Compatible platform door vehicle door alignment method and system

Abstract

The invention relates to the technical field of vehicle door butt joint, in particular to a compatible platform door vehicle door alignment method and system.The scheme includes the steps that firstly, a parking datum point of a target train and an installation datum point of a target platform door are obtained, and vehicle type data of the target train are obtained based on the parking datum point; inquiring a pre-constructed historical train data model of the same train type; meanwhile, based on the installation datum points, position data of all the sliding doors are obtained so as to construct a platform door data model; then, according to the historical train data model and the platform door data model, alignment sliding doors in one-to-one correspondence with the train doors can be obtained, and therefore the alignment sliding doors are moved to the target standby positions so as to be subjected to alignment operation with the train doors. The platform door and the train door can be accurately controlled to be aligned, the operation efficiency is improved, and the system adapts to a large-passenger-flow operation mode with high departure frequency and short departure interval.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle door docking, and in particular to a method and system for aligning compatible platform doors and vehicle doors. Background Art

[0002] At present, the traditional platform door adopts a fixed sliding door position setting method. This platform door design can only adapt to one preset train model and is not compatible with multiple different train models. Due to the wide variety of vehicle models running in my country's high-speed railway stations and intercity stations, there are significant differences in vehicle length, door spacing and number of doors. This fixed platform door setting method greatly limits its wide applicability among different train models.

[0003] In order to overcome this limitation, a movable platform door solution that can adapt to a variety of train models has been proposed in recent years. There are two main forms of this type of movable platform door: one is to set a movable sliding door only at the position corresponding to the train door, and set a fixed door in the rest of the area. However, this solution only achieves mobility in a local range and has limited adaptability to the model; the other is to set a movable door body in the entire platform door range, and these door bodies are usually set in front and back staggered. Although this staggered design scheme has improved the adaptability to train models to a certain extent, its large opening mode has brought new problems, such as difficulty in guiding passengers waiting for the train, increased risk of "pinching" due to passenger crowding, difficulty in clearing passengers from the platform, and long train parking time. Therefore, its application scenarios are mainly limited to high-speed railways and intercity railways, and are not suitable for occasions such as subways with large passenger flow, platform waiting, short departure intervals, and extremely high safety requirements.

[0004] In the prior art, there is also a technical solution for compatible platform doors with a "mother-child door" structure that can flexibly adjust the door body to adapt to passenger compartment doors of trains of different standards. This technical solution can better adapt to the needs of different models through flexible door body structure design, and can be applied to intercity / high-speed rail lines and subway lines. However, this technical solution does not elaborate on the alignment method between the platform door and the train door and the control process of the platform door, which makes this technical solution lack effective guidance in achieving precise alignment and efficient control in actual application, and cannot give full play to its compatibility advantages. Summary of the invention

[0005] In view of this, the present invention provides a compatible platform door and vehicle door alignment method and system to solve the problem that the prior art lacks effective guidance in achieving precise alignment and efficient control and cannot give full play to its compatibility advantages.

[0006] In a first aspect, the present invention provides a method for aligning compatible platform doors and vehicle doors, the method comprising:

[0007] Acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors;

[0008] Based on the parking reference point, obtaining vehicle model data of the target train;

[0009] Based on the vehicle type data of the target train, obtaining a pre-built historical train data model of the same vehicle type of the target train;

[0010] Based on the installation reference point, obtaining position data of each sliding door of the target platform door;

[0011] Based on the position data of each sliding door, construct a platform door data model;

[0012] According to the historical train data model and the platform door data model, obtaining the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train;

[0013] According to the movement data, each of the aligning sliding doors is moved to a target standby position to perform an aligning operation with each of the train doors.

[0014] The above scheme obtains or builds the corresponding data model by obtaining the model data, parking data and platform door position data of the target train, thereby achieving adaptability to trains of different models and improving the compatibility and flexibility of the platform door. By comparing the historical train data model and the platform door data model, the corresponding sliding doors and their movement data corresponding to the train doors are obtained, and the platform door and train door alignment can be accurately controlled. Passengers can be guided to wait at the corresponding platform door position without changing their waiting habits, which can improve operational efficiency and adapt to the large passenger flow operation mode with high departure frequency and short departure interval.

[0015] In an optional implementation, the parking reference point is set at the front position of the target train, and a vehicle type recognition module is set at the parking reference point; the historical train data model is constructed by the following steps:

[0016] Based on the parking reference point, the head position of a historical train of the same vehicle model as the target train is used as a first detection origin, and the vehicle model recognition module is used to detect the historical train parking position, the number of historical train doors, and the historical first distance from each train door to the parking reference point of the historical train;

[0017] The historical train data model is constructed based on the historical train stopping positions, the historical train door numbers and the historical first spacing.

[0018] The above scheme uses the historical train data model of the same model as the target train to provide a reference for the door alignment of the current train, reduces the real-time calculation amount, speeds up the alignment speed, and improves the response efficiency of the system. Especially when trains frequently enter and exit the station, it can better meet operational needs. The experience accumulated based on historical data helps to more accurately predict the position of train doors, thereby more accurately selecting the aligned sliding doors, reducing the alignment inaccuracy caused by data errors or train stop position deviations, and improving the alignment accuracy of platform doors and train doors.

[0019] In an optional implementation, the installation reference point coincides with the train stop reference point, and a position detection module is provided at the target platform door;

[0020] The step of obtaining the position data of each sliding door of the target platform door based on the installation reference point includes:

[0021] The installation reference point is used as a second detection origin, and the position data of each sliding door of the target platform door is detected by the position detection module, wherein the position data includes a second distance from the sliding door to the installation reference point.

[0022] The installation reference point of the above solution coincides with the train parking reference point, and the position detection module uses this point as the origin to detect the sliding door position data, reducing complex operations such as coordinate system conversion, simplifying the detection process, reducing system complexity, and improving the accuracy and stability of data acquisition. The unified reference point setting helps reduce the errors that may be caused by inconsistent references, making the construction of the platform door data model more reliable, thereby improving the stability and reliability of the entire door alignment system in long-term operation.

[0023] In an optional implementation, the acquiring, based on the historical train data model and the platform door data model, the aligning sliding doors corresponding to the respective train doors of the target train and the movement data of the respective aligning sliding doors comprises:

[0024] Analyze and compare the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door;

[0025] For a target train door, determining the sliding door with the smallest position difference with the target train door as the target aligned sliding door of the target train door, so as to obtain aligned sliding doors corresponding to each train door one by one;

[0026] Based on the position difference, the moving distance, moving direction and moving speed corresponding to each of the aligned sliding doors are calculated.

[0027] The above scheme obtains the position difference by analyzing and comparing the historical train data model and the platform door data model, and then selects the sliding door with the smallest position difference as the alignment sliding door, which can ensure that each train door can be aligned with the most suitable platform door sliding door, minimize the moving distance of the sliding door, improve the alignment efficiency, and reduce the waiting time of passengers. The moving distance, direction and speed of the alignment sliding door are accurately calculated based on the position difference, so that the sliding door can be moved to the target standby position in the most reasonable way.

[0028] In an optional implementation, analyzing and comparing the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door includes:

[0029] The historical train data model is analyzed and compared with the platform door data model, the difference between each of the historical first spacings and each of the second spacings is calculated, and the difference is determined as the position difference between each of the train doors and each of the sliding doors.

[0030] The above scheme provides accurate data basis for determining the moving direction and distance of the sliding door by calculating the difference between the historical first spacing and the second spacing, ensuring that the sliding door can accurately move to a position aligned with the train door, thereby improving the accuracy of door alignment.

[0031] In an optional implementation, the calculating, based on the position difference, the moving distance, moving direction and moving speed corresponding to each aligned sliding door includes:

[0032] Based on the value of the position difference, determining the movement distance corresponding to each of the aligned sliding doors;

[0033] Based on the positive and negative values ​​of the position differences, determining the movement directions corresponding to the respective aligned sliding doors;

[0034] Based on the ratio of the position difference to the preset movement time, the movement speed corresponding to each of the aligned sliding doors is determined.

[0035] In an optional implementation, after the alignment operation is completed, the method further includes:

[0036] If the target train stops within the preset parking accuracy range, and each train door of the target train is aligned with each corresponding sliding door, a door opening command is sent to open the train boarding and alighting channel;

[0037] If the target train does not stop within the preset parking accuracy range, the historical train data model is corrected, and the alignment operation is updated according to the corrected historical train data model;

[0038] If the target train stops within a preset parking accuracy range and the train doors of the target train are not aligned one by one with the corresponding sliding doors, the platform door data model is corrected and the alignment operation is updated based on the corrected platform door data model.

[0039] After the alignment operation is completed, the above scheme performs corresponding processing according to the train parking accuracy and the alignment of the door and the sliding door. When the train stops within the accuracy range and the door and the sliding door are aligned one by one, the door opening command is sent in time, ensuring the fast and safe boarding and alighting of passengers and improving operational efficiency; when the train does not stop within the accuracy range or the door is not aligned, the data model is corrected and the alignment operation is updated, ensuring that the system can correct errors in time, adapt to various actual operating conditions, and further ensure the safety and reliability of rail transportation.

[0040] In a second aspect, the present invention provides a compatible platform door and vehicle door alignment system, the system is used to execute the above method, the system comprises: a computer module, a vehicle type identification module and a position detection module;

[0041] The computer module is used for:

[0042] Acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors;

[0043] Based on the parking reference point, obtaining the vehicle type data of the target train through the vehicle type recognition module;

[0044] Based on the vehicle type data of the target train, obtaining a pre-built historical train data model of the same vehicle type of the target train;

[0045] Based on the installation reference point, acquiring position data of each sliding door of the target platform door through the position detection module;

[0046] Based on the position data of each sliding door, construct a platform door data model;

[0047] According to the historical train data model and the platform door data model, obtaining the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train;

[0048] According to the movement data, each of the aligning sliding doors is moved to a target standby position to perform an aligning operation with each of the train doors.

[0049] In a third aspect, the present invention provides a compatible platform door and vehicle door alignment device, the device comprising:

[0050] A reference point acquisition unit, used to acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors;

[0051] A train model data acquisition unit, used to acquire the model data of the target train based on the parking reference point;

[0052] A train data model acquisition unit, configured to acquire a pre-built historical train data model of the same vehicle type as the target train based on the vehicle type data of the target train;

[0053] a sliding door position data acquisition unit, used to acquire position data of each sliding door of the target platform door based on the installation reference point;

[0054] A platform door data model building unit, used to build a platform door data model based on the position data of each sliding door;

[0055] A movement data acquisition unit, used for acquiring the aligning sliding doors corresponding to each train door of the target train and the movement data of each aligning sliding door according to the historical train data model and the platform door data model;

[0056] The sliding door alignment operation unit is used to move each alignment sliding door to a target standby position according to the movement data so as to perform alignment operations with each train door.

[0057] In a fourth aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to execute a compatible platform door and vehicle door alignment method according to the first aspect or any corresponding embodiment thereof.

[0058] In a fifth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute a method for aligning compatible platform doors and vehicle doors according to the first aspect or any corresponding embodiment thereof.

[0059] In a sixth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute a method for aligning compatible platform doors and vehicle doors according to the first aspect or any corresponding embodiment thereof.

[0060] The technical solution provided by the present invention may include the following beneficial effects:

[0061] The present invention first obtains the parking reference point of the target train and the installation reference point of the target platform door, and based on the parking reference point, obtains the vehicle model data of the target train to query the pre-built historical train data model of the same vehicle model; at the same time, based on the installation reference point, obtains the position data of each sliding door of the target platform door, and builds the platform door data model based on the position data of each sliding door; then, according to the historical train data model and the platform door data model, the corresponding sliding doors and the movement data of each sliding door can be obtained, so that according to the movement data, each sliding door is moved to the target standby position to perform the alignment operation with each train door. The present invention obtains or builds the corresponding data model by obtaining the vehicle model data, parking data and platform door position data of the target train, thereby achieving adaptability to trains of different vehicle models and improving the compatibility and flexibility of the platform door. By comparing the historical train data model and the platform door data model, we can obtain the corresponding sliding doors and their movement data that correspond to the train doors one by one, so as to accurately control the alignment of the platform doors and train doors. Without changing the passengers' waiting habits, we can guide passengers to wait at the corresponding platform door positions, improve operational efficiency and adapt to the large passenger flow operation mode with high departure frequency and short departure intervals. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0063] Figure 1 is a structural schematic diagram of a compatible platform door and vehicle door alignment system according to an embodiment of the present invention;

[0064] Figure 2 is a flow chart of a compatible platform door and vehicle door alignment method according to an embodiment of the present invention;

[0065] Figure 3 is a flow chart of another compatible platform door and vehicle door alignment method according to an embodiment of the present invention;

[0066] Figure 4 is a schematic diagram of train stop data detection according to an embodiment of the present invention;

[0067] Figure 5 is a schematic diagram of sliding door position data detection according to an embodiment of the present invention;

[0068] Figure 6is a schematic diagram of the position difference between a train door and a sliding door according to an embodiment of the present invention;

[0069] Figure 7 is a schematic diagram of a construction process of a historical train data model according to an embodiment of the present invention;

[0070] Figure 8 is a schematic diagram of the construction process of the platform door data model according to an embodiment of the present invention;

[0071] Fig. 9 is a schematic diagram of the movement process of the aligned sliding door according to an embodiment of the present invention;

[0072] Fig.10 is a schematic diagram of the working process of the vehicle type identification module of this station according to an embodiment of the present invention;

[0073] Fig.11 is a structural block diagram of a compatible platform door and vehicle door alignment device according to an embodiment of the present invention;

[0074] Fig.12 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0076] In this embodiment, a compatible platform door and vehicle door alignment system is provided. Figure 1 is a structural schematic diagram of a compatible platform door and vehicle door alignment system according to an embodiment of the present invention. Figure 1 As shown, the system includes: a computer module 30, a vehicle type identification module 10 and a position detection module 20;

[0077] The computer module 30 is used for:

[0078] Obtaining a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors;

[0079] Based on the parking reference point, the vehicle type data of the target train is obtained through the vehicle type recognition module 10;

[0080] Based on the vehicle type data of the target train, a pre-built historical train data model of the same vehicle type of the target train is obtained;

[0081] Based on the installation reference point, the position data of each sliding door of the target platform door is obtained through the position detection module 20;

[0082] Based on the position data of each sliding door, a platform door data model is constructed;

[0083] According to the historical train data model and the platform door data model, obtaining the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train;

[0084] According to the movement data, each aligning sliding door is moved to the target standby position to perform aligning operation with each train door.

[0085] Furthermore, the computer module 30, as the core control unit of the entire system, is first responsible for determining the key reference point information of the target train and the target platform door, namely the parking reference point and the installation reference point. These two reference points provide a unified reference system for all subsequent data collection and processing to ensure the accuracy and relevance of the data.

[0086] In the vehicle model data acquisition and model call, the computer module 30 cooperates with the vehicle model recognition module 10 to acquire the vehicle model data of the target train (i.e., the current train) based on the parking reference point. The vehicle model recognition module 10 can use a variety of sensor technologies, such as laser ranging, image recognition, etc., to detect the characteristics of the train, so as to determine the vehicle model information of the train. The vehicle model recognition module 10 can be set at the location of the parking reference point. When the train enters the recognition area, the vehicle model recognition module 10 starts to work, first recognizes the vehicle model information of the train, until the train leaves the station, the vehicle model recognition module 10 can recognize the train parking position, the number of train doors, and the first distance from each train door to the parking reference point of the entire train. After the vehicle model recognition module 10 recognizes the vehicle model data information, the computer module 30 uses these vehicle model data to obtain the pre-constructed historical train data model of the same model from the storage system (the historical train data model is constructed based on the historical train parking position, the number of historical train doors, and the historical first distance from each train door to the parking reference point of the same model as the target train). The historical train data model contains key information such as common parking positions and door distribution of trains of the same type, providing valuable experience reference for the door alignment of current trains.

[0087] In the construction and analysis of the platform door data model, the computer module 30 obtains the position data of each sliding door of the target platform door by interacting with the position detection module 20, taking the installation reference point as the reference. The position detection module 20 can use high-precision position sensors, such as encoders, proximity switches, etc., to monitor the position information of the sliding door in real time. The computer module 30 integrates and processes these position data to construct the platform door data model. The platform door data model accurately describes the current status and relative position relationship of each sliding door of the platform door.

[0088] In the alignment decision and control execution, the computer module 30 can accurately determine the alignment sliding doors corresponding to each door of the target train by performing complex data analysis and comparison on the historical train data model and the platform door data model. At the same time, according to the difference between the two models, the movement data such as the distance, direction and speed that each alignment sliding door needs to move is calculated. Finally, the computer module 30 generates control instructions based on these movement data to accurately move each alignment sliding door to the target standby position, so as to achieve perfect alignment operation with the train door.

[0089] Furthermore, the vehicle type recognition module 10 is installed near the train stop reference point, that is, near the front of the train. The main function of the vehicle type recognition module 10 is to perform comprehensive feature detection on the target train entering the detection range. It can measure multiple key parameters of the train in real time, such as train length, door spacing, number of doors, and vehicle type data such as the distance from each door to the stop reference point. The vehicle type recognition module 10 can also be installed at a distance in front of the platform where the train needs to stop. Such an installation position allows the vehicle type recognition module 10 to start working before the train has fully entered the station, so that the train data can be obtained in advance and the historical train data model can be called.

[0090] Furthermore, the position detection module 20 can be distributed at various key positions of the target platform door, and the platform door data model can be constructed when the train enters the station. The position detection module 20 is responsible for monitoring the position changes of each sliding door in real time, and can accurately measure the distance of each sliding door relative to the installation reference point, thereby providing the computer module 30 with the basic data required to construct the platform door data model.

[0091] Furthermore, the system also includes a door alignment detection module, which is used to detect whether the train door and the platform door sliding door are aligned one by one after the train stops at the station, and can be composed of an optical sensor (such as a laser sensor or an infrared sensor) and a mechanical contact sensor. The computer module 30 also includes a platform door control operation submodule and a platform door control submodule. The platform door control operation submodule is used to perform data processing and analysis work during the platform door and door alignment process, and the platform door control submodule is used to control the actual operation of the platform door according to the results calculated by the platform door control operation submodule.

[0092] In the overall workflow of the system, when the vehicle type recognition module 10 detects that the train has entered the recognition range, it starts working. After obtaining the vehicle type data, the vehicle type data is transmitted to the platform door control operation submodule in the computer module 30. The platform door control operation submodule calls the corresponding historical train data model according to the vehicle type data, analyzes and compares the historical train data model and the platform door data model to calculate the current alignment sliding door that needs door alignment and the distance, direction and speed of the alignment sliding door to move. The platform door control submodule in the computer module 30 controls the current alignment sliding door to complete the door alignment and enter the target standby position. When the train enters the station and stops, the vehicle type recognition module 10 detects again whether the train stops within the preset parking accuracy range. If so, the door alignment detection module (the door alignment detection module can also be composed of sensors such as laser ranging and image recognition) starts working to detect whether the alignment sliding doors of the train doors and the platform doors are aligned one by one. If the doors are aligned one by one with the alignment sliding doors, a door opening command is sent to open the alignment sliding doors to provide passengers with a boarding and alighting channel. When the vehicle type recognition module 10 detects that the train fails to stop within the parking accuracy range, the historical train data model constructed previously is corrected, and the platform door control submodule in the computer module 30 analyzes and calculates based on the corrected data and performs new door alignment. When the door alignment detection module detects that a certain alignment sliding door of the platform door fails to align with the train door one by one, the detection data is fed back to the platform door control submodule in the computer module 30, and the platform door control submodule in the computer module 30 performs door alignment on the alignment sliding door based on the corrected data of the alignment sliding door. After the door alignment is completed, the alignment sliding door can be opened to provide passengers with a boarding and alighting channel.

[0093] In summary, this embodiment first obtains the parking reference point of the target train and the installation reference point of the target platform door, and based on the parking reference point, obtains the vehicle model data of the target train to query the pre-built historical train data model of the same vehicle model; at the same time, based on the installation reference point, obtains the position data of each sliding door of the target platform door, and builds the platform door data model based on the position data of each sliding door; then, according to the historical train data model and the platform door data model, the corresponding sliding doors and the movement data of each sliding door can be obtained, so that according to the movement data, each sliding door is moved to the target standby position to perform the alignment operation with each train door. The present invention obtains or builds the corresponding data model by obtaining the vehicle model data, parking data and platform door position data of the target train, thereby achieving adaptability to trains of different vehicle models and improving the compatibility and flexibility of the platform door. By comparing the historical train data model and the platform door data model, we can obtain the corresponding sliding doors and their movement data that correspond to the train doors one by one, so as to accurately control the alignment of the platform doors and train doors. Without changing the passengers' waiting habits, we can guide passengers to wait at the corresponding platform door positions, improve operational efficiency and adapt to the large passenger flow operation mode with high departure frequency and short departure intervals.

[0094] According to an embodiment of the present invention, an embodiment of a compatible platform door and vehicle door alignment method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0095] In this embodiment, a compatible platform door and vehicle door alignment method is provided, which can be used Figure 1 A computer module of a compatible platform door and vehicle door alignment method is shown, Figure 2 is a flow chart of a method for aligning a compatible platform door and a vehicle door according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0096] Step S201, obtaining the parking reference point of the target train and the installation reference point of the target platform door; the target platform door includes a plurality of sliding doors.

[0097] Furthermore, the parking reference point is a specific position on the train, which can usually be set at the front of the train. Different trains can have different parking reference point settings, or they can be set to the same parking reference point to simplify calculations. The installation reference point of the target platform door is a reference position on the platform door. It can be set independently or coincide with the train parking position reference point. The target platform door contains multiple sliding doors. After determining these two reference points, the subsequent steps can obtain relevant data based on them.

[0098] Step S202: acquiring the vehicle model data of the target train based on the parking reference point.

[0099] Further, based on the parking reference point determined in step S201, the present embodiment detects the target train through a corresponding vehicle type recognition module (for example, a sensor such as laser ranging or image recognition can be used) to obtain the vehicle type data of the train. Since the vehicle type recognition module is arranged at the parking reference point, and the parking reference point corresponds to the position of the head of the train, when the train just enters the station, the vehicle type recognition module can only recognize the vehicle type data of the target train. Only when the target train completely leaves the station, the vehicle type recognition module can recognize the complete train parking position, the number of train doors, and the first spacing from each train door to the parking reference point, and construct a train data model. Therefore, in order to improve the alignment efficiency and save time, the present embodiment can pre-construct the historical train data model of the same vehicle type of the target train, and store it. When the target train just enters the station, the vehicle type data of the target train is recognized by the vehicle type recognition module, and the historical train data model of the same vehicle type of the target train is obtained based on the vehicle type data of the target train.

[0100] Step S203: based on the vehicle type data of the target train, a pre-built historical train data model of the same vehicle type of the target train is obtained.

[0101] Furthermore, after obtaining the vehicle model data of the target train, this embodiment searches for a pre-constructed historical train data model of the same vehicle model based on the vehicle model data. The historical train data model is formed by accumulating and analyzing multiple running data of trains of the same vehicle model. It contains information such as common parking positions and door distribution of trains of the same vehicle model, which can provide valuable reference for the door alignment of the current train, and help improve the accuracy and efficiency of the alignment.

[0102] Step S204: acquiring position data of each sliding door of the target platform door based on the installation reference point.

[0103] Furthermore, based on the installation reference point determined in step S201, this embodiment obtains the position data of each sliding door of the target platform door relative to the installation reference point by means of a position detection module (for example, an encoder, proximity switch or other position sensor may be used) set on the platform door. These position data will be used to construct a platform door data model.

[0104] Step S205: constructing a platform door data model based on the position data of each sliding door.

[0105] Furthermore, this embodiment utilizes the position data of each sliding door acquired in step S204, integrates and processes these data, and constructs a platform door data model, which is constructed in real time based on the position data of each sliding door. The platform door data model can accurately reflect the current position status of each sliding door of the target platform door and the relative relationship between them.

[0106] Step S206, based on the historical train data model and the platform door data model, obtain the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train.

[0107] Furthermore, this embodiment analyzes and compares the historical train data model obtained in step S203 and the platform door data model constructed in step S205. By comparing the data in the two models, the position difference between each train door and each sliding door is calculated. For each train door, the sliding door with the smallest position difference is selected as the corresponding counter sliding door. Then, the movement data such as the distance, direction and speed that each counter sliding door needs to move is calculated based on the position difference.

[0108] Step S207, according to the movement data, each aligning sliding door is moved to the target standby position to perform aligning operation with each train door.

[0109] Furthermore, this embodiment controls the corresponding control mechanism (such as a motor, hydraulic system or other driving device) through the platform door control submodule of the computer module to move each aligning sliding door to the target standby position according to the movement data of each aligning sliding door calculated in step S206, so that the platform door sliding door and the train door can be accurately aligned, providing passengers with a safe and convenient boarding and alighting channel.

[0110] In summary, this embodiment first obtains the parking reference point of the target train and the installation reference point of the target platform door, and based on the parking reference point, obtains the vehicle model data of the target train to query the pre-built historical train data model of the same vehicle model; at the same time, based on the installation reference point, obtains the position data of each sliding door of the target platform door, and builds the platform door data model based on the position data of each sliding door; then, according to the historical train data model and the platform door data model, the corresponding sliding doors and the movement data of each sliding door can be obtained, so that according to the movement data, each sliding door is moved to the target standby position to perform the alignment operation with each train door. The present invention obtains or builds the corresponding data model by obtaining the vehicle model data, parking data and platform door position data of the target train, thereby achieving adaptability to trains of different vehicle models and improving the compatibility and flexibility of the platform door. By comparing the historical train data model and the platform door data model, we can obtain the corresponding sliding doors and their movement data that correspond to the train doors one by one, so as to accurately control the alignment of the platform doors and train doors. Without changing the passengers' waiting habits, we can guide passengers to wait at the corresponding platform door positions, improve operational efficiency and adapt to the large passenger flow operation mode with high departure frequency and short departure intervals.

[0111] In this embodiment, another compatible platform door and vehicle door alignment method is provided, which can be used Figure 1 A computer module of a compatible platform door and vehicle door alignment method is shown, Figure 3 FIG. 4 is a flow chart of another method for aligning a compatible platform door and a vehicle door according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0112] Step S301, obtaining the parking reference point of the target train and the installation reference point of the target platform door; the target platform door includes a plurality of sliding doors.

[0113] Furthermore, the train stop reference point is an important reference point for determining the train position and its relative position to the platform door. It can be set at the front of the train, which is relatively fixed and easy to identify, and can provide a stable reference for subsequent measurements and calculations. At the same time, taking into account the actual conditions of different trains, different trains are allowed to set different stop reference points. As an optimization solution, in order to simplify the calculation process, the stop reference point of all trains can also be set to the same one. In this way, when calculating the alignment of the platform door and the train door, there is no need to make complex adjustments to the stop reference points of different trains, which can improve the calculation efficiency and accuracy. The installation reference point of the target platform door can be set independently, and as an optimization solution, it can also coincide with the train stop position reference point.

[0114] Step S302: acquiring the vehicle model data of the target train based on the parking reference point.

[0115] Step S303: based on the vehicle type data of the target train, a pre-built historical train data model of the same vehicle type of the target train is obtained.

[0116] In some optional implementations, the parking reference point is set at the front position of the target train, and a vehicle type recognition module is set at the parking reference point; the historical train data model is constructed by the following steps:

[0117] Based on the parking reference point, the head position of a historical train of the same model as the target train is used as the first detection origin, and the historical train parking position, the number of historical train doors, and the historical first distance from each train door to the parking reference point of the historical train are detected by the vehicle type recognition module;

[0118] Based on the historical train stopping position, the number of doors of the historical train and the historical first spacing, a historical train data model is constructed.

[0119] Furthermore, this embodiment uses historical data to provide a reference for the door alignment of the current train, thereby improving the accuracy and efficiency of the alignment. When constructing a historical train data model, when the parking reference point is set at the head position of the target train and a vehicle type recognition module is provided, this embodiment uses the head position of the historical train of the same vehicle type as the first detection origin, and uses the vehicle type recognition module to detect the parking position, number of doors, and the historical first distance from each door to the parking reference point of the historical train. Based on these detected parking positions, number of doors, and historical first distance information of the historical trains, a historical train data model is constructed. The historical train data model contains information such as common parking positions and door distribution of trains of the same vehicle type, and can provide an empirical reference for the door alignment of the current train.

[0120] Furthermore, in this embodiment, a vehicle type recognition module is set at the parking reference point, and the vehicle type recognition module can measure the distance and recognize the moving objects in the working range. Figure 4 The train stop data detection schematic diagram is shown. When detecting historical trains in this embodiment, the train front is used as the first detection origin, and the distance from the first door to the front of the historical train is measured to be X1, the distance from the second door to the front of the train is measured to be X2, and the distance from the nth door to the front of the train is measured to be Xn. Therefore, according to the measured data, a historical train data model with historical train parking positions, the number of historical train doors, the historical first distance from the door to the parking reference point, etc. can be constructed.

[0121] Step S304, based on the installation reference point, obtaining the position data of each sliding door of the target platform door;

[0122] In some optional implementations, the installation reference point coincides with the train stop reference point, and a position detection module is provided at the target platform door; the step S304 includes:

[0123] The installation reference point is used as a second detection origin, and the position data of each sliding door of the target platform door is detected by the position detection module. The position data includes a second distance from the sliding door to the installation reference point.

[0124] Furthermore, when the installation reference point coincides with the train stop reference point and a position detection module is provided at the target platform door, this embodiment uses the installation reference point as the second detection origin, and detects the position data of each sliding door of the target platform door through the position detection module, including the second distance from each sliding door to the installation reference point. These position data are the basis for constructing the platform door data model.

[0125] Furthermore, in this embodiment, a position detection module is provided on the target platform door to detect the real-time position of each sliding door. Figure 5 The schematic diagram of sliding door position data detection is shown. In this embodiment, the platform door installation reference point is used as the second detection origin. The distance from the first sliding door to the platform door installation reference point is measured to be Y1, the distance from the second sliding door to the platform door installation reference point is measured to be Y2, and the distance from the nth sliding door to the platform door installation reference point is measured to be Yn, thereby constructing a platform door data model with the real-time position of the sliding door based on the measured data.

[0126] Step S305: constructing a platform door data model based on the position data of each sliding door.

[0127] Furthermore, this embodiment integrates and processes the data based on the second distance between each sliding door and the installation reference point of each sliding door obtained in step S304 to construct a platform door data model. The platform door data model can accurately reflect the current position status of each sliding door of the target platform door and the relative relationship between them, providing a basis for subsequent comparison with the historical train data model.

[0128] Step S306, based on the historical train data model and the platform door data model, obtain the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train.

[0129] In some optional implementations, step S306 includes:

[0130] Step S3061, analyzing and comparing the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door;

[0131] Step S3062, for a target train door, determining the sliding door with the smallest position difference with the target train door as the target alignment sliding door of the target train door, so as to obtain alignment sliding doors corresponding to each train door one by one;

[0132] Step S3063, based on the position difference, calculate the moving distance, moving direction and moving speed corresponding to each aligned sliding door.

[0133] In some optional implementations, step S3061 includes:

[0134] The historical train data model is analyzed and compared with the platform door data model, the difference between each of the historical first spacings and each of the second spacings is calculated, and the difference is determined as the position difference between each of the train doors and each of the sliding doors.

[0135] In some optional implementations, step S3063 includes:

[0136] Based on the value of the position difference, determining the corresponding moving distance of each aligned sliding door;

[0137] Based on the positive and negative values ​​of the position difference, determining the movement direction corresponding to each aligned sliding door;

[0138] Based on the ratio of the position difference to the preset movement time, the movement speed corresponding to each aligned sliding door is determined.

[0139] Furthermore, this embodiment determines the platform door sliding door corresponding to the train door and its movement parameters in order to achieve accurate alignment. First, the historical train data model is analyzed and compared with the platform door data model, and the difference between each historical first spacing and each second spacing is calculated. This difference is the position difference between each train door and each sliding door. In this way, the position difference information is accurately obtained, which provides a basis for determining the alignment sliding door and calculating the movement parameters. After that, for each target train door, the sliding door with the smallest position difference with the door is determined as its target alignment sliding door, so that the alignment sliding door corresponding to each train door can be obtained. This selection method can ensure that each train door can find the most suitable platform door sliding door for alignment, minimize the moving distance of the sliding door, and improve the alignment efficiency.

[0140] Next, the moving distance, direction and speed of each aligned sliding door are calculated based on the position difference. The moving distance is determined according to the position difference value to ensure that the sliding door can move to the appropriate position; the moving direction is determined according to the positive and negative values ​​of the position difference to prevent the sliding door from moving in the opposite direction; the moving speed is determined according to the ratio of the position difference to the preset moving time to ensure that the sliding door completes the movement within the specified time, thereby achieving accurate alignment of the platform door sliding door and the train door.

[0141] For further information, see Figure 6 The schematic diagram of the position difference between the train door and the sliding door is shown. In this embodiment, the historical train data model and the platform door data model are analyzed and compared to determine the position difference between the sliding door of the target platform door and the train door. As an optimization scheme, in order to obtain a shorter moving distance and less moving time, and to ensure the sealing integrity of the platform door during the movement, this embodiment selects the sliding door closest to the train door as the alignment sliding door to be aligned. The historical train data model and the platform door data model are analyzed. The sliding door A3 is closest to the position of the door T1, the sliding door A5 is closest to the position of the door T2, the sliding door A7 is closest to the position of the door T3, and the sliding door An is closest to the position of the door Tn. That is, the alignment sliding doors that need to be aligned with the train door are A3, A5, A7 and An. The remaining sliding doors only remain closed during the movement and do not participate in the alignment process.

[0142] The historical train data model and the platform door data model are analyzed again. The position difference between sliding door A3 and door T1 is X1-Y3, the position difference between sliding door A5 and door T2 is X2-Y5, the position difference between sliding door A7 and door T3 is X3-Y7, and the position difference between sliding door An and door Tn is Xn-Yn. The data of the calculation result is the distance that the sliding door needs to move, and the positive and negative values ​​of the data are the directions that the sliding door needs to move. A preset moving time t is set, and all the aligned sliding doors must complete the movement within this time period. Therefore, the moving speed of each preset moving time sliding door is obtained as:

[0143]

[0144] Step S307, according to the movement data, each aligning sliding door is moved to the target standby position to perform aligning operation with each train door.

[0145] Step S308, after the alignment operation is completed, if the target train stops within the preset parking accuracy range and the train doors of the target train are aligned one by one with the alignment sliding doors, a door opening command is sent to open the train boarding and alighting channel.

[0146] Furthermore, when the target train stops within the preset parking accuracy range and each train door is aligned with each corresponding sliding door, a door opening command is sent to open the train boarding and alighting passage so that passengers can get on and off the train safely and quickly. The preset parking accuracy range can be ±300mm.

[0147] Step S309: If the target train does not stop within the preset parking accuracy range, the historical train data model is corrected, and the alignment operation is updated according to the corrected historical train data model.

[0148] Furthermore, if the target train does not stop within the preset parking accuracy range, it means that the historical train data model constructed previously may have deviations. At this time, the historical train data model is corrected, and then the alignment sliding door and its movement parameters are recalculated based on the corrected historical train data model, and the alignment operation is updated so that the platform door can better adapt to the actual stop position of the train and ensure the accuracy of the door alignment.

[0149] Step S310, if the target train stops within the preset parking accuracy range and the train doors of the target train are not aligned one by one with the corresponding sliding doors, the platform door data model is corrected, and the alignment operation is updated according to the corrected platform door data model.

[0150] Furthermore, when the target train stops within the preset parking accuracy range but the train doors are not aligned with the corresponding sliding doors, the platform door data model is corrected. The corresponding sliding doors and their movement parameters are recalculated according to the corrected platform door data model, and the alignment operation is updated so that the platform door sliding doors can be accurately aligned with the train doors to ensure the safety of passengers getting on and off the train.

[0151] In the actual platform door and car door alignment process, please refer to Figure 7 The schematic diagram of the construction process of the historical train data model is shown. At the beginning of the process, the vehicle type recognition module is in standby mode and starts to detect whether there is a moving object within its range. If there is no moving object (N), the vehicle type recognition module remains in standby mode and continues to wait. If there is a moving object (Y), the vehicle type recognition module is started to enter the recognition mode. If it is detected that the historical train has begun to leave the station, the objects within the detection range will be identified. After the historical train leaves the detection range (that is, after the historical train completely leaves the station), the historical train identification is completed and the historical train data model is constructed. Finally, the constructed historical train data model is uploaded to the platform door control operation submodule, and the process ends here.

[0152] See also Figure 8The schematic diagram of the construction process of the platform door data model is shown. At the beginning of the process, the platform door position detection module is in standby mode, and the position detection module waits to receive the train departure information sent by the vehicle type identification module of the previous station. If the train departure information (N) is not received, the module remains in standby mode. If the train departure information (Y) is received, the position detection module is started to enter the platform door position detection. After receiving the train departure information, the position detection module is started to detect the platform door position and construct the platform door position data model. Finally, the constructed platform door position data model is uploaded to the platform door control operation submodule, and the process ends here.

[0153] See also Fig. 9 The schematic diagram of the movement process of the aligned sliding door is shown. At the beginning of the process, the platform door control operation submodule is in standby mode. After receiving the historical train data model and the platform door position data model, the module waits to receive the historical train data model and the platform door position data model. If (N) is not received, the module remains in standby mode. If (Y) is received, the control operation submodule is started to map the two types of data to form data such as the platform door movement distance, movement direction, and movement speed. According to the above calculated data, the door alignment program of this train and this model is generated. Finally, the generated door alignment program is started to control the platform door to move to the target standby position, and the process ends here. This embodiment is mainly used in the field of rail transit. The received train and platform door data are processed by the platform door control operation submodule, and the door alignment program is generated and executed to achieve accurate alignment between the platform door and the train door.

[0154] See also Fig.10The flowchart of the vehicle type recognition module of this station is shown. The process starts from the vehicle type recognition module of this station. The vehicle type recognition module first detects whether there is a moving object within its range. If there is no moving object (N), the module remains in standby mode. If there is a moving object (Y), the vehicle type recognition module is started to enter the recognition mode. When a moving object is detected, the vehicle type recognition module is started for recognition. After the recognition is completed, it is determined whether the train has stopped within the train parking accuracy range. If the train has not stopped within the parking accuracy range (N), the train parking accuracy data is uploaded to the platform door control operation submodule for system data correction, a new door alignment program is generated, and each door body is controlled to move to the new target standby position. If the train has stopped within the parking accuracy range (Y), the train arrival information is uploaded to the door alignment detection module. When the train has stopped within the parking accuracy range, it is detected whether the platform door and the train door have been aligned. If they have been aligned (Y), the platform door control module is started to send the platform door opening command. If not aligned (N), the data of a platform door unit that is not aligned is uploaded to the platform door control operation submodule, a door alignment program for the door unit is generated, and the door unit is controlled to move to a new target standby position. This embodiment describes the entire process from train entry to platform door and train door alignment and door opening, ensuring that the platform door and train door can be accurately aligned to ensure the safety and convenience of passengers.

[0155] In summary, this embodiment first obtains the parking reference point of the target train and the installation reference point of the target platform door, and based on the parking reference point, obtains the vehicle model data of the target train to query the pre-built historical train data model of the same vehicle model; at the same time, based on the installation reference point, obtains the position data of each sliding door of the target platform door, and builds the platform door data model based on the position data of each sliding door; then, according to the historical train data model and the platform door data model, the corresponding sliding doors and the movement data of each sliding door can be obtained, so that according to the movement data, each sliding door is moved to the target standby position to perform the alignment operation with each train door. The present invention obtains or builds the corresponding data model by obtaining the vehicle model data, parking data and platform door position data of the target train, thereby achieving adaptability to trains of different vehicle models and improving the compatibility and flexibility of the platform door. By comparing the historical train data model and the platform door data model, we can obtain the corresponding sliding doors and their movement data that correspond to the train doors one by one, so as to accurately control the alignment of the platform doors and train doors. Without changing the passengers' waiting habits, we can guide passengers to wait at the corresponding platform door positions, improve operational efficiency and adapt to the large passenger flow operation mode with high departure frequency and short departure intervals.

[0156] In this embodiment, a compatible platform door and vehicle door alignment device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0157] This embodiment provides a compatible platform door and vehicle door alignment device, such as Fig.11 As shown, the device comprises:

[0158] A reference point acquisition unit 1101 is used to acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors;

[0159] A train model data acquisition unit 1102 is used to acquire the model data of the target train based on the parking reference point;

[0160] The train data model acquisition unit 1103 is used to acquire a pre-built historical train data model of the same model of the target train based on the model data of the target train;

[0161] A sliding door position data acquisition unit 1104 is used to acquire position data of each sliding door of the target platform door based on the installation reference point;

[0162] A platform door data model building unit 1105 is used to build a platform door data model based on the position data of each sliding door;

[0163] The movement data acquisition unit 1106 is used to acquire the corresponding sliding doors of each train door of the target train and the movement data of each sliding door according to the historical train data model and the platform door data model;

[0164] The sliding door alignment operation unit 1107 is used to move each alignment sliding door to the target standby position according to the movement data so as to perform alignment operation with each train door.

[0165] In some optional implementations, the parking reference point is set at the front position of the target train, and a vehicle type recognition module is set at the parking reference point; the historical train data model is constructed by the following steps:

[0166] Based on the parking reference point, the head position of a historical train of the same model as the target train is used as the first detection origin, and the historical train parking position, the number of historical train doors, and the historical first distance from each train door to the parking reference point of the historical train are detected by the vehicle type recognition module;

[0167] Based on the historical train stopping position, the number of doors of the historical train and the historical first spacing, a historical train data model is constructed.

[0168] In some optional implementations, the installation reference point coincides with the train stop reference point, and a position detection module is provided at the target platform door;

[0169] The sliding door position data acquisition unit 1104 is also used for:

[0170] The installation reference point is used as a second detection origin, and the position data of each sliding door of the target platform door is detected by the position detection module. The position data includes a second distance from the sliding door to the installation reference point.

[0171] In some optional implementations, the mobile data acquisition unit 1106 is further configured to:

[0172] Analyze and compare the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door;

[0173] For a target train door, determine the sliding door with the smallest position difference with the target train door as the target aligned sliding door of the target train door, so as to obtain aligned sliding doors corresponding to each train door one by one;

[0174] Based on the position difference, the moving distance, moving direction and moving speed corresponding to each aligned sliding door are calculated.

[0175] In some optional implementations, the mobile data acquisition unit 1106 is further configured to:

[0176] The historical train data model is analyzed and compared with the platform door data model, the difference between each of the historical first spacings and each of the second spacings is calculated, and the difference is determined as the position difference between each of the train doors and each of the sliding doors.

[0177] In some optional implementations, the mobile data acquisition unit 1106 is further configured to:

[0178] Based on the value of the position difference, determining the corresponding moving distance of each aligned sliding door;

[0179] Based on the positive and negative values ​​of the position difference, determining the movement direction corresponding to each aligned sliding door;

[0180] Based on the ratio of the position difference to the preset movement time, the movement speed corresponding to each aligned sliding door is determined.

[0181] In some optional embodiments, the device is also used for:

[0182] If the target train stops within the preset parking accuracy range, and each train door of the target train is aligned with each corresponding sliding door, a door opening command is sent to open the train boarding and alighting channel;

[0183] If the target train does not stop within the preset parking accuracy range, the historical train data model is corrected, and the alignment operation is updated according to the corrected historical train data model;

[0184] If the target train stops within the preset parking accuracy range and the train doors of the target train are not aligned one by one with the corresponding sliding doors, the platform door data model is corrected and the alignment operation is updated based on the corrected platform door data model.

[0185] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0186] The embodiment of the present invention also provides a computer device, see Fig.12 , Fig.12 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.12 As shown, the computer device includes: one or more processors 121, memory 122, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.12 A processor 121 is taken as an example.

[0187] The processor 121 may be a central processing unit, a network processor or a combination thereof. The processor 121 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0188] The memory 122 stores instructions executable by at least one processor 121, so that at least one processor 121 executes the method shown in the above embodiment.

[0189] The memory 122 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 122 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 122 may optionally include a memory remotely arranged relative to the processor 121, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0190] The memory 122 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 122 may also include a combination of the above types of memory.

[0191] The computer device also includes a communication interface 123 for the computer device to communicate with other devices or a communication network.

[0192] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0193] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0194] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the defined scope.

Claims

1. A method for aligning compatible platform doors and vehicle doors, characterized in that: The method comprises: Acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors; Based on the parking reference point, obtaining vehicle model data of the target train; Based on the vehicle type data of the target train, obtaining a pre-built historical train data model of the same vehicle type of the target train; Based on the installation reference point, obtaining position data of each sliding door of the target platform door; Based on the position data of each sliding door, construct a platform door data model; According to the historical train data model and the platform door data model, obtaining the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train; According to the movement data, each of the aligning sliding doors is moved to a target standby position to perform an aligning operation with each of the train doors.

2. The method according to claim 1, characterized in that The parking reference point is set at the front position of the target train, and a vehicle type recognition module is set at the parking reference point; The historical train data model is constructed by the following steps: Based on the parking reference point, the head position of a historical train of the same vehicle model as the target train is used as a first detection origin, and the vehicle model recognition module is used to detect the historical train parking position, the number of historical train doors, and the historical first distance from each train door to the parking reference point of the historical train; The historical train data model is constructed based on the historical train stopping positions, the historical train door numbers and the historical first spacing.

3. The method according to claim 2, characterized in that The installation reference point coincides with the train stop reference point, and a position detection module is provided at the target platform door; The step of obtaining the position data of each sliding door of the target platform door based on the installation reference point includes: The installation reference point is used as a second detection origin, and the position data of each sliding door of the target platform door is detected by the position detection module, wherein the position data includes a second distance from the sliding door to the installation reference point.

4. The method according to claim 3, characterized in that The step of acquiring the aligning sliding doors corresponding to the train doors of the target train and the movement data of the aligning sliding doors according to the historical train data model and the platform door data model includes: Analyze and compare the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door; For a target train door, determining the sliding door with the smallest position difference with the target train door as the target aligned sliding door of the target train door, so as to obtain aligned sliding doors corresponding to each train door one by one; Based on the position difference, the moving distance, moving direction and moving speed corresponding to each of the aligned sliding doors are calculated.

5. The method according to claim 4, characterized in that The analyzing and comparing the historical train data model with the platform door data model to obtain the position difference between each train door and each sliding door includes: The historical train data model is analyzed and compared with the platform door data model, the difference between each of the historical first spacings and each of the second spacings is calculated, and the difference is determined as the position difference between each of the train doors and each of the sliding doors.

6. The method according to claim 4, characterized in that The calculating, based on the position difference, the moving distance, the moving direction and the moving speed corresponding to each of the aligned sliding doors comprises: Based on the value of the position difference, determining the movement distance corresponding to each of the aligned sliding doors; Based on the positive and negative values ​​of the position differences, determining the movement directions corresponding to the respective aligned sliding doors; Based on the ratio of the position difference to the preset movement time, the movement speed corresponding to each of the aligned sliding doors is determined.

7. The method according to any one of claims 1 to 6, characterized in that: After the alignment operation is completed, the method further includes: If the target train stops within the preset parking accuracy range, and each train door of the target train is aligned with each corresponding sliding door, a door opening command is sent to open the train boarding and alighting channel; If the target train does not stop within the preset parking accuracy range, the historical train data model is corrected, and the alignment operation is updated according to the corrected historical train data model; If the target train stops within a preset parking accuracy range and the train doors of the target train are not aligned one by one with the corresponding sliding doors, the platform door data model is corrected and the alignment operation is updated based on the corrected platform door data model.

8. A compatible platform door and vehicle door alignment system, characterized in that: The system is used to execute the method according to any one of claims 1 to 7, and the system comprises: a computer module, a vehicle type identification module and a position detection module; The computer module is used for: Acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors; Based on the parking reference point, obtaining the vehicle type data of the target train through the vehicle type recognition module; Based on the vehicle type data of the target train, obtaining a pre-built historical train data model of the same vehicle type of the target train; Based on the installation reference point, acquiring position data of each sliding door of the target platform door through the position detection module; Based on the position data of each sliding door, construct a platform door data model; According to the historical train data model and the platform door data model, obtaining the corresponding sliding doors and movement data of each sliding door corresponding to each train door of the target train; According to the movement data, each of the aligning sliding doors is moved to a target standby position to perform an aligning operation with each of the train doors.

9. A compatible platform door and vehicle door alignment device, characterized in that: The device comprises: A reference point acquisition unit, used to acquire a parking reference point of a target train and an installation reference point of a target platform door; the target platform door includes a plurality of sliding doors; A train model data acquisition unit, used to acquire the model data of the target train based on the parking reference point; A train data model acquisition unit, configured to acquire a pre-built historical train data model of the same vehicle type as the target train based on the vehicle type data of the target train; a sliding door position data acquisition unit, used to acquire position data of each sliding door of the target platform door based on the installation reference point; A platform door data model building unit, used to build a platform door data model based on the position data of each sliding door; A movement data acquisition unit, used for acquiring the aligning sliding doors corresponding to each train door of the target train and the movement data of each aligning sliding door according to the historical train data model and the platform door data model; The sliding door alignment operation unit is used to move each alignment sliding door to a target standby position according to the movement data so as to perform alignment operations with each train door.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes a compatible platform door and vehicle door alignment method according to any one of claims 1 to 7 by executing the computer instructions.

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