System and method for preventing mistaken opening of high-speed train door based on multi-sensor fusion

Abstract

The invention discloses a system and method for preventing mistaken opening of a high-speed rail vehicle door based on multi-sensor fusion, and belongs to the technical field of rail transit, the system comprises a control center module, a data acquisition and recognition module connected with the control center module, a vehicle door opening module, an early warning module and a multi-sensor module connected with the data acquisition and recognition module; a multi-sensor module is used for acquiring information of a train and a platform, whether the platform is located on the left side or the right side of the train is judged through a weighted voting decision-making mechanism, and when a train driver presses a button for opening a door mistakenly, a train door is controlled to prevent the train door from being opened mistakenly. Through various types of sensors and a weighted voting decision-making mechanism, the identification accuracy of the train and the platform is improved, the misoperation of a driver is reduced, the train door is further prevented from being opened by mistake, the safety and the intelligent level of high-speed train door control are improved, the risk of manual and equipment misoperation is effectively reduced, and the safety of the high-speed train is improved. And reliable guarantee is provided for safe operation of a high-speed rail system.

Description

Technical Field

[0001] The present invention belongs to the field of rail transit technology, in particular to the field related to high-speed rail train door control, and specifically relates to a high-speed rail door anti-misopening system and method based on multi-sensor fusion. Background Art

[0002] As a modern rail transportation tool, high-speed trains are widely used in high-speed transportation networks in countries around the world. Their efficient and safe operation is directly related to the safety of passengers and railway systems. In order to ensure the safety of passengers, the docking between the doors of high-speed trains and the station platform must be accurate when the train arrives at the station. If the left and right doors are opened incorrectly after the train stops, passengers will fall onto the track area, posing a serious safety hazard to the main line and passengers.

[0003] At present, to open the doors of high-speed trains, the driver needs to first press the "Release X Door" button (X is left or right), and then press the "Open X Door" button to open all doors on the corresponding side through bus centralized control. However, in real applications, human error still occurs frequently. In addition, the existing door control lacks a multi-level verification and early warning mechanism, and the driver is easily affected by external conditions or himself, resulting in the problem of door opening errors that cannot be completely and effectively avoided.

[0004] Therefore, a system is urgently needed that can detect the left and right sides of the vehicle after the high-speed train arrives at the station based on multi-sensor data fusion, and verify and control when the driver opens the door. This system can effectively prevent the driver from opening the wrong left and right doors due to misoperation, thereby ensuring the safety of passengers and driving and improving the reliability of train operation. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a high-speed rail door anti-misopening system and method based on multi-sensor fusion, which solves the problem of passenger and driving safety caused by misopening of high-speed rail doors.

[0006] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a high-speed rail door anti-misopening system based on multi-sensor fusion, including a control center module, a data acquisition and identification module connected to the control center module, a door opening module and an early warning module, and a multi-sensor module connected to the data acquisition and identification module; The multi-sensor module is used for train position information, train running speed, whether the train has stopped running, and relative position information between the train body and the platform; The data acquisition and identification module is used to obtain different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and weightedly fuse the different data collected by the multi-sensor module to obtain the actual position information of the platform; The control center module is used to obtain the status data of the train driver pressing the door button and the actual platform position information output by the data acquisition and identification module, and make a comparison and judgment, and control the door opening module and the early warning module according to the judgment result; The door opening module is used to control the opening and closing of the door; The warning module is used to send sound and light warning information to the driver.

[0007] The beneficial effects of the present invention are as follows: the present invention uses a variety of types of sensors and selects preprocessing algorithms and weighted voting decision mechanisms suitable for different sensors, thereby improving the accuracy of identifying trains and platforms, reducing driver misoperation, and thereby preventing the train doors from opening by mistake, ensuring the safety of train operation and passengers, and at the same time, improving the safety and intelligence level of high-speed rail door control, facilitating the rapid passage of passing vehicles, avoiding safety accidents caused by misoperation and subsequent processing costs, effectively reducing the risk of human and equipment misoperation, and providing reliable protection for the safe operation of the high-speed rail system.

[0008] Further: the multi-sensor module includes a Beidou positioning unit, an MVB bus unit and a distance detection unit; The Beidou positioning unit is used to obtain train location information, including the current location information of the train and the arrival platform information of the train; The MVB bus unit is used to obtain the running speed of the train and obtain information on whether the train has stopped running based on the running speed of the train; The distance detection unit is used to obtain the relative position information between the train body and the platform.

[0009] The beneficial effect of the above further scheme is: the present invention collects data through multiple sensor modules, can realize accurate train positioning, operation status monitoring and environmental perception, improve the safety and accuracy of door control, and reduce the risk of misoperation.

[0010] Further: the data acquisition and identification module includes an acquisition unit, a calculation unit and a decision unit connected in sequence; The acquisition unit is used to obtain different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and set the acquisition frequency to generate a current acquisition time mark for the data collected by the multi-sensor module and the state data of the train driver pressing the door button; The calculation unit is used to obtain platform position information corresponding to different data through corresponding data preprocessing methods according to different data collected by the multi-sensor module; The decision-making unit is used to obtain the actual platform location information through weighted voting decision based on the platform location information corresponding to different data.

[0011] The beneficial effect of the above further scheme is: the present invention realizes efficient data processing and accurate decision-making by dividing the data acquisition and identification module into an acquisition unit, a calculation unit and a decision-making unit, thereby improving the response speed of the system and the accuracy of decision-making.

[0012] Further: the control center module includes a data receiving unit, a judgment unit, a control unit, a mode switching unit and a data storage unit connected in sequence; The data receiving unit is used to receive the actual platform position information and the status data of the train driver pressing the door button; The judgment unit is used to determine whether the door is open based on the actual platform position information and the state data of the train driver pressing the door button; The control unit is used to send control information to the door opening module and the early warning module according to the decision conclusion of whether the door is opened; The mode switching unit is used to control the data acquisition and identification module and the control center module to enter the working mode and the shielding mode; The data storage unit is used to store different data collected by the multi-sensor module, state data of the train driver pressing the door button, control information sent by the control unit, and mode switching data of the mode switching unit.

[0013] The beneficial effect of the above further scheme is that the present invention can realize the control and management of the door opening decision through the control center module, and perform data recording to facilitate fault diagnosis and performance optimization.

[0014] The present invention also provides a method for preventing mis-opening of high-speed rail doors based on multi-sensor fusion, comprising the following steps: S1: Use multiple sensors to obtain train location information, train running speed, whether the train has stopped running, and the relative position information between the train body and the platform; S2: According to the different types of multi-sensors, the corresponding data preprocessing method is used to process the information obtained by the multi-sensors in S1 to obtain the platform position information of the multi-sensors; S3: Based on the platform location information from multiple sensors and the platform information entered in advance, the actual location information of the train and platform is obtained by using a weighted voting decision mechanism; S4: Determine whether the actual position information of the train and the platform is consistent with the door opening button pressed by the train driver. If so, the door opening button is valid and the train door is opened. Otherwise, the door opening button is invalid, the train door cannot be opened, and an audible and visual warning is given.

[0015] The beneficial effects of the present invention are as follows: the present invention can improve the safety and accuracy of high-speed rail door control according to the multi-sensor data fusion and weighted voting decision-making mechanism, accurately judge the position information of the train and the platform, and then correctly judge the door opening operation, prevent the door from opening by mistake, and effectively prevent the occurrence of safety accidents. At the same time, by adjusting the different weights of multiple sensors, it can adapt to different high-speed rail operation scenarios and realize high-efficiency and intelligent management of high-speed rail train doors.

[0016] Further: the multi-sensor includes ultrasonic radars, millimeter wave radars and cameras installed on both sides of the body of each vehicle compartment, and laser radar sensors installed at the front and rear of the vehicle; The ultrasonic radar uses a Kalman filter algorithm to perform data preprocessing; The millimeter wave radar uses a least squares algorithm to perform data preprocessing; The camera uses an image enhancement algorithm to perform data preprocessing; The laser radar sensor uses a point cloud filtering algorithm to perform data preprocessing.

[0017] The beneficial effect of the above further solution is: the present invention improves the accuracy of data and the robustness of the system by adopting specific preprocessing algorithms for different sensors, thereby enhancing the accuracy and effectiveness of the door opening decision.

[0018] Further: The expression of the weighted voting decision mechanism is as follows: ; ; ; in, The actual location information of the train and platform, is the maximum parameter function, is the weight of the platform on the left side of the train, is the weight of the platform being on the right side of the train, are the weights corresponding to different sensors, is the platform location information of multiple sensors, is the number of sensors for multi-sensor, The sensor number.

[0019] The beneficial effect of the above further scheme is: the present invention calculates the weights of the platform located on the left and right sides of the train through a weighted voting decision-making mechanism to determine the actual location information of the train and the platform, integrates the judgment of multiple sensors, and can optimize the accuracy of the overall decision by adjusting the weights of the sensors, thereby improving the reliability of the decision results under different environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a high-speed rail door anti-misopening system based on multi-sensor fusion. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0022] like Figure 1 As shown, a high-speed rail door anti-misopening system based on multi-sensor fusion includes a control center module, a data acquisition and identification module connected to the control center module, a door opening module and an early warning module, and a multi-sensor module connected to the data acquisition and identification module; Among them, the multi-sensor module is used to obtain train location information, train running speed, whether the train has stopped running information, and the relative position information between the train body and the platform; The data acquisition and identification module is used to obtain the different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and weightedly fuse the different data collected by the multi-sensor module to obtain the actual position information of the platform; The control center module is used to obtain the status data of the train driver pressing the door button and the platform position information output by the data acquisition and recognition module, and make a comparison and judgment, and control the door opening module and the early warning module according to the judgment result; Door opening module, used to control the opening and closing of the door; The warning module is used to send sound and light warning information to the driver.

[0023] In one embodiment of the present invention, the multi-sensor module includes a Beidou positioning unit, an MVB bus unit and a distance detection unit; Beidou positioning unit, used to obtain train location information, including the current location information of the train and the arrival platform information of the train. The arrival platform information of the train can be entered in advance, recording the location of the platform when the train arrives, including the platform located on the left side of the train and the platform located on the right side of the train. The arrival platform information of the train can be obtained by querying the platform related information; The MVB bus unit is used to obtain the running speed of the train and obtain information on whether the train has stopped running through the running speed of the train; when it is detected that the train has stopped running, the high-speed rail door anti-misopening system based on multi-sensor fusion of the present invention enters a fully working state and monitors the position information of the train and the platform; The distance detection unit is used to obtain the relative position information between the train body and the platform, including: the distance data between the train body and the platform, the visual image data of the platform, and the three-dimensional shape data of the platform. Among them, the radar is used to identify the density, shape and distribution of the point cloud data to obtain the distance data between the train body and the platform and the three-dimensional shape data of the platform, and the camera is used to obtain the visual image data of the platform through pixel and color information identification.

[0024] In one embodiment of the present invention, the data acquisition and identification module includes an acquisition unit, a calculation unit and a decision unit connected in sequence; The acquisition unit is used to obtain different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and set the acquisition frequency to generate a current acquisition time mark for the data collected by the multi-sensor module and the state data of the train driver pressing the door button; wherein the state data of the train driver pressing the door button includes "release left door", "release right door", "open left door" and "open right door", and the default acquisition frequency is 10Hz, which can be changed according to actual use; The calculation unit is used to obtain the platform position information corresponding to the different data collected by the multi-sensor module through the corresponding data preprocessing method; wherein the platform position information corresponding to the different data is the judgment result of the data collected by each sensor in the multi-sensor module.

[0025] The decision-making unit is used to obtain the actual platform location information through weighted voting decision based on the platform location information corresponding to different data. Among them, the weighted voting decision can determine whether the current platform is located on the left or right side of the train, and obtain the actual platform location information.

[0026] In one embodiment of the present invention, the control center module includes a data receiving unit, a judgment unit, a control unit, a mode switching unit and a data storage unit connected in sequence; A data receiving unit, used to receive actual platform position information and status data of the train driver pressing the door button; The judgment unit is used to determine whether the door is open based on the actual platform position information and the state data of the train driver pressing the door button, as follows: When the actual platform location information is "the platform is on the left side of the train", the state data of the door button pressed by the train driver is "release left door", the judgment is consistent, the decision conclusion is open, and the "open left door" button is valid. After the train driver presses the "open left door", the train door opens; When the actual platform location information is "the platform is on the left side of the train", and the state data of the door button pressed by the train driver is "release the right door", it is judged as inconsistent, and the decision conclusion is not to open, and the "open right door" button is invalid. After the train driver presses the "open right door", the train door remains closed and an audible and visual warning is issued; When the actual platform location information is "the platform is on the right side of the train", and the state data of the door button pressed by the train driver is "release the left door", it is judged as inconsistent, and the decision conclusion is not to open, and the "open left door" button is invalid. After the train driver presses the "open left door", the train door remains closed and an audible and visual warning is issued; When the actual platform location information is "the platform is on the right side of the train", the state data of the door button pressed by the train driver is "release right door", the judgment is consistent, the decision conclusion is open, and the "open right door" button is valid. After the train driver presses "open right door", the train door opens; A control unit, used for sending control information to the door opening module and the early warning module according to the decision conclusion of whether the door is opened; The mode switching unit is used to control the data acquisition and identification module and the control center module to enter the working mode and the shielding mode. In the working mode, the high-speed rail door anti-mistaken opening system based on multi-sensor fusion works normally. In the shielding mode, the high-speed rail door anti-mistaken opening system based on multi-sensor fusion suspends work and does not generate any control and sound and light warning information. It is suitable for scenes such as train door inspection, maintenance, and car washing. At the same time, the original door opening and closing process is not affected, which improves the applicability and safety of the system; The data storage unit is used to store different data collected by the multi-sensor module, the status data of the train driver pressing the door button, the control information sent by the control unit, and the mode switching data of the mode switching unit; when the management personnel check the historical record data, they can quickly locate and verify various types of data and conclusions through time stamps.

[0027] The beneficial effects of the present invention are as follows: the present invention uses a variety of types of sensors and selects preprocessing algorithms and weighted voting decision mechanisms suitable for different sensors, thereby improving the accuracy of identifying trains and platforms, reducing driver misoperation, and thereby preventing the train doors from being opened by mistake, avoiding passenger confusion and panic and the risk of people falling onto the tracks. At the same time, it facilitates the rapid passage of passing vehicles, avoids safety accidents and subsequent processing costs caused by misoperation, significantly improves the safety and intelligence level of high-speed rail door control, effectively reduces the risk of human and equipment misoperation, and provides reliable protection for the safe operation of the high-speed rail system.

[0028] Example 2 The present invention provides a method for preventing mis-opening of high-speed rail doors based on multi-sensor fusion, comprising the following steps: S1: Use multiple sensors to obtain train location information, train running speed, whether the train has stopped running, and the relative position information between the train body and the platform; S2: According to the different types of multi-sensors, the corresponding data preprocessing method is used to process the information obtained by the multi-sensors in S1 to obtain the platform position information of the multi-sensors; S3: Based on the platform location information from multiple sensors and the platform information entered in advance, the actual location information of the train and platform is obtained by using a weighted voting decision mechanism; S4: Determine whether the actual position information of the train and the platform is consistent with the door opening button pressed by the train driver. If so, the door opening button is valid and the train door is opened. Otherwise, the door opening button is invalid, the train door cannot be opened, and an audible and visual warning is given.

[0029] In the S1, the multiple sensors include ultrasonic radars, millimeter-wave radars, and cameras installed on both sides of the body of each vehicle, and lidar sensors installed at the front and rear of the vehicle.

[0030] In S2, the corresponding data preprocessing method is used to process the information obtained by the multi-sensor in S1. The specific preprocessing methods are as follows: Ultrasonic radar uses Kalman filter algorithm for data preprocessing; Millimeter wave radar uses the least squares algorithm for data preprocessing; The camera uses image enhancement algorithm for data preprocessing; The lidar sensor uses a point cloud filtering algorithm for data preprocessing.

[0031] In S3, the expression of the weighted voting decision mechanism is as follows: ; ; ; in, The actual location information of the train and platform, is the maximum parameter function, is the weight of the platform on the left side of the train, is the weight of the platform being on the right side of the train, are the weights corresponding to different sensors, is the platform location information of multiple sensors, is the number of sensors for multi-sensor, is the sensor number, where Indicates that the platform is on the left side of the train. Indicates that the platform is on the right side of the train.

[0032] In one embodiment of the present invention, according to the information obtained by the multi-sensor, after performing the corresponding data preprocessing method, the platform position information of each sensor in the multi-sensor is obtained, which is specifically expressed as follows: Ultrasonic radar: The platform is detected on the left, so the ultrasonic radar's platform position information ; Millimeter-wave radar: The platform is detected on the right, so the platform position information of the millimeter-wave radar ; Camera: The platform is judged to be on the left through the image, so the camera's platform position information ; LiDAR sensor: Through data analysis on the right, the platform position information of the LiDAR sensor .

[0033] Platform information entered in advance: Get the current platform on the left. ; At the same time, the weight of each sensor in the multi-sensor is set as follows: Ultrasonic radar weight , the weight of millimeter wave radar , the weight of the camera , the weight of the lidar sensor , the weight of the platform information entered in advance ; The weights of the platform on the left side of the train and the platform on the right side of the train are calculated as follows: ; ; To compare weights: ; Therefore, the actual position information of the train and the platform is: the platform is located on the left side of the train; In S4, if the door opening button pressed by the train driver is "Release Left Door", which is consistent with the actual position information of the train and the platform, both are on the left side, the "Open Left Door" button is valid. After the train driver presses the "Open Left Door" button, the train door opens. If the door opening button pressed by the train driver is "Release Right Door", which is inconsistent with the actual position information of the train and the platform, the "Open Right Door" button is invalid. After the train driver presses the "Open Right Door" button, the train door cannot be opened and an audible and visual warning is issued.

[0034] In one embodiment of the present invention, the weight of each sensor can be optimized and adjusted based on environmental factors, sensor performance, historical data analysis, judgment accuracy and other data to improve the accuracy, adaptability, stability and reliability of the system; for example, the platform is affected by light and obstructions, the weight of the camera can be reduced; in an open environment, the weight of the lidar sensor can be reduced; at night and on rainy days, the weight of the ultrasonic radar and millimeter wave radar can be reduced, and the weight of the lidar sensor can be increased.

[0035] Environmental factors: Dynamically adjust the weights of multiple sensors based on environmental complexity, such as weather, lighting, and station layout; Sensor performance: adjust the weight based on the real-time performance feedback of the sensor. If a sensor is abnormal or the data is unstable, its weight can be reduced; Historical data analysis: Use historical data to analyze and identify the performance of sensors under specific conditions, and adjust the weights of multiple sensors based on the performance; Judgment feedback adjustment: Adjust the weights of multiple sensors based on the system's real-time judgment accuracy feedback.

[0036] The beneficial effects of the present invention are as follows: the present invention uses a variety of types of sensors and selects preprocessing algorithms and weighted voting decision mechanisms suitable for different sensors, thereby improving the accuracy of identifying trains and platforms, reducing driver misoperation, and thereby preventing the train doors from being opened by mistake, avoiding passenger confusion and panic and the risk of people falling onto the tracks. At the same time, it facilitates the rapid passage of passing vehicles, avoids safety accidents and subsequent processing costs caused by misoperation, significantly improves the safety and intelligence level of high-speed rail door control, effectively reduces the risk of human and equipment misoperation, and provides reliable protection for the safe operation of the high-speed rail system.

Claims

1. A high-speed rail door anti-misopening system based on multi-sensor fusion, characterized in that: It includes a control center module, a data acquisition and identification module, a door opening module and an early warning module connected to the control center module, and a multi-sensor module connected to the data acquisition and identification module; The multi-sensor module is used for train position information, train running speed, whether the train has stopped running, and relative position information between the train body and the platform; The data acquisition and identification module is used to obtain different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and weightedly fuse the different data collected by the multi-sensor module to obtain the actual position information of the platform; The control center module is used to obtain the status data of the train driver pressing the door button and the actual platform position information output by the data acquisition and identification module, and make a comparison and judgment, and control the door opening module and the early warning module according to the judgment result; The door opening module is used to control the opening and closing of the door; The warning module is used to send sound and light warning information to the driver.

2. The high-speed rail door anti-misopening system based on multi-sensor fusion according to claim 1 is characterized in that: The multi-sensor module includes a Beidou positioning unit, an MVB bus unit and a distance detection unit; The Beidou positioning unit is used to obtain train location information, including the current location information of the train and the arrival platform information of the train; The MVB bus unit is used to obtain the running speed of the train and obtain information on whether the train has stopped running based on the running speed of the train; The distance detection unit is used to obtain the relative position information between the train body and the platform.

3. The high-speed rail door anti-misopening system based on multi-sensor fusion according to claim 1 is characterized in that: The data acquisition and identification module includes an acquisition unit, a calculation unit and a decision unit connected in sequence; The acquisition unit is used to obtain different data collected by the multi-sensor module and the state data of the train driver pressing the door button, and set the acquisition frequency to generate a current acquisition time mark for the data collected by the multi-sensor module and the state data of the train driver pressing the door button; The calculation unit is used to obtain platform position information corresponding to different data through corresponding data preprocessing methods according to different data collected by the multi-sensor module; The decision-making unit is used to obtain the actual platform location information through weighted voting decision based on the platform location information corresponding to different data.

4. The high-speed rail door anti-misopening system based on multi-sensor fusion according to claim 1 is characterized in that: The control center module includes a data receiving unit, a judgment unit, a control unit, a mode switching unit and a data storage unit connected in sequence; The data receiving unit is used to receive the actual platform position information and the status data of the train driver pressing the door button; The judgment unit is used to determine whether the door is open based on the actual platform position information and the state data of the train driver pressing the door button; The control unit is used to send control information to the door opening module and the early warning module according to the decision conclusion of whether the door is opened; The mode switching unit is used to control the data acquisition and identification module and the control center module to enter the working mode and the shielding mode; The data storage unit is used to store different data collected by the multi-sensor module, state data of the train driver pressing the door button, control information sent by the control unit, and mode switching data of the mode switching unit.

5. A method for preventing mis-opening of high-speed rail doors based on multi-sensor fusion, characterized in that: The following steps are involved: S1: Use multiple sensors to obtain train location information, train running speed, whether the train has stopped running, and the relative position information between the train body and the platform; S2: According to the different types of multi-sensors, the corresponding data preprocessing method is used to process the information obtained by the multi-sensors in S1 to obtain the platform position information of the multi-sensors; S3: Based on the platform location information from multiple sensors and the platform information entered in advance, the actual location information of the train and platform is obtained by using a weighted voting decision mechanism; S4: Determine whether the actual position information of the train and the platform is consistent with the door opening button pressed by the train driver. If so, the door opening button is valid and the train door is opened. Otherwise, the door opening button is invalid, the train door cannot be opened, and an audible and visual warning is given.

6. The method for preventing mis-opening of high-speed rail doors based on multi-sensor fusion according to claim 5 is characterized in that: The multi-sensors include ultrasonic radars, millimeter-wave radars, and cameras installed on both sides of the body of each vehicle, and lidar sensors installed at the front and rear of the vehicle; The ultrasonic radar uses a Kalman filter algorithm to perform data preprocessing; The millimeter wave radar uses a least squares algorithm to perform data preprocessing; The camera uses an image enhancement algorithm to perform data preprocessing; The laser radar sensor uses a point cloud filtering algorithm to perform data preprocessing.

7. The method for preventing mis-opening of high-speed rail doors based on multi-sensor fusion according to claim 5 is characterized in that: The expression of the weighted voting decision mechanism is as follows: in, The actual location information of the train and platform, is the maximum parameter function, is the weight of the platform on the left side of the train, is the weight of the platform being on the right side of the train, are the weights corresponding to different sensors, is the platform location information of multiple sensors, is the number of sensors for multi-sensor, The sensor number.

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