Intelligent fault diagnosis and early warning method for rail transit vehicle

Abstract

The invention discloses an intelligent fault diagnosis and early warning method for a rail transit vehicle, and the method comprises the following steps: S100, a train is normally turned off, and a door opening command, a door closing command and a door opening fault signal are collected; s200, according to the normal door closing and door opening fault command signals, the door closing states including the initial door closing position, the actual door closing position and the expected door closing position are analyzed; s300, the vehicle door opening and closing frequency is judged through signal collection; s400, the vehicle door opening and closing frequency is analyzed, and whether a vehicle door system is abnormal or not is determined; s500, the actual door opening position is analyzed, and the actual position when the door opening fault occurs is determined; according to the door opening fault analysis method, the door opening position of the door opening fault occurring under the running condition of the train is accurate to the position of the train door, the fault condition is confirmed, the fault of the train door is positioned under the running condition of the train, fault early warning is carried out, the fault time is shortened, and the safety of the train is improved. Meanwhile, emergency treatment is carried out according to fault positions, and train operation efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of rail transit, and more specifically, particularly relates to an intelligent fault diagnosis and early warning method for rail transit vehicles. Background Art

[0002] In the field of rail transit, whether the opening and closing states of the doors are correct often has a great impact on aspects such as the safety of passengers taking the train, the operation efficiency of the train, and the operation and maintenance efficiency of the staff. Door failures are relatively common in vehicles and are also one of the key inspection items for drivers and crew.

[0003] At present, the diagnosis and handling of door failures mainly rely on the driver's subjective driving or the background operation control system for judgment. The train operation control system diagnoses faults by collecting the states of door magnets. Each collection of the door magnet will trigger a fault, and the driver and crew mainly judge by observing the door travel switch (through in-vehicle and out-of-vehicle monitoring) and the closing feedback. There are false alarms or missed alarms of faults, which affect the judgment time and efficiency of the driver and crew.

[0004] At present, in the field of rail transit, fault diagnosis is not combined with the background system. The diagnosis logic of the operation control system is too single, there are false alarms or missed alarms of faults, which increases the time and labor intensity of the staff, and poses a threat to the safety of drivers and vehicle operation. Summary of the Invention

[0005] To achieve the purpose, the present invention provides the following technical solutions: An intelligent fault diagnosis and early warning method for rail transit vehicles, comprising the following steps: S100: When the train is normally closed, collect the door opening command, door closing command, and door opening fault signal; S200: Analyze the door closing state according to the normal door closing and door opening fault command signals, including the initial door closing position, the actual door closing position, and the expected door closing position; S300: Judge the door opening and closing frequency through signal collection; S400: Analyze the door opening and closing frequency to confirm whether the door system is abnormal; S500: Analyze the actual door opening position to determine the actual position when a door opening fault occurs; S600: Confirm the actual position, and open the corresponding door for emergency operation according to system abnormality or different actual positions; S700: Perform emergency operation on the train after a door fault occurs.

[0006] Preferably, in S100, the door opening command refers to the signal for the train to perform a door opening operation, the door closing command refers to the signal for the train to perform a door closing operation, and the door opening fault refers to the signal for a fault to occur in the train door.

[0007] Preferably, in S200, the following operations are performed when the train closes the door normally; S21: After the train issues a door closing command, collect the status data of the door system; S22: Determine whether the door system is operating normally based on the status data of the door system; if the door system is operating normally, the train determines the door closing failure situation after the door closing signal is sent according to the signal feedback; S23: When the train does not have a door closing failure, determine whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command sent by the door system.

[0008] Preferably, in S200, when the door system is not operating normally, execute S26: Determine whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command sent by the door system; when the door system is operating normally; S24: Determine whether a door closing failure signal is generated; S25: If there is no door closing failure signal, the expected door closing position is the position of the door at the time of collecting the door opening command; otherwise, perform positioning; S26: When no door closing failure signal is generated, the actual door opening position is the position of the door at the time of collecting the door closing command; when a door closing failure signal is generated, the actual door opening position is the position of the door when the door closing failure signal disappears; S27: Determine the failure position based on the actual door opening position and the expected door opening position.

[0009] Preferably, in S300, the following operations are performed when the train has a door opening failure; S31: Collect the door opening command collection time and the door opening failure collection time of the train; S32: Analyze the time difference between when the train issues the door opening command and when the door fails according to the data collected in S31, which is T1.

[0010] Preferably, in S400, the following operations are performed in the case of a train door opening failure; S41: Determine whether T1 is greater than the threshold value M1; S42: When T1 is greater than the threshold value M1, determine whether the door system is abnormal. Otherwise, if T1 does not exceed the threshold value M1, the door system is normal; S43: When it is determined that T1 exceeds the threshold value M1, it is determined that the door system is abnormal, and when the door closing failure time difference is greater than the threshold value M2, that is, T2≥M2, and the door system judged in S41 is in a normal state, then when the train is in an emergency stop situation or there is a door opening failure in a non-emergency stop situation, S44 is performed; otherwise, S45 is executed to perform a door abnormality check; S44: When the train is in an emergency stop situation, then S46 is performed: Determine the current position of the train through the door drive curve; S45: When the train is in a non-emergency stop state, then S47: Determine the current position of the train. If it is in a non-emergency stop state, then S48 is performed for position acquisition: S481: Acquire the current fault position of the train; S482: Record the current position of the train and time the door opening failure signal; S483: Record the timing time T2; S484: Determine whether T2 is greater than the threshold value M1. If so, determine that the door system is abnormal; otherwise, S485 is performed. S485: When T2≤the threshold value M1 and the train continues to move, record the newly acquired train position and return to S483 to re-time T2; Analyze the door opening failure through the door opening command time, door opening failure status, and train position. When the train running speed is greater than or less than the threshold value, judge the door state respectively to confirm the door system or / and train system state.

[0011] Preferably, in S442, by collecting status data, confirm the area where the train is located. Before the train reaches the preset distance, analyze whether the door state is abnormal. When the collected door state data is abnormal, confirm the area position where the train is located.

[0012] Preferably, in S48, judge the train fault position. When the train position exceeds the limit, the system activates an emergency braking signal and alarms; when the train position does not exceed the limit, the door system is normal and the train position is recorded.

[0013] Preferably, in S500, in the case of a train door opening failure, determine the door fault position; S51: When receiving the door opening failure state, determine whether the current train position exceeds the preset limit; S52: When it does not exceed the preset limit, record the door fault position; when it exceeds, the train stops and determines whether to activate an emergency braking signal.

[0014] Preferably, for S600, the following operations are performed in the event of a train failure: S61: When the door system is abnormal, if the door opening failure status disappears, the train movement is stopped and the train returns to the initial failure state. S62: When the door system is abnormal and the door opening failure status has not disappeared, at this time, the emergency braking signal is judged. If there is an emergency braking signal, it is immediately activated. Otherwise, the train position is judged. When the preset distance is exceeded, the emergency braking signal is immediately activated. Otherwise, the door opening state is continuously judged; S63: When the door system is normal, when the door opening failure status disappears, S62 is executed. When the door opening failure has not disappeared, the emergency braking signal is immediately activated; S64: When the door opening failure disappears and the train has not executed emergency braking, the train movement is stopped. The train position is judged for exceeding the distance value X. If it has not exceeded, the train returns to the initial state; S65: If the preset threshold value of the distance value X is exceeded, the train returns to the initial state.

[0015] Preferably, in S63, when the running speed exceeds the threshold value M3, when there is an emergency braking, the system movement is stopped; when there is no emergency braking, the emergency braking signal is immediately activated and the system movement is stopped; when the running speed is lower than KM3, the system is detected for abnormalities. When there is an emergency braking, the system movement is stopped; when there is no emergency braking, the train returns to the initial state; when the door opens normally, after the train state is judged, the system is judged, and then the train is positioned and emergency operations are performed.

[0016] Preferably, for S700, the following operations are performed in the event of a train door opening failure; S71: When the train system is normal, the door system is abnormal, and when the train has a door opening failure, the position of the door at the time of the door opening command is judged according to the door opening command status time; S72: When the train system is abnormal, the position of the door at the time of the door opening command is judged according to the door opening command status time. At this time, S73 is performed; when the train system is abnormal, after the position of the door at the time of the door opening command is judged according to the door opening command status time, the judgment returns to S71; S73: Record the system abnormality situation, stop the train movement. When the train speed is greater than M3, the emergency braking signal is immediately activated and the alarm device is started; S74: When the train speed is less than M3, the alarm device is immediately started; S75: When the train is in the emergency braking state or the non-emergency braking state, and it is judged whether the distance threshold value Y is exceeded. When the threshold value Y is not exceeded, the train movement is stopped and the train returns to the initial position of the state; when the distance threshold value Y is exceeded, the emergency braking signal is immediately activated, the train movement is stopped, and the train returns to the initial position and stops moving.

[0017] Preferably, for S75 when the train is in the emergency braking state or the non-emergency braking state: when the train speed is greater than M1, the emergency braking signal is immediately activated, the train movement is stopped, and the train returns to the initial state; when the train speed is less than M1, the alarm is immediately started.

[0018] Preferably, in S32, by analyzing the door opening command acquisition time and the door opening failure acquisition time, the door opening command status time T1 is analyzed, and then the abnormality of the train system is judged. By judging the time of T1 acquisition, it is determined whether the train system is in an emergency stop state when an abnormality occurs.

[0019] Compared with the prior art, the present invention has the following beneficial effects: When the train is in the normal running and closing state, according to the data feedback by the system when the closing command is received and when the closing failure occurs, the closing state of the train door is analyzed and the fault location is located; when the train door has a fault, according to the running state of the train when the train door is opened and the train is controlled at different running speeds of the train. The present invention analyzes the data curves of the door opening command, the door closing command and the door opening failure signal, and judges the relationship between the door opening command, the door closing command and the door opening failure signal, and then determines the door fault location; the present invention analyzes the time difference between the door opening command and the door opening failure signal, and determines whether the door is abnormal according to the analysis result. When the door is abnormal, it is determined whether the train brakes; the present invention judges that the train is in a non-emergency state. When the train position exceeds the preset threshold, the alarm system is started and the train movement is stopped. The present invention can determine whether the train door opening failure is urgent when the train speed is 0 and perform emergency braking. When the train door has a fault, it can accurately determine the fault location and control the relevant systems. Detailed implementation mode

[0020] The following further explains the present invention.

[0021] An intelligent fault diagnosis and early warning method for rail transit vehicles includes the following steps: S100: When the train is normally closed, collect the door opening command, the door closing command and the door opening failure signal; S200: Analyze the door closing state according to the normal closing and door opening failure command signals, including the initial closing position, the actual closing position and the expected closing position; S300: Judge the door opening and closing frequency by signal acquisition; S400: Analyze the door opening and closing frequency to confirm whether the door system is abnormal; S500: Analyze the actual door opening position to determine the actual position when the door opening failure occurs; S600: Confirm the actual position, and open the corresponding door for emergency operation according to system abnormality or different actual positions; S700: Perform emergency operation on the train after the door fails.

[0022] In S100, the door opening command refers to the signal for the train to perform the door opening operation, the door closing command refers to the signal for the train to perform the door closing operation, and the door opening failure refers to the signal indicating that a failure has occurred in the train doors.

[0023] In S200, the following operations are performed when the train is closing the door normally; S21: After the train issues the door closing command, collect the status data of the door system; S22: Determine whether the door system is operating normally based on the status data of the door system; if the door system is operating normally, the train determines the door closing failure situation after the door closing signal is issued according to the signal feedback; S23: When the train does not have a door closing failure, determine whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command issued by the door system; In S22, when the door system is not operating normally, execute S26: Determine whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command issued by the door system; when the door system is operating normally; S24: Determine whether a door closing failure signal is generated; S25: If there is no door closing failure signal, the expected door closing position is the position of the door at the time of collecting the door opening command; otherwise, perform positioning; S26: When no door closing failure signal is generated, the actual door opening position is the position of the door at the time of collecting the door closing command; when a door closing failure signal is generated, the actual door opening position is the position of the door when the door closing failure signal disappears; S27: Determine the failure position based on the actual door opening position and the expected door opening position.

[0024] In S300, the following operations are performed when the train has a door opening failure; S31: At the time of collecting the door opening command and the door opening failure for the train; S32: Analyze the data collected in S31 to obtain the time difference between when the door opening command is issued and when the door failure occurs for the train, which is T1.

[0025] In S400, the following operations are performed when the train has a door opening failure; S41: Determine whether T1 is greater than the threshold value M1; S42: When T1 is greater than the threshold value M1, determine whether the door system is abnormal; otherwise, if T1 does not exceed the threshold value M1, the door system is normal; S43: When it is determined that T1 exceeds the threshold value M1, it is determined that the door system is abnormal, and when the door closing failure time difference is greater than the threshold value M2, that is, T2≥M2, the door system determined in S41 is in a normal state; otherwise, execute S45 to perform a door abnormality check; S44: When the train is in an emergency stop situation or there is a door opening failure under non-emergency stop conditions, perform S44; otherwise, execute S45 to perform a door abnormality check. S45: When the train is in an emergency stop situation, then perform S46: Determine the current position of the train through the door drive curve. S47: Determine the current position of the train. If it is in a non-emergency stop state, then perform S48 for position acquisition: S481: Acquire the current fault position of the train. S482: Record the current position of the train and time the door opening failure signal. S483: Record the timing time T2. S484: Determine whether T2 is greater than the threshold value M1. If so, then determine that the door system is abnormal; otherwise, perform S485. S485: When T2 ≤ the threshold value M1 and the train continues to move, record the newly acquired train position and return to S483 to re-time T2. Analyze the door opening failure through the door opening command time, door opening failure status, and train position. When the train running speed is greater than or less than the threshold value, respectively judge the door state to confirm the door system or / and train system state. In S442, confirm the area where the train is located by collecting status data. Before the train reaches the preset distance, analyze whether the door state is abnormal. When the collected door state data is abnormal, confirm the area position where the train is located. In S48, Judge the train fault position. When the train position exceeds the limit, the system activates an emergency braking signal and alarms. When the train position does not exceed the limit, the door system is normal and the train position is recorded.

[0026] In S500, when a door opening failure occurs on the train, determine the door fault position. S51: When receiving the door opening failure status, judge whether the current train position exceeds the preset limit. S52: When it does not exceed the preset limit, record the door opening failure position; when it exceeds, the train stops and determines whether to activate the emergency braking signal. S600, perform the following operations in the case of train failure: S61: When the door system is abnormal, if the door opening failure status disappears, then stop the train movement and return to the fault initial state.

[0027] S62: When the door system is abnormal, if the door opening failure status has not disappeared, at this time, judge the emergency braking signal. If there is an immediate start of the emergency braking signal, otherwise, judge the train position. When the preset distance is exceeded, immediately start the emergency braking signal, otherwise, continue to judge the door opening state; S63: When the door system is normal, when the door opening failure status disappears, execute S62. When the door opening failure has not disappeared, immediately start the emergency braking signal; S64: When the door opening failure disappears and the train has not executed emergency braking, stop the train movement, judge whether the train position exceeds the distance value X. If not, return to the initial state; S65: If the preset threshold value of the distance value X is exceeded, return to the initial state.

[0028] In S63, when the running speed exceeds the threshold value M3, when there is an emergency braking, stop the system movement; when there is no emergency braking, immediately start the emergency braking signal and stop the system movement; When the running speed is lower than KM3, detect system abnormalities. When there is an emergency braking, stop the system movement; when there is no emergency braking, return to the initial state; During normal door opening, after judging the train state, judge the system, and then position the train and perform emergency operations.

[0029] In S700, the following operations are performed in the case of a train door opening failure; S71: When the train system is normal, the door system is abnormal, and when the train has a door opening failure, judge the position of the door according to the door opening command status time; S72: When the train system is abnormal, judge the position of the door according to the door opening command status time. At this time, perform S73; when the train system is abnormal, after judging the position of the door according to the door opening command status time, return to S71 for judgment; S73: Record the system abnormality, stop the train movement. When the train speed is greater than M3, immediately start the emergency braking signal and start the alarm device; S74: When the train speed is less than M3, immediately start the alarm device; S75: When the train is in the emergency braking state or the non-emergency braking state, and judge whether the distance threshold Y is exceeded. When the threshold Y is not exceeded, stop the train movement and return to the initial state position; when the distance threshold Y is exceeded, immediately start the emergency braking signal, stop the train movement, return to the initial position and stop moving.

[0030] S75 when the train is in the emergency braking state or the non-emergency braking state: When the train speed is greater than M1, immediately activate the emergency braking signal, stop the train from moving, and return to the initial state; When the train speed is less than M1, immediately activate the alarm.

[0031] In S32, by collecting the door opening command time and the door opening fault collection time, analyze the door opening command status time T1, and then judge the abnormality of the train system. By judging the time collected by T1, determine whether the train system is in an emergency stop state when an abnormality occurs.

[0032] The working principle of the present invention: The train collects signals in the door-closed state, analyzes the status of the train doors, and judges the train stop door opening fault according to the actual position. When the train system status is different, judge the train position according to the train speed. When the train is within the limit, continue to monitor the system status; when the train speed is less than the threshold speed, give an alarm; when the train speed is higher than the threshold speed, give an alarm and stop the train from moving; when the train has a door opening fault, confirm the train system status. When the train is in a non-emergency state, judge the train position. When the train position is greater than the limit value, apply emergency braking. When the train position is less than the limit value, give an alarm. After the train reaches the stop position, check the train system. After the check is completed, resume normal operation; according to the system status, determine that the train is in the door-closed state. By analyzing T1, analyze the occurrence status of the door opening fault. When T1 is greater than the threshold, determine whether the system door opening system is abnormal. When the system is normal and the fault has not occurred, confirm the train stop door opening position. When the door opening fault occurs, determine the door-closed position, and judge the train stop door opening fault according to the door opening command collection time; according to the train system status, judge the train position. If the train system is abnormal, determine the train position. When the train speed is greater than the threshold M3, determine it as emergency braking. When the train speed is less than the threshold M3, perform an alarm operation. When the train position is less than the threshold Y, stop the train from moving.

[0033] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent fault diagnosis and early warning method for rail transit vehicles, characterized in that: It includes the following steps: S100: When the train is normally closed, collect the door opening command, door closing command, and door opening fault signal; S200: Analyze the door closing state based on the normal door closing and door opening fault command signals, including the initial door closing position, actual door closing position, and expected door closing position; S300: Judge the door opening and closing frequency by signal collection; S400: Analyze the door opening and closing frequency to confirm whether the door system is abnormal; S5 S500: Analyze the actual door opening position to determine the actual position when the door opening fault occurs; S6 S600: Confirm the actual position, and perform emergency operations by opening the corresponding doors according to system abnormalities or different actual positions; S700: Perform emergency operations on the train after the door fails; when the train is normally closed, analyze the data curves of the door opening command, door closing command, and door opening fault signal, and judge the relationship between the door opening command, door closing command, and door opening fault signal, so as to determine the door fault position; S800: When the train has a door opening fault, analyze the time difference between the door opening command and the door opening fault signal, and make a determination of door abnormality according to the result. When the door is abnormal, determine whether the train brakes.

2. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 1, wherein: In S100, the door opening command refers to the signal for the train to perform a door opening operation, the door closing command refers to the signal for the train to perform a door closing operation, and the door opening fault refers to the signal indicating that the train door has a fault.

3. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 1, characterized in that: In S200, the following operations are performed under the condition that the train is normally closed; S21: After the train issues a door closing command, collect the door system status data; S22: Judge whether the door system is operating normally according to the door system status data; when the door system is operating normally, the train judges the door closing fault situation after the door closing signal is sent according to the signal feedback; S23: When the train does not have a door closing fault, judge whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command issued by the door system.

4. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 3, characterized in that: In S22, when the door system is not operating normally, execute S26: Judge whether the actual door closing position is the same as the expected door closing position by collecting the time of the door closing command issued by the door system; when the door system is operating normally; S24: Judge whether a door closing fault signal is generated; S25: If there is no door closing fault signal, the expected door closing position is the position of the door at the time of collecting the door opening command; otherwise, perform positioning; S26: When no door closing fault signal is generated, the actual door opening position is the position of the door at the time of collecting the door closing command; when a door closing fault signal is generated, the actual door opening position is the position of the door when the door closing fault signal disappears; S27: Judge the fault position according to the actual door opening position and the expected door opening position.

5. An intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 1, characterized in that: In S300, the following operations are performed under the condition that the train has a door opening fault; S31: Collect the door opening command collection time and door opening fault collection time when the train receives the door opening command; S32: Analyze the time difference between the time when the train issues the door opening command and the time when the door fails according to the data collected in S31, which is T1; In S32, by analyzing the door opening command collection time and the door opening fault collection time, analyze the door opening command status time T1, and then judge the abnormality of the train system. By judging the time collected by T1, judge whether the train system is in an emergency stop state when it is abnormal.

6. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 1, characterized in that: In S400, the following operations are performed in the case of a train door opening failure; S41: Determine whether T1 is greater than the threshold M1; S42: When T1 is greater than the threshold M1, determine whether the door system is abnormal. Otherwise, if T1 does not exceed the threshold M1, the door system is normal; S43: When it is determined that T1 exceeds the threshold M1, it is determined that the door system is abnormal. And when the door closing failure time difference is greater than the threshold M2, that is, T2≥M2, and the door system judged in S41 is in a normal state, then when the train is in an emergency stop situation or there is a door opening failure in a non-emergency stop situation, S44 is performed; Otherwise, execute S45 to perform a door abnormality check; S44: When the train is in an emergency stop situation, then S46 is performed: Determine the current position of the train through the door drive curve; S45: When the train is in a non-emergency stop state, then S47: Determine the current position of the train. If it is in a non-emergency stop state, then S48 is performed for position acquisition: S481: Acquire the current fault position of the train; S482: Record the current position of the train and time the door opening failure signal; S483: Record the timing time T2; S484: Determine whether T2 is greater than the threshold M1. If so, determine that the door system is abnormal; otherwise, perform S485. S485: When T2≤the threshold M1 and the train continues to move, record the newly acquired train position and return to S483 to re-time T2; Analyze the door opening failure through the door opening command time, door opening failure status, and train position. When the train running speed is greater than or less than the threshold, judge the door state respectively to confirm the door system or / and train system state.

7. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 6, characterized in that: In S482, confirm the area where the train is located by collecting status data. Before the train reaches the preset distance, analyze whether the door state is abnormal. When the collected door state data is abnormal, confirm the area position where the train is located.

8. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 6, characterized in that: In S48, judge the train fault position. When the train position exceeds the limit, the system starts an emergency braking signal and alarms; when the train position does not exceed the limit, the door system is normal and the train position is recorded.

9. The intelligent fault diagnosis and early warning method for rail transit vehicles according to claim 1, characterized in that: In S500, determine the door fault position in the case of a train door opening failure; S51: When receiving the door opening failure status, determine whether the current train position exceeds the preset limit; S52: When it does not exceed the preset limit, record the door opening failure position; when it exceeds, the train stops and determines whether to start an emergency braking signal.

10. A method for intelligent fault diagnosis and early warning of rail transit vehicles according to claim 1, characterized in that: S600. In the case of train failure, perform the following operations: S61: When the door system is abnormal, if the door opening failure status disappears, stop the train movement and return to the initial failure state. S62: When the door system is abnormal, if the door opening failure status does not disappear. At this time, judge the emergency braking signal. If there is an immediate start of the emergency braking signal, otherwise, judge the train position. When the preset distance is exceeded, immediately start the emergency braking signal, otherwise, continue to judge the door opening state; S63: When the door system is normal, when the door opening failure status disappears, execute S62. When the door opening failure does not disappear, immediately start the emergency braking signal; S64: When the door opening failure disappears and the train has not performed emergency braking, stop the train movement. Judge whether the train position exceeds the distance value X. If not, return to the initial state; S65: If the preset threshold of the distance value X is exceeded, return to the initial state; In S63, when the running speed exceeds the threshold M3, when there is an emergency braking, stop the system movement; when there is no emergency braking, immediately start the emergency braking signal and stop the system movement; when the running speed is lower than KM3, detect system abnormalities. When there is an emergency braking, stop the system movement; when there is no emergency braking, return to the initial state; When the door opens normally, after judging the train state, judge the system, then position the train and perform emergency operations; In S700, perform the following operations in the case of train door opening failure; S71: When the train system is normal, the door system is abnormal, and when the train has a door opening failure, judge the position of the door according to the door opening command status time; S72: When the train system is abnormal, judge the position of the door according to the door opening command status time. At this time, perform S73; When the train system is abnormal, after judging the position of the door according to the door opening command status time, return to S71 for judgment; S73: Record the system abnormality situation, stop the train movement. When the train speed is greater than M3, immediately start the emergency braking signal and activate the alarm device; S74: When the train speed is less than M3, immediately activate the alarm device; S75: When the train is in the emergency braking state or the non-emergency braking state, and judge whether the distance threshold Y is exceeded. When the threshold Y is not exceeded, stop the train movement and return to the initial state position; When the distance threshold Y is exceeded, immediately start the emergency braking signal, stop the train movement, return to the initial position and stop moving; S75 When the train is in the emergency braking state or the non-emergency braking state: When the train speed is greater than M1, immediately start the emergency braking signal, stop the train movement, and return to the initial state; When the train speed is less than M1, immediately activate the alarm.