Platform door control system based on safety communication and control method thereof

Abstract

The invention provides a platform door control system based on safety communication and a control method thereof, so that an all-electronic communication unit (ECU) receives a door opening message or a door closing message sent by a vehicle-mounted controller through a wireless network, and sends a door opening command or a door closing command to a plurality of communication-based door control units (CCU) managed by the ECU through an optical cable local area network; the CCU drives the platform door controlled by the CCU to open or close the door; the ECU further receives closing locking signals corresponding to the platform doors from the CCUs, logic operation is carried out on the closing and locking signals of all the platform doors, then the signals are sent to the vehicle-mounted controller, and the vehicle-mounted controller controls the train to leave the platform. Meanwhile, the PSL disk and the IBP disk are additionally provided with a controller, so that in-situ driving and network communication are realized. According to the invention, efficient and reliable network communication between equipment can be realized, the reconstruction construction difficulty of the platform door is reduced, the construction period is shortened, the equipment cost is reduced, and the control flexibility, safety and reliability of the platform door are improved.

Description

Technical Field

[0001] The present invention relates to technologies in the field of rail transit, and in particular to a platform door control system based on safety communication and a control method thereof. Background Art

[0002] As urban rail transit enters a major renovation cycle, the number of platform door renovation projects has increased. Existing platform door control systems all use hard-wired data collection and transmission, resulting in a long construction period and high difficulty for the renovation projects. The industry is in urgent need of a platform door control system with high cost performance, low construction and maintenance difficulty, and low cost. Summary of the invention

[0003] The purpose of the present invention is to change the original information transmission mode that relies on hard-wired connection through a platform door control system and a control method based on secure communication, so as to realize efficient and reliable network communication between the equipment in this system, thereby reducing the difficulty of platform door renovation construction, shortening the construction period, and improving the flexibility, safety and reliability of platform door control.

[0004] In order to achieve the above-mentioned object, a technical solution of the present invention is to provide a platform door control method based on safety communication, wherein: the ECU receives a door opening message or a door closing message sent by the vehicle controller through a wireless network;

[0005] The ECU sends a door opening command or a door closing command to a plurality of CCUs managed by the ECU through an optical cable local area network, so that the CCU drives the platform doors controlled by each of them to perform a door opening action or a door closing action;

[0006] The ECU receives door closing and locking signals corresponding to each platform door from each CCU via an optical cable LAN;

[0007] The ECU sends a signal that all platform doors are closed and locked to the on-board controller via a wireless network, and the on-board controller controls the train to leave the platform.

[0008] Optionally, when the operation permission button of the PSL disk or the IBP disk is switched to the state where the operation permission mode is turned on, the PSL controller or the IBP controller collects the enable signal locally, and other operation instructions are valid.

[0009] Optionally, when the ECU receives an enable signal from a PSL controller or an IBP controller through the optical cable LAN, the ECU stops sending door opening commands or door closing commands to the multiple CCUs.

[0010] Optionally, when the PSL controller or the IBP controller sends a door opening command or a door closing command to the multiple CCUs through the optical cable LAN, the CCUs drive the platform doors they respectively control to open or close the doors.

[0011] Optionally, the interlock release button on the PSL disk or the IBP disk is switched to a state where the interlock release mode is turned on;

[0012] When the PSL controller or the IBP controller collects the state of the interlock release button, it sends an interlock release message to the ECU through the optical cable LAN, so that the ECU stops sending the door opening command or the door closing command to the multiple CCUs;

[0013] When the computer interlocking system detects the state of the interlock release button, it is deemed to have received a signal that all platform doors are closed and locked.

[0014] Optionally, when any one of the PSL controller, the IBP controller, and the ECU sends a door opening command or a door closing command to the CCU, the CCU executes a received door opening command or door closing command to drive the platform door controlled by the CCU to perform a door opening action or a door closing action;

[0015] When multiple devices among the PSL controller, IBP controller, and ECU send door opening commands or door closing commands to the CCU, the application layer of the CCU performs priority card control, and executes the door opening command or door closing command issued by a device with a higher priority according to the priority order of the IBP controller, PSL controller, and ECU, to drive the platform door controlled by the CCU to open or close the door; among which, the IBP controller has the highest priority and the ECU has the lowest priority.

[0016] Optionally, after receiving the enable signal sent by the IBP controller or the PSL controller, the CCU executes the door opening command or door closing command issued by the IBP controller or the PSL controller to control the door opening action or door closing action of the platform door;

[0017] When the IBP controller or the PSL controller sends an enable signal to the CCU, the application layer of the CCU performs priority card control, executes the door opening command or door closing command issued by the IBP controller, and controls the door opening or door closing action of the platform door;

[0018] When multiple PSL controllers send enable signals to the CCU, the application layer of the CCU performs priority card control, executes the door opening command or door closing command of the earliest PSL controller that sends the enable signal, and controls the door opening or door closing action of the platform door;

[0019] When the communication of the IBP controller or the PSL controller in the optical cable LAN is interrupted, it is deemed that priority control of the CCU is not requested.

[0020] Optionally, the door opening command received by the CCU includes a door opening time, and the CCU controls the platform door to perform a door opening action at a time point specified by the door opening time;

[0021] The door closing command received by the CCU includes a door closing time, and the CCU controls the platform door to perform a door closing action at a time point specified by the door closing time.

[0022] Optionally, the CCUs have respective corresponding addresses;

[0023] When the designated address in the door opening command received by the CCU includes the address of the CCU, the CCU controls the platform door to open the door;

[0024] When the designated address in the door closing command received by the CCU includes the address of the CCU, the CCU controls the platform door to close the door.

[0025] Optionally, the optical cable local area network includes a main switch and an access switch;

[0026] The clock signal of the main switch is obtained through the trackside vehicle-ground wireless network, and the clock signal of the access switch is provided by the main switch. The ECU, CCU, IBP controller, and PSL controller obtain the clock signal by connecting to the access switch to achieve clock synchronization of the entire network equipment;

[0027] The main switch and the access switch both use layer 3 optical switches.

[0028] Optionally, the ECU, CCU, IBP controller, and PSL controller act as clients and perform clock synchronization based on the NTP protocol; during the synchronization process, the minimum clock synchronization interval and the maximum clock synchronization interval of NTP are set to 0, so that the client synchronizes the time once every second;

[0029] When clock synchronization occurs, the following timestamps are recorded:

[0030] The time T1 when the NTP request message is sent by the local client;

[0031] The server time when the NTP request message arrives at the server is T2;

[0032] The time when the NTP response message is sent from the server is T3;

[0033] Time T4 when the NTP response message arrives at the local client;

[0034] Calculate the time offset between the client and the server: offset = ((T2-T1)+(T3-T4)) / 2;

[0035] The client's local clock is adjusted using the obtained time offset.

[0036] Optionally, the signal system of the train is provided with a redundant first signal safety network and a second signal safety network to realize wireless communication between the train and the ground; the optical cable local area network is provided with a first optical switch and a second optical switch, a first sub-network cooperating with the first signal safety network is constructed through the first optical switch, and a second sub-network cooperating with the second signal safety network is constructed through the second optical switch;

[0037] The ECU, CCU, IBP controller, and PSL controller are connected to the first optical switch, access the first sub-network, and interact within the first sub-network; and the ECU, CCU, IBP controller, and PSL controller are connected to the second optical switch, access the second sub-network, and interact within the second sub-network.

[0038] Optionally, the optical cable local area network is provided with a third optical switch, and a third sub-network is constructed through the third optical switch, and the third sub-network serves as a maintenance information network;

[0039] The maintenance system is connected to the third switch and accesses the maintenance information network;

[0040] The ECU is connected to a third switch, accesses the maintenance information network, and sends the status and log messages of the all-electronic communication board to the maintenance system;

[0041] The CCU is connected to the third switch, accesses the maintenance information network, and sends maintenance messages to the maintenance system.

[0042] Optionally, the ECU also sends a signal that all platform doors are closed and locked to a computer interlocking system via a wireless network, and the computer interlocking system controls the exit signal to put the exit signal in a state allowing trains to exit the station;

[0043] The ECU communicates with a trackside wireless communication module connected to an optical cable local area network and a vehicle-to-ground wireless communication network, and further communicates with the computer interlocking system and the vehicle-mounted controller through the trackside wireless communication module and its antenna.

[0044] Optionally, the ECU performs a logic AND calculation on the door closing and locking signals received from each CCU to ensure that all CCUs managed by the ECU have sent the door closing and locking signals, and then sends a signal that all platform doors are closed and locked.

[0045] Another technical solution of the present invention is to provide a platform door control system based on safety communication, which is used to implement any one of the above platform door control methods based on safety communication;

[0046] The platform door control system includes an ECU;

[0047] The ECU is used to communicate with the on-board controller via a wireless network, receive a door opening message or a door closing message sent by the on-board controller, and send a signal to the on-board controller that all platform doors are closed and locked;

[0048] The ECU is also used to communicate with multiple CCUs managed by the ECU through an optical cable local area network, and send door opening commands or door closing commands to the multiple CCUs, so that the CCUs drive the platform doors controlled by them to perform door opening actions or door closing actions;

[0049] The ECU is also used to receive door closing and locking signals corresponding to each platform door from each CCU, and obtain signals that all platform doors are closed and locked based on the door closing and locking signals of each platform door.

[0050] Optionally, the ECU is further used to communicate with a computer interlocking system via a wireless network and send a signal thereto that all platform doors are closed and locked;

[0051] The platform door control system is provided with a trackside wireless communication module connected to the optical cable local area network and the vehicle-ground wireless communication network; the trackside wireless communication module and its antenna are arranged on the door head of the platform door close to the track side, and are used to transmit information between the ECU and the computer interlocking system and the on-board controller.

[0052] Optionally, the ECU is arranged at the door head of the platform door; an Ethernet communication module is integrated on the ECU;

[0053] The optical cable local area network is provided with a plurality of optical switches, and a corresponding plurality of sub-networks are constructed through the plurality of optical switches for the devices connected thereto to transmit information; the ECU is connected to the plurality of optical switches respectively through a plurality of Ethernet interfaces included in the Ethernet communication module to correspondingly access the plurality of sub-networks.

[0054] Optionally, the CCU includes the following modules configured therefor:

[0055] processor;

[0056] Power module;

[0057] An Ethernet network communication module, which can be connected to the plurality of optical switches through a plurality of Ethernet interfaces respectively, so as to access the plurality of sub-networks to communicate with the devices therein;

[0058] IO drive module, used to collect the status of switches and / or buttons configured for the CCU, and to drive the indicator light and / or buzzer configured for the CCU;

[0059] The drive module is used to drive the motor to drive the platform door controlled by the CCU to move.

[0060] Optionally, the platform door control system further comprises a PSL controller and an IBP controller;

[0061] The PSL controller and the IBP controller each include the following modules:

[0062] processor;

[0063] Power module;

[0064] An Ethernet network communication module, which can be connected to the plurality of optical switches through a plurality of Ethernet interfaces respectively, so as to access the plurality of sub-networks to communicate with the devices therein;

[0065] The IO drive module is used to collect the status of switches and / or buttons configured for the PSL disk or IBP disk, and to drive the indicator light and / or buzzer configured for the PSL disk or IBP disk.

[0066] Optionally, the buttons configured for the PSL disk or the IBP disk respectively include: an interlock release button, an operation permission button, a door opening button, and a door closing button;

[0067] The operation permission button is a physical operation button, which can be switched between an on-state and an off-state of the operation permission mode; when the operation permission mode is on, the PSL controller or the IBP controller sends an enable signal;

[0068] The interlock release button is a multi-contact interlock release physical knob, which can be switched between the interlock release mode on or off; wherein, the interlock release mode on state can be collected by the computer interlocking system, the PSL controller or the IO drive module of the IBP controller respectively.

[0069] Compared with the prior art, the platform door control system and control method based on secure communication of the present invention have at least the following beneficial effects:

[0070] The present invention can realize high real-time and high reliability network transmission of data between various devices, and eliminate all cables, drive boards, acquisition boards, etc., thereby greatly reducing the cost of the platform door system, reducing the difficulty of construction and maintenance, and improving the safety and reliability of the system.

[0071] The system of the present invention transmits network messages between devices. The target device that needs to execute the command can be pre-configured, and its address can be defined in the sent command, so as to control the platform door to open and close the door in different combinations according to different needs, thereby improving the flexibility of platform door control. Corresponding buttons (for example, buttons that can be operated by a touch screen) can also be configured on the panel of each operating panel according to different combinations, which is convenient for one-key operation. The original control scheme requires independent configuration cables and IO interfaces for each combination, which is difficult to adjust flexibly.

[0072] All interface functions of the original control scheme are hard-wired interfaces, which means that all wiring and functional testing can only be done on site. The system function verification of the present invention can be simulated and tested in the laboratory. Only the network cable needs to be plugged in on site, and the interface, consistency, and single system function debugging can be skipped. Function joint debugging can be directly performed, which reduces the on-site construction period.

[0073] The system of the present invention eliminates all cables, and each device has a controller, which can accurately locate the fault in case of a fault, without having to check the cable fault point one by one, reducing the difficulty of maintenance. The systems of the present invention communicate redundantly through a dual safety network, which improves the safety and reliability of platform door control compared to the traditional single relay / hard wire method. The system of the present invention eliminates the traditional platform door indoor PSC cabinet, eliminates the acquisition drive cable, etc., which can greatly reduce the system cost.

[0074] The vehicle-mounted door opening and closing instructions of the present invention are directly sent to the ECU through the trackside wireless network. The ECU drives the CCU through the optical domain network, and the CCU drives the door body to move. The entire message transmission link eliminates the traditional relay, drive board and other environments, which can greatly improve the linkage efficiency of the platform door.

[0075] Therefore, compared with the traditional platform door control solution based on hard-wired circuits, the system of the present invention has improvements in cost, adaptation, maintenance, efficiency, etc., and is more in line with industry development needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 It is an architectural diagram of the platform door control system based on safety communication of the present invention.

[0077] Figure 2 It is a schematic diagram of the ECU external interface interaction information in the present invention.

[0078] Figure 3 It is a structural schematic block diagram of the ECU in the present invention.

[0079] Figure 4 It is a schematic block diagram of the structure of the CCU in the present invention.

[0080] Figure 5 It is a schematic block diagram of the structure of the PSL controller in the present invention.

[0081] Figure 6 It is an example of a button of the PSL controller in the present invention.

[0082] Figure 7 It is a schematic block diagram of the structure of the IBP controller in the present invention.

[0083] Figure 8 It is an example of a button of the IBP controller in the present invention.

[0084] Fig. 9 It is a schematic diagram of the door opening process of the platform door control method of the present invention.

[0085] Fig.10 It is a schematic diagram of the door closing process of the platform door control method of the present invention.

[0086] Fig.11 It is a schematic diagram of the card control operation priority in the platform door control method of the present invention. DETAILED DESCRIPTION

[0087] like Figure 1 , Figure 2 As shown, in a platform door control system provided by the present invention, an ECU (Electronic communication unit) is provided, which is responsible for communicating with the CCU (Communication based door control unit), PSL controller, and IBP controller within the system, and is responsible for communicating with the computer interlocking system CI and the vehicle-mounted controller VOBC externally. The communication protocols all adopt the mature signal safety protocol FSFB2 or P1.

[0088] Among them, CCU is responsible for the platform door switch, and each unit door is equipped with a CCU; one ECU can manage all platform CCUs located on the same side (upstream or downstream) ( Figure 1 Take 30 CCUs as an example). When a CCU fails or an abnormal event occurs, local and emergency operations can be performed through the local operation panel PSL or the emergency operation panel IBP. Multiple PSLs are set up at different locations in the station hall, and each PSL can control all platform CCUs on the same side ( Figure 1 Take three PSLs on one side as an example); IBP is set in the train control room, and the number and range of controllable CCUs are configured according to needs. In theory, one IBP can control the CCUs of the entire station.

[0089] ECU accesses the signal system through the wireless communication module and antenna to communicate with the vehicle controller VOBC and the computer interlocking system CI through the wireless network; ECU can send the corresponding door opening / closing command to CCU according to the door opening / closing message received from the vehicle controller VOBC. ECU will also send a signal to the vehicle controller VOBC and the computer interlocking system CI that all platform doors are closed and locked. After receiving the signal, the vehicle controller VOBC will control the train to leave the platform; after receiving the signal, the computer interlocking system CI will light up the exit signal and the train can leave the station.

[0090] The ECU, CCU, PSL controller and IBP controller of this system communicate with each other through the optical cable LAN, which is constructed by an optical switch and can meet the information transmission requirements of each device over a long distance (for example, the distance between the ECU and the farthest CCU it manages may exceed 100 meters). After receiving the door opening / closing message from the vehicle controller VOBC, the ECU will send the corresponding door opening / closing command to all CCUs it manages, so that these CCUs perform the corresponding door opening / closing operation; and after determining that each CCU it manages has sent a door closing and locking signal, the ECU sends a signal to the vehicle controller VOBC and the computer interlocking system CI that all platform doors are closed and locked. The ECU can exchange PSL enable signals with the PSL controller and IBP enable signals with the IBP controller; if the enable signal sent to the ECU by the IBP controller or PSL controller indicates that the "operation permission mode" of IBP or PSL is activated, the ECU will no longer send the door opening / closing command to the CCU, and the CCU will then execute the action indicated by IBP or PSL according to the priority order.

[0091] It is preferred to use this system for platform door renovation projects to replace the original control scheme based on hard-wired circuits, that is, in this system, cables, hard-wired connections, circuits related to hard-wired drive / collection, interfaces and other equipment are eliminated. Through the setting of CCU, this system eliminates the central interface panel PSC; the original central interface panel PSC needs to be arranged in the equipment room of the platform, and integrates the modules such as the relay group for processing hard-wired commands, the interface for communicating with the train signal system, the door control unit DCU, the local operating panel PSL, and the emergency operating panel IBP, and will provide door opening and closing commands and collect platform door locking signals in a hard-wired connection mode.

[0092] In order to realize wireless communication between the vehicle and the ground, the signal system is equipped with two redundant signal safety networks (red network and blue network) for real-time interactive safety function messages (such as the aforementioned door opening / closing messages, door closing and locking signals, etc.); the ECU of the present invention is a miniaturized device that can be installed on the door head of the platform door; through two sets of wireless communication modules and their antennas arranged on the door head close to the track side, the ECU can wirelessly access the red network and the blue network, and exchange information with the on-board controller VOBC and the computer interlocking system CI.

[0093] In the optical cable LAN of this system, two sub-networks cooperating with the red network and the blue network are constructed through the first optical switch and the second optical switch respectively. The ECU, CCU, PSL controller, and IBP controller each have corresponding Ethernet interfaces, which are connected to the first optical switch and the second optical switch respectively, and use Ethernet communication to exchange information. The two sets of wireless communication modules on the trackside are also connected to the first optical switch and the second optical switch through the corresponding Ethernet interfaces, so as to transmit information for the ECU to interact with the vehicle controller VOBC and the computer interlocking system CI.

[0094] like Figure 3 As shown, the ECU of the present system is provided with a communication board integrating a control unit VCU and an Ethernet communication module. The exemplary ECU can support 45 secure communication nodes for interaction with other devices.

[0095] The VCU in the ECU includes a redundantly set first processor CPU-A and a second processor CPU-B, which are used to process information of interaction between the ECU and other devices; the Ethernet communication module includes a first Ethernet interface ETH-1 and a second Ethernet interface ETH-2, which are connected to the first optical switch and the second optical switch respectively.

[0096] This system is also based on the third optical switch, and a third sub-network is constructed in the optical cable LAN. The third sub-network is used as a maintenance information network (gray network) for transmitting maintenance function messages; each CCU is connected to the third optical switch through a corresponding Ethernet interface, and sends the maintenance message to the maintenance system IOM connected to the third optical switch in the equipment room. The Ethernet communication module of the ECU is also provided with a third Ethernet interface ETH-3, which is connected to the third switch and is used to send ECU maintenance information, logs and other messages to the maintenance system IOM.

[0097] like Figure 4As shown in the figure, the CCU of this system is responsible for the platform door switch and can perform card control with operation priority. Compared with the door control unit DCU in the original control scheme, the CCU of this system has an Ethernet communication module ETH added, which supports FSFB2 or P1 protocol, and can interact with ECU, PSL controller, IBP controller in real time for safety function messages, and send maintenance messages to the maintenance system IOM.

[0098] CCU includes a processor CPU and an IO drive module, an Ethernet communication module ETH, a power module and a driver module connected to it. Among them, the power module can supply power to the modules in need in the CCU, and the Ethernet communication module ETH is used to communicate with other devices. The IO drive module of CCU has local IO drive and acquisition functions, which can collect the status of some buttons operated on site, the travel switch of the door in place, etc., and can drive the status adjustment of the local door head indicator light, buzzer, etc. to prompt the operator; according to the received open / close door command, the drive module of CCU can drive the motor to drive the door body to move and realize the corresponding open / close door action.

[0099] When an ECU fails or an abnormal event occurs, the train driver or station staff can perform local operations through any PSL in the station hall. Station staff can also perform emergency operations through IBP in the train control room to drive the CCU within their respective control range to perform emergency door opening / closing operations.

[0100] Compared with the local operation panel PSL and emergency operation panel IBP in the original control scheme, the PSL and IBP of this system are each equipped with a controller, and the original hard-wired interface is cancelled. The controllers of PSL and IBP have I / O drive function and support Ethernet communication function. They can exchange information with CCU and ECU in real time, and different PSLs and IBPs can also exchange information (for example, each device can exchange enable signals; send door opening / closing commands to CCU, etc.).

[0101] The local operation panel PSL or emergency operation panel IBP in the original control scheme requires dozens of core cables connected to the remote end to drive and collect data for buttons and indicator lights, etc. The wiring is very complicated and it is difficult to find a fault once it occurs. After adding a controller to the PSL and IBP of this system, it can drive and collect data locally and exchange information with the remote end through Ethernet communication, which can save a lot of cables, reduce construction workload, and reduce the difficulty of fault finding.

[0102] like Figure 5 , Figure 6As shown, the PSL controller includes a processor CPU and an Ethernet communication module ETH, an IO drive module and a power module connected thereto, and these modules can be packaged in a box. Among them, the power module can supply power to the modules in need in the PSL, and the Ethernet communication module ETH is used to communicate with other devices.

[0103] The IO drive module of the PSL controller has an I / O drive function, which can collect the status of local switches, buttons, etc., and can drive the indicator lights, buzzers, etc. on the local panel to prompt the operator. For example, the status of the interlock release button, operation permission button, door opening button, and door closing button on the PSL can be collected, and the interlock release indicator light, operation permission indicator light, door opening indicator light, door closing indicator light, fault indicator light, and fault buzzer on the PSL can be driven. It can be understood that the description of the configuration and status of the relevant buttons or indicator lights in this article is only for example and not for limitation, and can be set according to actual application conditions in this field.

[0104] Among them, the door opening button and door closing button on the PSL panel can also be presented through the touch screen display, which can be manually operated in an emergency to control the CCU to perform corresponding door opening / closing operations; at the same time, the status adjustment of the door opening indicator light, door closing indicator light, etc. (such as controlling the corresponding indicator light to turn on and off) can be coordinated to provide prompts.

[0105] In order to prevent other buttons on the PSL panel from being accidentally touched, the premise for all button operations on the panel to be effective is that the "operation permission mode" is activated; that is, the operation permission button is a reserved physical operation button. Before manually operating any other button on the PSL panel, you need to switch the operation permission button to the "operation permission mode" on state, and make corresponding adjustments to the state of the operation permission indicator light (such as the indicator light is on) to provide a prompt; with the "operation permission mode" turned on, the PSL controller will also send an enable signal to the ECU, IBP controller, and PSL controllers of other PSLs to determine whether the PSL with this mode turned on has priority control over the CCU. After the local operation is completed, the operation permission button needs to be reset and switched to the "operation permission mode" off state, and the state of the operation permission indicator light is adjusted accordingly (for example, the indicator light is off).

[0106] When the platform door fails and the signal system cannot obtain the platform door locking signal, resulting in the inability to depart, a backup degradation mode needs to be provided to ensure that the train is not affected by the failure. In order to achieve the above-mentioned interlock release function, an interlock release button is set on the PSL panel. When the platform door fails, in order to allow the train to depart, under the premise of manual safety guarantee, after manually operating the interlock release button, the signal system can receive the signal that all platform doors are closed and locked, allowing the train to depart. The interlock release button in this example can use a multi-contact interlock release physical knob. When it is switched to the state that triggers the "interlock release mode" to be turned on, the state of the button can be collected by the computer interlocking system CI through the "multi-contact" setting, which is used to cut off the relevant signals of the platform door and allow the train to depart; the other way is collected by the IO drive module of the PSL controller, which not only drives the state of the interlock release indicator to be adjusted accordingly (such as the indicator light is on) for prompting, but also sends the "interlock release mode" on state to other devices through the Ethernet communication module ETH of the PSL via the optical cable LAN, for example, after receiving it, the ECU stops sending the door opening / closing command to the CCU. When the multi-contact interlock release physical knob is reset and switched to the "interlock release mode" off state, the state of the interlock release indicator light is adjusted accordingly (such as the indicator light is off) for prompting; thereafter, the PSL controller, ECU, computer interlocking system CI and other devices need to determine whether the signal of all platform doors being closed and locked is given according to the actual logical operation results to decide whether to allow the train to depart. The structure and function of the IBP controller are roughly the same as those of the PSL controller, which can be seen in Figure 7 , Figure 8 As shown, no further details are given.

[0107] This system can flexibly adapt to various needs. For example, for requirements such as opening doors according to different marshaling, or opening the first and last doors in case of fire, the existing control scheme needs to set cables for the platform doors involved according to different requirements. The central interface panel PSC, the local operation panel PSL, the emergency operation panel IBP, etc. also need to set up hard-wired interfaces for this purpose. Once the connection is completed, it is difficult to temporarily change the marshaling. This system cancels the cables, and the messages sent between devices are all network messages. Each CCU has a corresponding address. When the ECU, PSL or IBP sends an open / close door command, the address of the CCU that needs to execute the corresponding command can be specified in the data field. When the CCU determines that the address in the open / close door command matches its own address (such as when the specified address in the open / close door command contains the address of the CCU), it will drive the controlled door body to move.

[0108] In this system, the optical switch of the optical cable LAN can use a three-layer optical switch to realize the network clock verification function to ensure that all doors controlled by the CCU can move synchronously. Among them, the clock signal of the main switch is obtained through the vehicle-ground wireless network beside the track, and the clock signal of the access switch is provided by the main switch. The ECU, CCU, PSL controller and IBP controller obtain the clock signal by connecting to the access switch, thereby forming a two-layer synchronization architecture to achieve clock synchronization of the entire network equipment. Therefore, in some examples, the first optical switch, the second optical switch, and the third optical switch set up in conjunction with the signal security red network, blue network and maintenance information network can each include the main switch and access switch required for clock synchronization.

[0109] For example, the ECU, CCU, PSL controller and IBP controller of the switch connected in the above manner are used as clients, and clock synchronization is performed based on NTP (Network Time Protocol). During the synchronization process, the parameters of the minimum clock synchronization interval minpoll and the maximum clock synchronization interval maxpoll of NTP are set to 0, so that the above client devices can synchronize time once every second.

[0110] The following timestamps are recorded:

[0111] The time when the NTP request message is sent by the local client (T1);

[0112] The server time when the NTP request message arrives at the server (T2);

[0113] The time when the NTP response message is sent from the server (T3);

[0114] The time when the NTP response message arrives at the local client (T4);

[0115] Calculate the time offset between the client and the server offset = ((T2-T1)+(T3-T4)) / 2, and adjust the local clock accordingly, with the minimum adjustment of 0.1 seconds.

[0116] Considering that the terminal CPU processing speed is between 168 and 180 MHz and a 100 ppm crystal oscillator is used, the time error per second is 1.08 milliseconds. Combined with the accuracy of the terminal and the adjustment range, the time synchronization accuracy of the entire network can reach 1 millisecond.

[0117] The door opening / closing command issued by the ECU further includes a time message for allowing the CCU to act. That is, the door opening time (indicating the time when the CCU is allowed to open the door) is included in the data field of the door opening command, and the door closing time (indicating the time when the CCU is allowed to close the door) is included in the data field of the door closing command; after the CCU receives the door opening / closing command with the above time, it performs the door opening / closing operation at the specified time point, so that the system can ensure the synchronization of the opening and closing actions of all platform doors through the LAN clock. Among them, for the calculation of the time allowed for CCU action, based on 200-meter optical cable transmission, considering the communication cycle of 50ms and the transmission cycle of 10ms, the time point can be configured to 150ms, ensuring that all platform doors can be opened synchronously 150ms after the ECU receives the door opening / closing signal sent by the on-board controller VOBC.

[0118] like Fig. 9 As shown, the door opening process of the platform door control method of the present invention includes the following steps:

[0119] A1. When the train stops, the onboard controller VOBC sends a door opening message and transmits it through the wireless network. After the antenna and wireless communication module on the trackside receive the door opening message, they transmit it to the ECU.

[0120] A2. After receiving the door opening message, the ECU sends a door opening command to all CCUs it manages through the optical cable LAN, and the door opening command includes the door opening time;

[0121] A3. After each CCU receives the door opening command that matches its address, it drives the door body it controls to perform the door opening action at the time point specified by the door opening time.

[0122] like Fig.10 As shown, the door closing process of the platform door control method of the present invention includes the following steps:

[0123] B1. The onboard controller VOBC sends a door closing message and transmits it through the wireless network. After the antenna and wireless communication module on the trackside receive the door closing message, they transmit it to the ECU.

[0124] B2. The ECU receives the door closing message and sends a door closing command to all CCUs it manages through the optical cable LAN, and the door closing command includes the door closing time;

[0125] B3. After each CCU receives the door closing command that matches its address, it drives the door body it controls to close the door at the time specified by the door closing time, and collects the door closing and locking signal and transmits the signal through the optical cable LAN;

[0126] B4. After receiving the door closing and locking signals sent by each CCU, the ECU performs a logical AND operation to ensure that all the platform door CCUs it manages have sent the signal, that is, after ensuring that all platform doors have been closed and locked, a signal indicating that all platform doors are closed and locked is sent through the wireless network; the wireless communication module and antenna on the trackside will transmit the signal that all platform doors are closed and locked to the on-board controller VOBC and the computer interlocking system CI;

[0127] B5. After receiving the signal that all platform doors are closed and locked, the on-board controller VOBC controls the train to leave the platform; after receiving the signal, the computer interlocking system CI lights up the exit signal to allow the train to leave the station.

[0128] In different examples, in addition to the ECU's open / close door command including the open / close door time, the open / close door command issued by the IBP and / or PSL may also include the open / close door time depending on the actual application situation, and the open / close door time set for the respective open / close door commands of the ECU, IBP, and PSL may be the same or different.

[0129] Priority control is an important function in the platform door control system, which should ensure LCB control>IBP control>PSL control>system-level control. In the original control scheme, the priority circuit built by the relay is needed to realize the card control.

[0130] In this system, circuit control is cancelled, and CCU control is prioritized. CCU communicates with PSL controller, IBP controller and ECU in real time, and performs priority control at the CCU application layer. Among them, the local control box LCB has the highest priority. For example, when a single door fails, the local control box LCB corresponding to the faulty door can be manually operated to separate the door machine system of the faulty door from the door machine systems of other doors on the same side. The local control box LCB can be used to issue an open / close door command to the CCU of the faulty door on site without affecting the normal operation of other doors.

[0131] like Fig.11 As shown in the figure, after receiving the door opening / closing command sent to it by any of the IBP controller, PSL controller, and ECU through the optical cable LAN, the CCU will drive the door controlled by the CCU to perform the corresponding action. If all three send the door opening / closing command, the CCU will execute the command according to the priority order of IBP>PSL>ECU.

[0132] Among them, the premise that the opening / closing door command of IBP or PSL is effective includes that the operation permission button on the panel has been switched to the "operation permission mode" on state; between the devices of this system (ECU, CCU, IBP controller, PSL controller), the enable signal indicating that the mode is activated can be exchanged. If the enable signal of the IBP controller or PSL controller is received, the ECU will no longer send the opening / closing door command to the CCU. If the enable signal of the IBP controller is received, the control of the CCU by the PSL is invalid. For the CCU, if the enable signal of the IBP controller or PSL controller is not received, the CCU will normally perform the opening / closing door operation according to the command of the ECU; and if the CCU receives the enable signal sent by one of the IBP controller or PSL controller, it will perform the opening / closing door operation according to the command of the IBP controller or PSL controller; if the enable signals of the IBP controller and the PSL controller are received at the same time, the CCU performs card control at the application layer and determines the command to be executed according to the priority order. In addition, if the communication of the PSL controller or the IBP controller is interrupted, it is assumed that it has not requested priority control of the CCU.

[0133] Since the platform door control system is equipped with multiple local operating panels PSL for controlling the CCU on the same side, in the original control scheme, each local operating panel PSL is interlocked through a relay circuit. If the button of a local operating panel PSL is pressed first, the local operating panel PSL can give priority to controlling the door control unit DCU. In this system, the enable signals of each PSL will also be interacted between multiple PSLs, and the card control will be performed at the application layer of the CCU, so that the PSL that sends the enable signal earlier can give priority to controlling the CCU, and the operations of other PSLs will be invalid. If the communication between a PSL controller and other PSL controllers is interrupted, the PSL cannot request priority control of the CCU.

[0134] To summarize, the present invention proposes a platform door control system based on secure communication and a control method thereof. Compared with the traditional platform door control system based on hard-wired circuits, the system of the present invention has improvements in cost, adaptation, maintenance, efficiency, etc., and can effectively reduce the difficulty of platform door renovation construction, shorten the construction period, and improve the flexibility, safety and reliability of the platform door control system, which is of great significance to the platform door industry.

[0135] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A platform door control method based on safety communication, characterized in that: The ECU receives the door opening or closing message sent by the vehicle controller through the wireless network; The ECU sends a door opening command or a door closing command to a plurality of CCUs managed by the ECU through an optical cable local area network, so that the CCU drives the platform doors controlled by each of them to perform a door opening action or a door closing action; The ECU receives door closing and locking signals corresponding to each platform door from each CCU via an optical cable LAN; The ECU performs logic operations on the signals of closing and locking all platform doors and sends the signals to the on-board controller via a wireless network, and the on-board controller controls the train to leave the platform.

2. The platform door control method according to claim 1, characterized in that: When the operation permission button of the PSL disk or the IBP disk is switched to the state of the operation permission mode, the PSL controller or the IBP controller collects the enable signal on the spot, and other operation instructions are effective; when the ECU receives the enable signal sent by the PSL controller or the IBP controller through the optical cable LAN, the ECU stops sending the door opening command or the door closing command to the CCU; When the PSL controller or the IBP controller sends a door opening command or a door closing command to the multiple CCUs through the optical cable LAN, the CCU drives the platform doors controlled by them to open or close the doors.

3. The platform door control method according to claim 2, characterized in that: The interlock release button on the PSL disk is switched to the interlock release mode on state; When the PSL controller collects the state of the interlock release button, it sends an interlock release message to the ECU through the optical cable local area network, so that the ECU stops sending the door opening command or the door closing command to the multiple CCUs; When the computer interlocking system detects the state of the interlock release button, it is deemed to have received a signal that all platform doors are closed and locked.

4. The platform door control method according to claim 2, characterized in that: When any device among the PSL controller, IBP controller and ECU sends a door opening command or door closing command to the CCU, the CCU executes a received door opening command or door closing command to drive the platform door controlled by the door control unit to open or close the door; When multiple devices among the PSL controller, IBP controller, and ECU send door opening commands or door closing commands to the CCU, the application layer of the CCU performs priority card control, and executes the door opening command or door closing command issued by a device with a higher priority according to the priority order of the IBP controller, PSL controller, and ECU, to drive the platform door controlled by the CCU to open or close the door; among which, the IBP controller has the highest priority and the ECU has the lowest priority.

5. The platform door control method according to claim 2, characterized in that: After receiving the enable signal sent by the PSL controller or the IBP controller, the CCU executes the door opening command or door closing command issued by the PSL controller or the IBP controller to control the door opening or door closing action of the platform door; When the PSL controller or the IBP controller sends an enable signal to the CCU, the application layer of the CCU performs priority card control, executes the door opening command or door closing command issued by the IBP controller with a higher priority, and controls the door opening or door closing action of the platform door; When multiple PSL controllers send enable signals to the CCU, the application layer of the CCU performs priority card control, executes the door opening command or door closing command of the earliest PSL controller that sends the enable signal, and controls the door opening or door closing action of the platform door; When the communication of the PSL controller or IBP controller in the optical cable LAN is interrupted, it is deemed that priority control of the CCU is not requested.

6. The platform door control method according to any one of claims 1 to 5, characterized in that: The door opening command received by the CCU includes a door opening time, and the CCU controls the platform door to perform a door opening action at a time point specified by the door opening time; The door closing command received by the CCU includes a door closing time, and the CCU controls the platform door to perform a door closing action at a time point specified by the door closing time.

7. The platform door control method according to claim 6, characterized in that: The CCUs have respective corresponding addresses; When the designated address in the door opening command received by the CCU includes the address of the CCU, the CCU controls the platform door to open the door; When the designated address in the door closing command received by the CCU includes the address of the CCU, the CCU controls the platform door to close the door.

8. The platform door control method according to claim 2, characterized in that: The optical cable local area network comprises a main switch and an access switch; The clock signal of the main switch is obtained through the trackside vehicle-ground wireless network, and the clock signal of the access switch is provided by the main switch. The ECU, CCU, IBP controller, and PSL controller obtain the clock signal by connecting to the access switch to achieve clock synchronization of the entire network equipment; The main switch and the access switch both use layer 3 optical switches.

9. The platform door control method according to claim 8, characterized in that: The ECU, CCU, PSL controller, and IBP controller are used as clients to perform clock synchronization based on the NTP protocol; during the synchronization process, the minimum clock synchronization interval and the maximum clock synchronization interval of NTP are set to 0, so that the client synchronizes the time once every second; When clock synchronization occurs, the following timestamps are recorded: The time T1 when the NTP request message is sent by the local client; The server time when the NTP request message arrives at the server is T2; The time when the NTP response message is sent from the server is T3; Time T4 when the NTP response message arrives at the local client; Calculate the time offset between the client and the server: offset = ((T2-T1)+(T3-T4)) / 2; The client's local clock is adjusted using the obtained time offset.

10. The platform door control method according to claim 2, 8 or 9, characterized in that: The signal system of the train is provided with a redundant first signal safety network and a second signal safety network to realize wireless communication between the train and the ground; the optical cable local area network is provided with a first optical switch and a second optical switch, and a first sub-network cooperating with the first signal safety network is constructed through the first optical switch, and a second sub-network cooperating with the second signal safety network is constructed through the second optical switch; The ECU, CCU, PSL controller, and IBP controller are connected to the first optical switch, access the first sub-network, and interact within the first sub-network; and the ECU, CCU, PSL controller, and IBP controller are connected to the second optical switch, access the second sub-network, and interact within the second sub-network.

11. The platform door control method according to claim 1, characterized in that: The ECU also sends a signal that all platform doors are closed and locked to the computer interlocking system through the wireless network, and the computer interlocking system controls the exit signal to make the exit signal in a state that allows trains to leave the station; The ECU communicates with a trackside wireless communication module connected to an optical cable local area network and a vehicle-to-ground wireless communication network, and further communicates with the computer interlocking system and the vehicle-mounted controller through the trackside wireless communication module and its antenna.

12. The platform door control method according to claim 1 or 11, characterized in that: The ECU performs a logic AND calculation on the door closing and locking signals received from each CCU to ensure that all CCUs managed by the ECU have sent the door closing and locking signals, and then sends a signal that all platform doors are closed and locked.

13. A platform door control system based on safety communication, characterized in that: Used to implement the platform door control method based on safety communication as described in any one of claims 1 to 12; The platform door control system includes an ECU; The ECU is used to communicate with the on-board controller via a wireless network, receive a door opening message or a door closing message sent by the on-board controller, and send a signal to the on-board controller that all platform doors are closed and locked; The ECU is also used to communicate with multiple CCUs managed by the ECU through an optical cable local area network, and send a door opening command or a door closing command to the CCU, so that the CCU drives the platform doors controlled by each of them to perform a door opening action or a door closing action; The ECU is also used to receive door closing and locking signals corresponding to each platform door from each CCU, and obtain signals that all platform doors are closed and locked based on the door closing and locking signals of each platform door.

14. The platform door control system according to claim 13, characterized in that: The ECU is also used to communicate with the computer interlocking system via a wireless network and send a signal to it that all platform doors are closed and locked; The platform door control system is provided with a trackside wireless communication module connected to the optical cable local area network and the vehicle-ground wireless communication network; the trackside wireless communication module and its antenna are arranged on the door head of the platform door close to the track side, and are used to transmit information between the ECU and the computer interlocking system and the on-board controller.

15. The platform door control system according to claim 13, characterized in that: The ECU is arranged at the door head of the platform door; the ECU comprises a communication board, on which a control unit and an Ethernet communication module connected to each other are integrated; The control unit is provided with a plurality of redundant processors; The optical cable local area network is provided with a plurality of optical switches, and a corresponding plurality of sub-networks are constructed through the plurality of optical switches for the devices connected thereto to transmit information; the ECU is connected to the plurality of optical switches respectively through a plurality of Ethernet interfaces included in the Ethernet communication module to correspondingly access the plurality of sub-networks.

16. The platform door control system according to claim 13, characterized in that: The CCU contains the following modules configured for it: processor; Power module; An Ethernet network communication module, which can be connected to the plurality of optical switches through a plurality of Ethernet interfaces respectively, so as to access the plurality of sub-networks to communicate with the devices therein; IO drive module, used to collect the status of switches and / or buttons configured for the CCU, and to drive the indicator light and / or buzzer configured for the CCU; The drive module is used to drive the motor to drive the platform door controlled by the CCU to move.

17. The platform door control system according to claim 13, characterized in that: The platform door control system also includes an IBP panel and a PSL panel; The IBP disk and the PSL disk are each configured with a controller, and the controller includes the following modules: a processor; Power module; An Ethernet network communication module, which can be connected to the plurality of optical switches through a plurality of Ethernet interfaces respectively, so as to access the plurality of sub-networks to communicate with the devices therein; The IO drive module is used to collect the status of the switches and / or buttons configured for the IBP disk or PSL disk, and to drive the indicator light and / or buzzer configured for the IBP disk or PSL disk.

18. The platform door control system according to claim 13, characterized in that: The buttons configured for the PSL disk and the IBP disk respectively include: an interlock release button, an operation permission button, a door opening button, and a door closing button; The operation permission button is a physical operation button, which can be switched between an on-state and an off-state of the operation permission mode; when the operation permission mode is on, the PSL controller or the IBP controller sends an enable signal; The interlock release button is a multi-contact interlock release physical knob, which can be switched between the interlock release mode on or off; wherein, the interlock release mode on state can be collected by the computer interlocking system, the PSL controller or the IO drive module of the IBP controller respectively.

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