Integrated intelligent platform door control system and method

Abstract

The invention provides an integrated intelligent platform door control system and method. The integrated intelligent platform door control system comprises a PSC, a DCU and a gap detection device. Each platform door corresponds to one DCU and one gap detection device; the gap detection device is connected with the DCU through an RS485 serial bus; the DCU is connected with the PSC through a controller area network (CANFD) bus; the gap detection device comprises double radars and a camera module; the DCU comprises double CPUs (Central Processing Unit); the state information of the double radars is synchronously acquired by the double CPUs of the DCU and is subjected to two-out-of-two logic operation to obtain an operation result of whether an obstacle exists or not; the PSC controls the platform door based on the operation result of whether the obstacle exists or not, and the camera module is used for collecting image information when the obstacle exists. According to the integrated intelligent platform door control system and method provided by the invention, the gap detection device, the PSC and the DCU are integrated together, so that the cost of the platform door control system is reduced, the intelligent level and reliability of the platform door control system are improved, and the platform door control system is convenient for operators to use.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to an integrated intelligent platform door control system and method. Background Art

[0002] With the continuous construction of subway lines, the number of users is constantly increasing, and the departure intervals are constantly shortening. This places greater demands on the reliability and safety of subway platform doors. Due to the inevitable gap between the platform door and the train body, there is a risk that passengers or large items may be accidentally or intentionally trapped between the platform door and the train body when boarding or exiting the train, endangering passenger safety and train operation safety.

[0003] To prevent such accidents, several methods are currently available to detect people and objects trapped in gaps, such as installing anti-pinch baffles and installing a rear-mounted light strip. However, these methods have large blind spots and require a high installation angle, making them unsuitable for non-linear platforms. Furthermore, if an obstacle is present, the vehicle's location cannot be immediately determined.

[0004] Although some detection solutions currently using laser detection radar have reduced the risk of passengers or luggage being trapped to a certain extent, the gap detection system is an independent system and cannot be linked with the platform screen door control system. This not only increases the hardware cost of the platform screen door control system, but also is still inconvenient for operators to use in terms of obstacle alarm display. Summary of the Invention

[0005] The present invention provides an integrated intelligent platform door control system and method, which are used to solve the technical problems of the prior art platform screen door control system, such as high hardware cost and inconvenience for operators to use.

[0006] In a first aspect, the present invention provides an integrated intelligent platform door control system, comprising a platform screen door control system PSC, a door unit controller DCU and a gap detection device; Each platform door corresponds to a door unit controller DCU and a gap detection device; The gap detection device is connected to the door unit controller DCU via a serial bus; The door unit controller DCU is connected to the screen door control system PSC via a controller area network CANFD bus; The gap detection device includes dual radar and camera modules; The door unit controller DCU includes dual central processing units CPU; The dual central processing unit (CPU) is used to synchronously collect the status information of the dual radars and perform a two-out-of-two logical operation to obtain an operation result indicating the presence or absence of obstacles. The platform screen door control system (PSC) controls the platform doors based on the operation result indicating the presence or absence of obstacles, and the camera module is used to collect image information when there are obstacles.

[0007] In some embodiments, the dual radars are installed in the same direction.

[0008] In some embodiments, the detection directions of the dual radars are consistent with the direction of the vehicle head.

[0009] In some embodiments, both of the dual radars are infrared lidars.

[0010] In some embodiments, during the gap detection process, the gap detection devices corresponding to the platform doors with odd numbers and the platform doors with even numbers alternately detect.

[0011] In some embodiments, during the gap detection process, the dual radars in the gap detection device alternately detect.

[0012] In some embodiments, it further includes a door headlight; The door headlight is connected to the door unit controller (DCU); In the case of detecting an obstacle, the door unit controller (DCU) controls the door headlight to give an alarm.

[0013] In some embodiments, a safety loop is further included between the door unit controller (DCU) and the platform screen door control system (PSC); A set of nodes of the relay controlled by the door unit controller (DCU) according to the operation result is connected in series to the safety loop; the other set of nodes of the relay is retrieved by the door unit controller (DCU).

[0014] In some embodiments, it further includes a first fault detection point Check1 and a second fault detection point Check2; The first fault detection point Check1, the second fault detection point Check2, and the grounding point of the safety loop are connected to the door unit controller (DCU) corresponding to each platform door.

[0015] In a second aspect, the present invention further provides a method for controlling a platform door based on the integrated intelligent platform door control system according to any one of the first aspects, including: The door unit controller (DCU) obtains the status information of the first radar and the second radar collected by the gap detection device; The dual central processing unit (CPU) of the door unit controller (DCU) performs a two-out-of-two logical operation on the status information to obtain an operation result indicating the presence or absence of obstacles; The platform screen door control system PSC controls the platform screen door based on the operation result of whether there is an obstacle or not.

[0016] The integrated intelligent platform screen door control system and method provided by the present invention integrate the gap detection device, PSC, and DCU together, which not only reduces the cost of the platform screen door control system, but also improves the intelligent level and reliability of the platform screen door control system, and is convenient for operation personnel to use. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the integrated intelligent platform screen door control system provided by the present invention.

[0019] Figure 2 It is a schematic structural diagram of the gap detection device provided by the present invention.

[0020] Figure 3 It is a schematic structural diagram of the safety loop provided by the present invention.

[0021] Figure 4 It is a schematic structural diagram of the principle of the fault detection circuit provided by the present invention.

[0022] Figure 5 It is a schematic flow diagram of the integrated intelligent platform screen door control method provided by the present invention.

[0023] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. Detailed Description of the Embodiments

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0025] Figure 1 It is a schematic structural diagram of the integrated intelligent platform screen door control system provided by the present invention. As Figure 1 shown, the system includes a platform screen door control system PSC, a door unit controller DCU, and a gap detection device; Each platform screen door corresponds to a door unit controller (DCU) and a gap detection device; The gap detection device is connected to the door unit controller (DCU) through a serial bus; The door unit controller (DCU) is connected to the platform screen door control system (PSC) through a Controller Area Network with Flexible Data-Rate (CANFD) bus; The gap detection device includes a dual radar and a camera module; The door unit controller (DCU) includes a dual central processing unit (CPU); The status information of the dual radar is synchronously collected by the dual central processing units (CPUs) of the door unit controller (DCU) and a two-out-of-two logical operation is performed to obtain an operation result indicating the presence or absence of an obstacle; the platform screen door control system (PSC) controls the platform screen door based on the operation result indicating the presence or absence of an obstacle, and the camera module is used to collect image information when an obstacle is present.

[0026] Specifically, Figure 2 is a schematic structural diagram of the gap detection device provided by the present invention. As Figure 2 shown, the DCU adopts a two-out-of-two method with dual CPUs, and the gap detection device adopts a unit of dual radar and a camera module. The implementation method of communication between the DCU and the gap detection device is through hardwiring and an RS485 serial bus. The DCU outputs power to supply power to the gap detection device and controls the on / off of this power supply. The RS485 serial bus communication can transmit signals for starting detection, stopping detection, and the status information of the radar. Functions such as program upgrade of the radar and delimiting the alarm area can also be achieved through this RS485 serial bus signal. The status information of the radar transmitted through the hardwiring for status acquisition is synchronously collected by the dual CPUs of the DCU and a two-out-of-two logical operation is performed. The acquisition results of the dual radar also perform a two-out-of-two operation. Finally, the DCU determines the information on the presence or absence of an obstacle, and the safety level can reach SIL4. The camera module can record and store the image information when an obstacle is present.

[0027] The communication method between the DCU and the PSC can use CANFD communication. In a daisy-chain (parallel) manner, all the upstream DCUs are mounted on the upstream CANFD bus, and the downstream DCUs are mounted on the downstream CANFD bus. The CANFD communication method facilitates adding or subtracting the number of DCUs according to the number of doors, which is convenient for expansion. Two groups of CANFD networks are used on one side. At the same time, the CANFD adopts a secure communication protocol, and the communication data is processed by the dual CPUs with a two-out-of-two logic, and the safety level can reach SIL4.

[0028] In some embodiments, the dual radar is installed in the same direction.

[0029] In some embodiments, the detection directions of the dual radar are consistent with the direction of the vehicle head.

[0030] In some embodiments, both radars are infrared lidars.

[0031] In some embodiments, during the process of gap detection, the gap detection devices corresponding to the platform doors with odd numbers and the platform doors with even numbers detect alternately.

[0032] In some embodiments, during the process of gap detection, the dual radars in the gap detection device detect alternately.

[0033] Specifically, for radar detection, to prevent the crosstalk of infrared lasers between radars, the radars are installed in the same direction in design. For example, the detection direction is the same as the direction of the vehicle head, which can reduce the dust on the lens and ensure the clarity of the collected images. By adopting the method of alternately detecting with the gap detection devices corresponding to the platform doors with odd numbers and the platform doors with even numbers, and / or alternately detecting with Radar 1 and Radar 2, it can avoid false alarms caused by the mutual influence of radar detection light due to environmental reflection and other influences, and further improve the reliability and accuracy of the system.

[0034] In some embodiments, it further includes a door head lamp; The door head lamp is connected to the door unit controller DCU; When an obstacle is detected, the door unit controller DCU controls the door head lamp to give an alarm.

[0035] Specifically, when the platform door system receives the door closing signal from the signal system, while the DCU controls the door to close, it starts the gap detection device. When the door closing encounters an obstruction, the DCU determines whether to activate the anti-pinch function or directly retract to the open position and report the obstacle by judging whether there is obstacle information, so as to realize a more intelligent door opening and closing function.

[0036] Based on the state display of the traditional door head lamp, the state indication of the door head lamp can also directly display the state such as whether there is an obstacle information and radar fault information by the control of the DCU, realizing a more intuitive state display.

[0037] In some embodiments, there is also a safety circuit between the door unit controller DCU and the platform screen door control system PSC; One set of nodes of the relay controlled by the DCU according to the operation result is connected in series to the safety circuit; the other set of nodes of the relay is collected by the door unit controller DCU.

[0038] Specifically, in the embodiment of the present application, the operation result of the radar directly controls the safety circuit. Figure 3 It is a schematic structural diagram of the safety circuit provided by the present invention, as Figure 3 shown, ASD lock 1 and ASD lock 2 are the contact signals of the electromagnetic lock stroke switches of the sliding door. When the door is closed and locked, the contact switches of the safety circuits of ASD lock switch 1 and ASD lock switch 2 are closed, and at the same time Figure 3The acquisition signals ① and ② therein are acquired by the DCU. The DCU can judge the state of the sliding door based on these acquisition signals and upload the state to the PSC via the CANFD bus.

[0039] Figure 3 In it, the EED lock switch 1 and the EED lock switch 2 are travel switches for closing and locking the emergency door. When the emergency door is closed and locked, the contact switches of the safety circuits of the EED lock switch 1 and the EED lock switch 2 are closed. At the same time Figure 3 The acquisition signals ③ and ④ therein are acquired by the DCU. The DCU can judge whether the emergency door is closed and locked based on these acquisition signals and upload this state to the PSC via the CANFD bus.

[0040] The obstacle presence / absence relay can be a safety-type relay directly driven by the DCU ( Figure 3 ⑤ in it is the drive signal), one set of nodes is connected in series to the safety circuit, and the other set of nodes is sampled back by the DCU ( Figure 3 ⑥ in it is the sampled-back signal). When the gap detection device detects no obstacle, the DCU drives the obstacle presence / absence relay to pick up, and at this time the safety circuit at the obstacle presence / absence position is closed. When the gap detection device detects an obstacle, the DCU drives the obstacle presence / absence relay to drop, and at this time the safety circuit at the obstacle presence / absence position is opened. The DCU judges whether to continue to execute the door closing action based on the sampled-back result and uploads the obstacle presence / absence information to the PSC via the CANFD. The PSC judges whether to output a closed and locked signal to the signal system based on the state of the safety circuit. The local control box LCB can control the conduction of the safety circuit at the DCU. When the obstacle presence / absence relay or the ASD lock travel switch fails to affect the closure of the safety circuit, the safety circuit can be conducted through the LCB. At the same time, the acquisition signal ⑦ of the DCU is acquired by the DCU to judge the position state of the current LCB and upload this state to the PSC. The emergency door bypass switch can control the conduction of the safety circuit at the emergency door. When the emergency door lock switch fails to conduct the safety circuit, the safety circuit can be conducted through this emergency door bypass switch. At the same time, the acquisition signal ⑧ of the DCU is acquired by the DCU to judge the position state of the current emergency door travel switch and upload this state to the PSC.

[0041] In the embodiment of the present application, the operation result of the radar is directly used to control the safety circuit, further improving the reliability and accuracy of the system.

[0042] In some embodiments, it further includes a first fault detection point Check1 and a second fault detection point Check2; The first fault detection point Check1, the second fault detection point Check2 and the grounding point of the safety circuit are connected to the door unit controller DCU corresponding to each platform door.

[0043] Specifically, Figure 4It is a schematic structural diagram of the fault detection circuit principle provided by the present invention. As Figure 4 shown, since there are many nodes actually connected in series in the safety loop of the platform screen door system, when problems such as wire head detachment occur, the previous method was to use the dichotomy method and other methods to measure the lines on-site for query, which was time-consuming and laborious. In the DCU of this application embodiment, a disconnection detection function is designed. When problems such as the detachment of the safety loop wire occur, information such as the door number of the disconnection can be directly viewed on the upper computer of the PSC. As Figure 4 shown, Check1 and Check2 are connected to the ground point GND of the safety loop and access the DCU on each door. The DCU uploads the disconnection detection information of this safety loop to the monitoring host of the PSC. After being aggregated and calculated by the detection host, it can be displayed on the upper computer where the disconnection is specifically between which two doors.

[0044] In the embodiment of this application, the first fault detection point Check1, the second fault detection point Check2 and the ground point of the safety loop are connected to the door unit controller DCU corresponding to each platform screen door, which is convenient for the disconnection detection of the safety loop during operation and maintenance.

[0045] Next, the integrated intelligent platform screen door control method provided by the present invention will be described. The integrated intelligent platform screen door control method described below can be mutually referred to the integrated intelligent platform screen door control system described above.

[0046] Figure 5 It is a schematic flow diagram of the integrated intelligent platform screen door control method provided by the present invention. As Figure 5 shown, the integrated intelligent platform screen door control method provided by the present invention includes: Step 501, the door unit controller DCU obtains the status information of the dual radars collected by the gap detection device; Step 502, the first central processing unit CPU and the second central processing unit CPU of the door unit controller DCU perform a two-out-of-two logical operation on the status information to obtain an operation result indicating whether there is an obstacle; Step 503, the platform screen door control system PSC controls the platform screen door based on the operation result indicating whether there is an obstacle.

[0047] Specifically, the above integrated intelligent platform screen door control method provided by the embodiment of this application is implemented based on the above integrated intelligent platform screen door control system and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0048] Figure 6 An example of a schematic physical structure diagram of an electronic device is shown in Figure 6As shown in the figure, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logical instructions in the memory 830 to execute the platform door control method of the integrated intelligent platform door control system. The method includes: The door unit controller DCU obtains the status information of the dual radars collected by the gap detection device; The dual central processing units CPU of the door unit controller DCU perform a two-out-of-two logical operation on the status information to obtain an operation result indicating whether there is an obstacle; The platform screen door control system PSC controls the platform door based on the operation result indicating whether there is an obstacle.

[0049] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of software functional units and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0050] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the platform door control method of the integrated intelligent platform door control system provided by the above-mentioned various methods. The method includes: The door unit controller DCU obtains the status information of the dual radars collected by the gap detection device; The dual central processing units CPU of the door unit controller DCU perform a two-out-of-two logical operation on the status information to obtain an operation result indicating whether there is an obstacle; The platform screen door control system PSC controls the platform door based on the operation result indicating whether there is an obstacle.

[0051] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the platform door control method of the integrated intelligent platform door control system provided by the above-mentioned various methods. The method includes: The door unit controller DCU obtains the status information of the dual radars collected by the gap detection device; The dual central processing units CPU of the door unit controller DCU perform a two-out-of-two logical operation on the status information to obtain an operation result indicating whether there is an obstacle; The platform screen door control system PSC controls the platform door based on the operation result indicating whether there is an obstacle.

[0052] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative labor.

[0053] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solutions, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated intelligent platform screen door control system, characterized in that, It includes a platform screen door control system PSC, a door unit controller DCU, and a gap detection device; Each platform screen door corresponds to a door unit controller DCU and a gap detection device; The gap detection device is connected to the door unit controller DCU through a serial bus; The door unit controller DCU is connected to the platform screen door control system PSC through a Controller Area Network CANFD bus; The gap detection device includes a dual radar and a camera module; The door unit controller DCU includes a dual central processing unit CPU; The dual central processing unit CPU is used to synchronously collect the status information of the dual radar and perform a two-out-of-two logical operation to obtain an operation result indicating the presence or absence of an obstacle; the platform screen door control system PSC controls the platform screen door based on the operation result indicating the presence or absence of an obstacle, and the camera module is used to collect image information when there is an obstacle.

2. The integrated intelligent platform screen door control system according to claim 1, wherein The dual radars are installed in the same direction.

3. The integrated intelligent platform screen door control system according to claim 2, characterized in that, The detection directions of the dual radars are consistent with the direction of the train head.

4. The integrated intelligent platform screen door control system according to claim 1, wherein Both of the dual radars are infrared lidars.

5. The integrated intelligent platform screen door control system according to claim 1, wherein During the gap detection process, the gap detection devices corresponding to the platform screen doors with odd numbers and the gap detection devices corresponding to the platform screen doors with even numbers detect alternately.

6. The integrated intelligent platform screen door control system according to claim 1, characterized in that During the gap detection process, the dual radars in the gap detection device detect alternately.

7. The integrated intelligent platform screen door control system according to claim 1, characterized in that, It also includes a door headlight; The door headlight is connected to the door unit controller DCU; In the case of detecting an obstacle, the door unit controller DCU controls the door headlight to give an alarm.

8. The integrated intelligent platform screen door control system according to claim 1, characterized in that There is also a safety circuit between the door unit controller DCU and the platform screen door control system PSC; A set of nodes of a relay controlled by the door unit controller DCU according to the operation result is connected in series to the safety circuit; the other set of nodes of the relay is sampled back by the door unit controller DCU.

9. The integrated intelligent platform screen door control system according to claim 8, wherein, It also includes a first fault detection point Check1 and a second fault detection point Check2; The first fault detection point Check1, the second fault detection point Check2, and the grounding point of the safety circuit are connected to the door unit controller DCU corresponding to each platform screen door.

10. The platform door control method of the integrated intelligent platform door control system according to any one of claims 1 to 9, characterized in that, It includes: The door unit controller DCU obtains the status information of the dual radar collected by the gap detection device; The dual central processing unit CPU of the door unit controller DCU performs a two-out-of-two logical operation on the status information to obtain an operation result indicating the presence or absence of an obstacle; The platform screen door control system PSC controls the platform screen door based on the operation result indicating the presence or absence of an obstacle.

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