Obstacle sensors are used to detect whether there are obstacles between the platform screen doors. The obstacle sensors are set up as infrared laser transceiver arrays.

6. A computer-readable storage medium storing program code, characterized in that, The gate control unit executes the program code to implement the method for safely closing the platform screen door according to any one of claims 1 to 5.

7. The computer-readable storage medium according to claim 6, characterized in that, The remote server executes the program code, and based on the input real-time air pressure difference and the current closure degree of the platform screen doors, runs the balance torque calculation model to obtain the current balance torque.

8. A system for safely closing platform screen doors, comprising the method for safely closing platform screen doors according to any one of claims 1-5, characterized in that, include: Obstacle sensors, differential pressure sensors, drive motors, limit sensors, gate control units, and remote communication buses; The gate control unit collects obstacle information through obstacle sensors to determine whether the platform screen door can perform a closing operation; the gate control unit uses limit sensors to determine whether the platform screen door is fully closed; the gate control unit controls the drive motor to perform the closing operation.

9. The system for safely closing platform screen doors according to claim 8, characterized in that, The gate control unit obtains the real-time air pressure difference through the air pressure difference sensor; the gate control unit calculates the current closure degree of the platform screen door through the rotation angle data provided by the rotation angle sensor; the gate control unit inputs the real-time air pressure difference and the current closure degree, and calculates the current output torque risk threshold according to the balance torque calculation model.

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