A platform door and electric passenger train cooperative safety protection system and method based on multi-source perception

Abstract

The application relates to the technical field of urban rail transit safety control, and discloses a platform door and electric train cooperative protection system and method based on multi-source sensing. The system acquires an emergency trigger signal generated by passengers actively, and obtains personnel detection information in combination with a detection device arranged in a door gap area between a platform door and an electric train door. A safety control unit performs fusion determination based on the emergency trigger signal, the door gap area detection information and the states of the platform door and the electric train door, and determines a protection mode according to a comprehensive risk value. When preset protection conditions are met, the closing action of the platform door and / or the electric train door is stopped through a hardware interface, and the departure permission of the electric train is blocked. The application can improve the passenger trapping risk identification capability under high passenger flow, complex shielding and other working conditions, reduce the door gap area trapping risk and the electric train misdeparture risk, and has the advantages of high safety, strong engineering implementability, easy deployment in an existing platform door system and the like.

Description

Technical Field

[0001] This invention belongs to the field of urban rail transit safety control technology, specifically relating to a safety protection system and method that integrates passenger active emergency triggering signals, multi-source environmental perception information, and independent safety control units to coordinate the control of platform doors, train doors, and train departure permits. Background Technology

[0002] With the continuous expansion of urban rail transit passenger flow, the platform screen doors and train door areas are often highly crowded during peak hours when trains enter, stop, and depart. Due to factors such as crowding, obstructed views, and limited space, passengers may be unable to board or alight in time, resulting in dangerous situations where parts or all of their bodies may be trapped between the platform screen doors and the train doors.

[0003] Existing platform screen door systems typically employ safety measures such as photoelectric sensors, door operator clamping force detection, anti-pinch strips, and emergency buttons. However, in environments with high passenger flow and severe obstructions, photoelectric sensors are easily affected by blockages, door operator clamping force detection has a certain trigger lag, and emergency buttons rely on active passenger operation, often failing to activate promptly when passengers are trapped or have limited mobility. Furthermore, some systems rely primarily on the door operator's locking status as the departure permission condition after the platform screen door and train doors have closed, lacking the ability to continuously monitor the status of personnel within the narrow gap between the platform screen door and train doors, posing a potential risk of trains departing incorrectly.

[0004] Therefore, there is an urgent need for a safety protection solution that can maintain high reliability even under conditions of extreme crowding and complex obstructions. This solution should achieve coordinated safety control between platform doors, train doors, and train departure logic through multi-source information collection, rule fusion judgment, and hardware-level safety execution, thereby effectively reducing the probability of trapping injuries. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention provides a safety protection system and method for platform doors and electric trains based on active emergency triggering, multi-source perception, and safety control units. By constructing a multi-layered safety redundancy mechanism of "active triggering + passive perception + rule fusion + hardware interlocking", it can reliably identify the risk of being trapped under complex passenger flow conditions and enforce safety control on platform doors, train doors, and electric train departure permits, thereby avoiding safety accidents caused by the failure of a single detection method.

[0006] The safety solution of this invention adopts a three-level safety architecture: a perception layer, a judgment layer, and an execution layer. The perception layer is mainly used to collect emergency trigger signals actively generated by passengers or station staff in emergency situations, and to collect personnel or human-related target detection information in the gap area between the platform door and the train door. The judgment layer, located within an independent safety control unit, is used for information fusion and emergency judgment. It combines emergency trigger signals, door gap area detection information, platform door status, train door status, and train departure status for comprehensive judgment. The execution layer mainly includes platform door control interface circuits, train door control interface circuits, and train departure suppression interface circuits. When a risk of trapping is detected, it executes safety protection actions such as pausing door closing, reversing door opening, issuing alarms, or blocking train departure permission. When preset emergency conditions are met, the safety control unit enters emergency protection mode and forcibly executes safety controls through hardware interfaces.

[0007] The present invention provides a multi-source sensing-based platform screen door and electric train collaborative safety protection system, comprising: 1. Emergency Trigger Signal Acquisition Module: This is used to collect emergency trigger signals actively generated by passengers or station staff. It mainly includes operational emergency trigger signals. The emergency trigger signal collection module can be set at the lower part of the platform door, the area near the gap between the doors, or a position that is easily accessible to passengers when they are standing. It is used to actively output an emergency trigger signal by continuous pressing or continuous touch when passengers are trapped, partially stuck, or when station staff find that the gap between the doors is in a dangerous state.

[0008] 2. Door gap area detection module: This module is used to detect whether there are people or human-related targets in the gap area between the platform door and the electric bus door. The gap area detection module includes a camera detection device, a laser detection device, and an infrared detection device. The camera detection device is used to detect whether there are human outlines or local human features in the gap area. The laser detection device is used to detect whether the occlusion state or reflection distance of the gap area changes. The infrared detection device is used to detect whether the temperature information of the target in the gap area matches a preset human body temperature range.

[0009] 3. Safety control unit: It includes a signal input interface circuit, a judgment processing circuit, and a safety output interface circuit. It is used to receive emergency trigger signals, door gap area detection signals, platform door status signals, electric train door status signals, and electric train departure status. Based on preset judgment rules, it calculates a comprehensive risk value, determines the corresponding protection mode according to the comprehensive risk value, and generates safety control instructions.

[0010] The external interfaces of the signal input interface circuit are connected to the emergency trigger signal acquisition module, the door gap area detection module, and the urban rail transit signal control system. The urban rail transit signal control system includes a platform door controller, a train door controller, and a train controller, used to provide platform door status signals, train door status signals, and train departure permission status signals. The decision processing circuit performs fusion judgment based on multi-source data and generates safety control commands such as normal door closing, paused door closing, reverse door opening, or blocking train departure permission.

[0011] The safety output interface circuit is used to convert the logic instructions generated by the microcontroller of the decision processing circuit into safe and reliable safety control drive signals. On the one hand, it establishes a hardware connection with the platform door controller and the electric train door controller to execute door control safety actions; on the other hand, it establishes a hardware interlock relationship with the electric train controller to block the electric train departure permission.

[0012] 4. Door system linkage control module: The system establishes a hardware connection with the platform door controller and the electric train door controller through a safety output interface circuit. This is used to execute door control safety actions according to safety control commands, namely, stopping the closing of the platform door and the electric train door, and controlling the platform door and the electric train door to open in the reverse direction.

[0013] 5. Electric Bus Departure Suppression Module: A hardware interlock relationship is established between the safety output interface circuit and the electric train controller to block or delay the departure permit of the electric train before the emergency protection state is lifted.

[0014] 6. Power Supply and Safety Assurance Module: Provide independent or backup power to the safety control unit so that it can still perform safety protection in the event of a main system failure.

[0015] The present invention provides a method for coordinated safety protection of platform screen doors and electric trains based on multi-source sensing, comprising the following steps: S1: Multi-source information acquisition The main purpose is to collect two types of information: (1) emergency trigger signals generated by passengers or station staff; (2) human feature information detection signals in the gap area between the platform door and the electric train door. The detection signals include visual detection signals output by the camera detection device, laser detection signals output by the laser detection device, and infrared detection signals output by the infrared detection device.

[0016] S2: Rule Fusion Emergency Decision The safety control unit makes emergency decisions based on the following conditions: whether the location of the emergency trigger signal is within a preset danger zone, whether a person is detected in the gap between doors, the operating status of the platform door or the train door, and whether the train is in a state where it is allowed to depart or is about to depart. It also determines whether the current period is within a preset risk period. The preset risk period includes the time when the platform door or the train door changes from an open state to a closed state, and the time when the train is in a state where it is allowed to depart or is about to depart.

[0017] S3: Calculation of Overall Risk Value When a preset risk period is in effect, the safety control unit calculates a comprehensive risk value based on emergency trigger signals, visual detection signals, laser detection signals, and infrared detection signals, according to preset judgment rules.

[0018] In order to quantify the risk of entrapment in the gap between the platform screen door and the train door, the safety control unit calculates a comprehensive risk value based on emergency trigger signals, visual detection signals, laser detection signals, and infrared detection signals. (1) in, The overall risk value for the gap area between doors; For the detection weight of emergency trigger signals, This is the status value for the emergency trigger signal; The detection weights for the visual detection signal. This represents the risk value for visual detection. The detection weights for the laser detection signal, This is the laser detection status value; The detection weights for the infrared detection signals. The infrared detection matching state value; and satisfies: (2) Emergency trigger signal status value This is used to indicate whether a passenger or station staff member actively triggered an emergency signal; its value is: (3) The emergency trigger signal can be generated by an emergency trigger device installed under the platform door, in the vicinity of the door gap, or in a location easily accessible to passengers, or it can be triggered by station staff when they discover a risk of entrapment. Preset trigger rules include continuous pressing for a preset duration, continuous touches within a preset time period reaching a preset number of times, or triggering according to a preset rhythm.

[0019] Visual inspection risk value This value is used to characterize the risk level of a camera detection device detecting a human silhouette or local human feature in the gap area between doors. (4) Among them, the risk of getting trapped is higher for human body features such as human outline, hands, and feet, so the visual detection risk value is set to a higher value.

[0020] Laser detection status value This value is used to characterize whether the laser detection device detects obstruction or abnormal changes in reflection distance within the gap area between doors. (5) Among them, continuous occlusion refers to the laser beam being continuously blocked within a preset time window; abnormal change in reflection distance refers to the change in the laser detection distance relative to the background distance of the normal door gap area exceeding a preset distance threshold.

[0021] Infrared detection matching status value Used to characterize the degree of matching between the target temperature information detected by the infrared detection device and the preset human body temperature range, its value is: (6) The human body temperature range can be preset based on the ambient temperature of the platform, the installation location of the infrared detection device, and the safety strategy of the operating unit. The infrared detection matching status value mainly serves as an auxiliary basis for visual and laser detection, improving the reliability of risk assessment in complex lighting, obstruction, or high passenger flow environments.

[0022] S4: Safety Protection Control The safety control unit is based on the comprehensive risk value. With preset risk threshold The comparison results determine the protection mode.

[0023] When satisfied At this time, the normal protection mode is implemented, and the platform doors and train doors operate according to the normal closing procedure.

[0024] When satisfied When the platform door and / or train door are closing, the following safety protection mode is activated: First, the closing action of the platform door and / or train door is stopped, and the platform door and / or train door are opened in reverse according to the current operating status of the door; at the same time, the train departure permission is blocked or delayed through hardware interlocking, and alarm information is output to the station control system or dispatching system.

[0025] Preset risk threshold It can be preset according to the line operation requirements, the gap width between the platform door and the electric train door, the arrangement of the detection device, the historical false triggering situation, and the safety strategy of the operating unit.

[0026] Furthermore, to ensure that the safety protection mode can be triggered when the emergency trigger signal meets the preset trigger rules, the visual detection device identifies the human body outline or local human body features, or the target temperature information detected by the infrared detection device matches the preset human body temperature range, while avoiding false triggering caused by the laser detection device detecting only an obstruction state or an abnormal change in reflection distance, the weighting coefficients and preset risk thresholds satisfy the following: , , , (7) When an emergency trigger signal satisfies a preset trigger rule on its own, its corresponding comprehensive risk contribution value is not less than a preset risk threshold, that is: (8) When a visual inspection device detects a human body outline or local human body features, its corresponding comprehensive risk contribution value is not less than a preset risk threshold, that is: (9) When the target temperature information detected by the infrared detection device matches the preset human body temperature range, its corresponding comprehensive risk contribution value is not less than the preset risk threshold, that is: (10) Therefore, any of the above situations can cause the overall risk value to reach or exceed the preset risk threshold, thereby triggering the security protection mode.

[0027] When only the laser detection device detects an obstruction or abnormal change in reflection distance, the weighting coefficient corresponding to the laser detection status value is less than the preset risk threshold, i.e.: (11) Therefore, the laser detection signal alone is insufficient to trigger the safety protection mode. The laser detection signal mainly serves as an auxiliary confirmation basis for emergency triggering signals, visual detection signals, or infrared detection signals.

[0028] The overall risk value is calculated according to formula (1), and each weight coefficient satisfies formula (2). For example, each weight coefficient and the preset risk threshold can be set as follows: , , (12) S5: State Restoration and Event Logging After the danger is over, restore the normal operation of the platform doors, train doors and train departure control, output sound and light and record this emergency protection event.

[0029] Compared with the prior art, the beneficial effects of the present invention are: 1. By fusing emergency trigger signals actively activated by passengers or station staff with detection signals from the gap area between doors, the system can effectively identify whether there is a risk of passengers being trapped in the gap area between the platform screen door and the train door, significantly reducing the risk of missed detection. 2. By using the hardware interface or hardware interlocking relationship between the safety control unit and the platform door controller, the electric train door controller and the electric train controller, hardware-level safety control and departure interlocking are realized, thereby improving the reliability of the system's protective actions. 3. By combining the comprehensive risk value with the preset risk threshold, it determines whether to execute the normal protection mode or the safety protection mode. The control logic is clear and the project is highly feasible. 4. It can be deployed as an independent safety upgrade module for existing platform screen door systems in urban rail transit, with low retrofit costs and strong engineering adaptability; 5. This invention can reduce the risk of passengers getting trapped and the risk of trains departing incorrectly during periods of high passenger flow, complex obstructions, and when trains are about to depart in urban rail transit, thereby improving the operational safety of urban rail transit. Attached Figure Description

[0030] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0031] Figure 1 This is a schematic diagram of the overall structure of the platform screen door and electric train coordinated protection system of the present invention; Figure 2 This is a schematic diagram of the arrangement of the door gap area detection device of the present invention; Figure 3 This is a schematic diagram of the safety control unit; Figure 4 A schematic diagram of the hardware interlock connection for the safe output interface circuit; Figure 5 Here is the overall flowchart of the door vehicle collaborative protection method; Figure 6 This is a flowchart for comprehensive risk assessment and safety protection control.

[0032] Figure 1 The overall structure of the platform door and electric train collaborative safety protection system based on multi-source sensing of the present invention includes: an emergency trigger signal acquisition module, a door gap area detection module, a safety control unit, a door system linkage control module, an electric train departure suppression module, and a power supply and safety assurance module. Figure 2 The diagram shows the arrangement of camera detection device, laser detection device and infrared detection device in the gap area between the platform door and the electric train door. The detection area of ​​the detection device covers the gap space formed by the closing of the door and the adjacent area. Figure 3The diagram shows the internal structure of the safety control unit, which includes: a signal input interface circuit, a decision processing unit, and a safety output interface circuit. Figure 4 The circuit shown establishes a hardware interlock connection with the platform door controller, the electric train door controller, and the electric train controller, respectively, to perform safety control actions such as pausing door closing, reversing door opening, or blocking the electric train departure permission in the safety protection mode. Figure 5 The overall flowchart of the door-vehicle linkage and collaborative protection method includes multi-source information collection, rule fusion emergency judgment, comprehensive risk value calculation, security protection control, state recovery and event recording. Figure 6 The flowchart of comprehensive risk assessment and security protection control is shown. Based on the comparison result of comprehensive risk value and preset risk threshold, normal protection mode or security protection mode is executed. Detailed Implementation

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] The safety solution of this invention adopts a three-level safety architecture: a perception layer, a judgment layer, and an execution layer. The perception layer is mainly used to collect emergency trigger signals actively generated by passengers or station staff in emergency situations, and to collect personnel or human-related target detection information in the gap area between the platform door and the train door. The judgment layer, located within an independent safety control unit, is used for information fusion and emergency judgment. It combines emergency trigger signals, door gap area detection information, platform door status, train door status, and train departure status for comprehensive judgment. The execution layer mainly includes platform door control interface circuits, train door control interface circuits, and train departure suppression interface circuits. When a risk of trapping is detected, it executes safety protection actions such as pausing door closing, reversing door opening, issuing alarms, or blocking train departure permission. When preset emergency conditions are met, the safety control unit enters emergency protection mode and forcibly executes safety controls through hardware interfaces.

[0036] like Figure 1 As shown, Figure 1The present invention illustrates the overall structure of a platform screen door and electric train collaborative safety protection system based on multi-source sensing, comprising: 1. Emergency Trigger Signal Acquisition Module: This is used to collect emergency trigger signals actively generated by passengers or station staff. It mainly includes operational emergency trigger signals. The emergency trigger signal collection module can be set at the lower part of the platform door, the area near the gap between the doors, or a position that is easily accessible to passengers when they are standing. It is used to actively output an emergency trigger signal by continuous pressing or continuous touch when passengers are trapped, partially stuck, or when station staff find that the gap between the doors is in a dangerous state.

[0037] In addition to emergency trigger buttons, emergency trigger signals can also be triggered by sound trigger devices and voice recognition devices. Sound trigger devices can collect sound intensity information from the platform door or train door area. If the sound intensity exceeds a preset intensity threshold, it can also be used as a trigger for an emergency signal. Voice recognition devices can collect voice information from the platform door or train door area. If the voice information includes emergency trigger keywords, it can also be used as a trigger for an emergency signal. Emergency trigger keywords can include "falling," "falling down," "being trapped," etc.

[0038] 2. Door gap area detection module: It is used to detect whether there are people or human-related targets in the gap area between the platform door and the electric train door. Figure 2 The arrangement of the door gap area detection device of the present invention is shown. The door gap area detection module includes a camera detection device, a laser detection device, and an infrared detection device. The camera detection device is used to detect whether there is a person outline, local human features, or features of objects associated with a person in the door gap area; the laser detection device is used to detect whether the occlusion state or reflection distance of the door gap area changes; and the infrared detection device is used to detect whether the temperature information of the target in the door gap area matches a preset human body temperature range.

[0039] Meanwhile, to ensure that the camera detection device captures images within the gap area during image acquisition, it can be positioned on the top of each platform screen door or train door. This allows the camera to capture complete and clear images of the platform screen door or train door area. The camera detection device's triggering mode is set to signal-level triggering, meaning it is connected to the platform screen door system signal. When the signal indicating "train door open and platform screen door open" is triggered, the camera detection device begins continuous image acquisition.

[0040] The laser detection device can be installed on one side of each electric bus door to enable complete detection of the obstruction status or changes in reflection distance in the gap area between the doors.

[0041] Infrared detection devices (infrared thermal imagers) can also be installed on one side of each electric bus door to enable complete detection of temperature changes in the gap area between doors. When an obstacle or foreign object is detected in the gap area between doors, the temperature information of the obstacle or foreign object is acquired and it is determined whether it matches the preset range of human body temperature characteristics.

[0042] 3. Safety control unit: It includes a signal input interface circuit, a judgment processing circuit, and a safety output interface circuit. It is used to receive emergency trigger signals, door gap area detection signals, platform door status signals, electric train door status signals, and electric train departure status. Based on preset judgment rules, it calculates a comprehensive risk value, determines the corresponding protection mode according to the comprehensive risk value, and generates safety control instructions.

[0043] like Figures 3-4 As shown, Figure 3 The internal structure of the safety control unit is shown. Figure 4 The hardware interlocking connection of the safety output interface circuit is shown. This circuit establishes hardware interlocking connections with the platform door controller, the train door controller, and the train controller to execute safety control actions such as pausing door closing, reversing door opening, or blocking train departure permission. The signal input interface circuit's external interface connects to the emergency trigger button, the door gap detection module, and the train signal control system (such as door control signals). It can collect multi-source signals and perform signal conditioning such as electrical isolation, filtering, level conversion, and digitization on the collected signals.

[0044] The external interface connects to various sensors such as emergency trigger signal acquisition modules, camera detection devices, and laser detection devices, or to electric bus signal control systems (such as door control signals). Acquiring multi-source signals can include door status and detection results of gaps between doors.

[0045] The judgment and processing circuit includes a microcontroller and a memory. The microcontroller receives multi-source data from the signal input interface circuit, fuses and judges the multi-source information based on the preset rules in the memory, determines the corresponding protection mode, and generates the final safety control command (such as "close the door" or "keep the door open") based on the fusion judgment result.

[0046] The microcontroller's input side receives multi-source data from the signal input interface circuit, communicating via an internal bus (such as parallel data lines or SPI). The output side sends the decision result (such as "pause door closing" or "reverse door opening") to the safety output interface circuit via the internal bus.

[0047] The safety output interface circuit can be a relay module, which is used to convert the logic instructions generated by the microcontroller of the judgment processing circuit into safe and reliable safety control drive signals. On the one hand, it establishes a hardware connection with the platform door controller and the electric train door controller to execute door control safety actions; on the other hand, it establishes a hardware interlock relationship with the electric train controller to block the electric train departure permission.

[0048] 4. Door system linkage control module: The system establishes a hardware connection with the platform door controller and the electric train door controller through a safety output interface circuit. This is used to execute door control safety actions according to safety control commands, namely, stopping the closing of the platform door and the electric train door, or controlling the platform door and the electric train door to open in the reverse direction.

[0049] 5. Electric Bus Departure Suppression Module: A hardware interlock relationship is established between the safety output interface circuit and the electric train controller to block or delay the departure permit of the electric train before the emergency protection state is lifted.

[0050] 6. Power Supply and Safety Assurance Module: Provide independent or backup power to the safety control unit so that it can still perform safety protection in the event of a main system failure.

[0051] like Figure 5 As shown, Figure 5 The overall flowchart of the door-vehicle linkage collaborative protection method is shown, namely, the platform door and electric train collaborative safety protection method based on multi-source sensing provided by the present invention, which includes the following steps: S1: Multi-source information acquisition The main purpose is to collect two types of information: (1) emergency trigger signals generated by passengers or station staff; (2) human feature information detection signals in the gap area between the platform door and the electric train door. The detection signals include visual detection signals output by the camera detection device, laser detection signals output by the laser detection device, and infrared detection signals output by the infrared detection device.

[0052] S2: Rule Fusion Emergency Decision The safety control unit makes emergency decisions based on the following conditions: whether the location of the emergency trigger signal is within a preset danger zone, whether a person is detected in the gap between doors, the operating status of the platform door or the train door, and whether the train is in a state where it is allowed to depart or is about to depart. It also determines whether the current period is within a preset risk period. The preset risk period includes the time when the platform door or the train door changes from an open state to a closed state, and the time when the train is in a state where it is allowed to depart or is about to depart.

[0053] S3: Calculation of Overall Risk Value When a preset risk period is in effect, the safety control unit calculates a comprehensive risk value based on emergency trigger signals, visual detection signals, laser detection signals, and infrared detection signals, according to preset judgment rules.

[0054] In order to quantify the risk of entrapment in the gap area between the platform door and the electric train door, the safety control unit calculates a comprehensive risk value based on emergency trigger signals, visual detection signals, laser detection signals and infrared detection signals, as shown in formula (1):

[0055] Based on the emergency trigger signal status value Visual inspection risk value Laser detection status value Infrared detection matching status value The overall risk value of the gap area between doors is determined by its weighting coefficients. And the sum of all weight coefficients is 1.

[0056] Emergency trigger signal status value It is used to indicate whether passengers or station staff actively trigger an emergency signal, and its value is shown in formula (3):

[0057] Emergency trigger signals can be generated by emergency trigger devices located under platform doors, near door gaps, or in easily accessible locations for passengers, or by station staff when they detect a risk of entrapment. Preset trigger rules include continuous pressing for a preset duration, continuous touches within a preset time period reaching a preset number of times, or triggering according to a preset rhythm.

[0058] Visual inspection risk value The risk level of a camera detection device detecting a human silhouette or local human feature in the gap area between doors is represented by the value shown in formula (4):

[0059] Among them, the risk of getting trapped is higher for human body features such as human outline, hands, and feet, so the visual detection risk value is set to a higher value.

[0060] Laser detection status value The value used to characterize whether the laser detection device detects an obstruction or abnormal change in reflection distance in the gap area between doors is shown in formula (5):

[0061] Among them, continuous occlusion refers to the laser beam being continuously blocked within a preset time window; abnormal change in reflection distance refers to the change in the laser detection distance relative to the background distance of the normal door gap area exceeding a preset distance threshold.

[0062] Infrared detection matching status value The value used to characterize the degree of matching between the target temperature information detected by the infrared detection device and the preset human body temperature range is shown in formula (6):

[0063] The human body temperature range can be preset based on the ambient temperature of the platform, the installation location of the infrared detection device, and the safety strategy of the operating unit. The infrared detection matching status value mainly serves as an auxiliary basis for visual and laser detection, improving the reliability of risk assessment in complex lighting, obstruction, or high passenger flow environments.

[0064] S4: Safety Protection Control like Figure 6 As shown, Figure 6 The process of comprehensive risk assessment and safety protection control is illustrated. The safety control unit determines the risk based on the comprehensive risk value. With preset risk threshold The comparison results determine the protection mode.

[0065] When satisfied At this time, the normal protection mode is implemented, and the platform doors and train doors operate according to the normal closing procedure.

[0066] When satisfied When the platform door and / or train door are closing, the following safety protection mode is activated: First, the closing action of the platform door and / or train door is stopped, and the platform door and / or train door are opened in reverse according to the current operating status of the door; at the same time, the train departure permission is blocked or delayed through hardware interlocking, and alarm information is output to the station control system or dispatching system.

[0067] Preset risk threshold It can be preset according to the line operation requirements, the gap width between the platform door and the electric train door, the arrangement of the detection device, the historical false triggering situation, and the safety strategy of the operating unit.

[0068] Furthermore, to ensure that the safety protection mode can be triggered when the emergency trigger signal meets the preset trigger rules, the visual detection device identifies the human body outline or local human body features, or the target temperature information detected by the infrared detection device matches the preset human body temperature range, and to avoid false triggering when the laser detection device detects an obstruction state or abnormal change in reflection distance, the relationship between each weight coefficient and the preset risk threshold satisfies formula (7): , , ,

[0069] When an emergency trigger signal satisfies the preset triggering rules on its own, its corresponding comprehensive risk contribution value is not less than the preset risk threshold, as shown in formula (8):

[0070] When the visual inspection device detects a human body contour or a local feature of the human body, its corresponding comprehensive risk contribution value is not less than the preset risk threshold, as shown in formula (9):

[0071] When the target temperature information detected by the infrared detection device matches the preset human body temperature range, its corresponding comprehensive risk contribution value is not less than the preset risk threshold, as shown in formula (10):

[0072] Therefore, any of the above situations can cause the overall risk value to reach or exceed the preset risk threshold, thereby triggering the security protection mode.

[0073] When only the laser detection device detects an obstruction or abnormal change in reflection distance, the weighting coefficient corresponding to the laser detection state value is less than the preset risk threshold, as shown in formula (11):

[0074] Therefore, the laser detection signal alone is insufficient to trigger the safety protection mode. The laser detection signal mainly serves as an auxiliary confirmation basis for emergency triggering signals, visual detection signals, or infrared detection signals.

[0075] The overall risk value is calculated according to formula (1), and each weight coefficient satisfies formula (2). For example, each weight coefficient and the preset risk threshold can be set as follows: , , .

[0076] S5: State Restoration and Event Logging After the danger is over, restore the normal operation of the platform doors, train doors and train departure control, output sound and light and record this emergency protection event.

[0077] This invention provides a platform door and electric train collaborative protection system and method based on multi-source sensing. By constructing a multi-layered safety redundancy mechanism of "active triggering + passive sensing + rule fusion + hardware interlocking", it can reliably identify the risk of being trapped under complex passenger flow conditions and enforce safety control on platform doors, train doors and electric train departure permits, thereby avoiding safety accidents caused by the failure of a single detection method.

[0078] To more clearly illustrate the technical solution of the present invention, the following different embodiments are provided for detailed explanation: Example 1: Emergency Triggering and Visual Detection Collaborative Protection Background: During peak passenger flow or when passengers are boarding and alighting in concentrated areas, the gap between the platform screen doors and the train doors poses a risk of passengers being partially trapped between the train and the platform screen doors. This embodiment employs an operable emergency trigger unit and a camera detection device to collaboratively protect the gap area, reducing the risk of passengers being trapped and the risk of trains departing incorrectly, thus improving the reliability of the protection.

[0079] In this embodiment, multiple operable emergency triggering units (emergency triggering signal acquisition modules) are installed along the length of the platform door on the platform side. The operable emergency triggering units are located at the bottom of the platform door or at a position easily accessible to passengers while standing. They are used to actively output an emergency triggering signal by continuous pressing or continuous touch when passengers are trapped or perceive a dangerous situation.

[0080] Meanwhile, at least one camera detection device is installed above or to the side of the gap area between the platform door and the electric train door. The field of view of the camera detection device covers the gap area formed between the electric train door and the platform door and its adjacent area, and is used to acquire image information of the electric train door and the platform door during and after closing.

[0081] Both the operational emergency triggering unit and the camera detection device are connected to the safety control unit via a signal interface and are integrated into the urban rail transit signal control system.

[0082] Workflow: After the electric train enters the station and completes its docking, the platform door and the electric train door open, and passengers disembark and then board. As the electric train is about to depart, the signal system controls the platform door and the electric train door to enter the closing phase. At this time, the safety control unit simultaneously enters the door control detection state. During the closing process of the platform door and the electric train door, the safety control unit continuously detects: (1) receiving the trigger signal from the operable emergency trigger unit; (2) receiving the image information from the camera detection device for the gap area between the platform door and the electric train. The camera detection device mainly determines whether there are personnel or human feature targets between the platform door and the electric train. Human feature targets include, but are not limited to, human outlines, local human features, or target areas that match the human body. When multiple consecutive frames of personnel targets are detected in the gap area between the platform door and the electric train, that is, when the emergency trigger signal status value is 1 and / or the visual detection risk value is 1, the corresponding comprehensive risk value is at least 1. Not less than the preset risk threshold If a passenger is trapped between the platform door and the train, the urban rail transit signal control system will first output a signal to stop the closing action of the platform door and / or train door through the safety control unit. Then, based on the current door operating status, it will output an opening action signal to control the platform door and / or train door to open in the opposite direction. Simultaneously, it will output a departure suppression signal to block or delay the train's departure permission through hardware interlocking, and output alarm information to the station control system or dispatch system. At the same time, it will trigger an audible and visual alarm to alert platform staff to rescue the trapped passenger. The passenger trapping alarm information will also be simultaneously uploaded to the OCC dispatch command center through the urban rail transit signal control system. The OCC dispatch command center will then simultaneously command and control the process, uniformly controlling the operating status of other trains on the main line. After the on-site staff rescued the trapped passenger, they pressed the reset button. The urban rail transit signal control system then output a closing signal for the platform doors and train doors through the safety control unit, closing the platform doors and train doors. The information was simultaneously uploaded to the OCC dispatch and command center, the signal system restored the train departure permission, the safety control unit deactivated the emergency protection state, and restored the normal operation logic of the platform doors, train doors, and train. The train then resumed normal departure operation.

[0083] Example 2: Collaborative Protection Based on Emergency Triggering, Visual Inspection, and Laser Inspection Building upon Embodiment 1, this example further includes at least one laser detection device installed in the gap area between the platform screen door and the train car door. The laser detection device can be a laser rangefinder or a laser scanner, and its emitted laser beam covers a preset height range within the gap area. The laser detection device, along with the operable emergency trigger unit and the camera detection device, are electrically connected to the safety control unit, forming a multi-source sensing structure.

[0084] During the closing process of the platform door and the train door, the laser detection device continuously emits laser signals into the gap area between the platform door and the train door, and detects whether there are abnormal changes in the laser reflection distance or continuous obstruction within the gap area. When the laser beam is continuously obstructed or the laser reflection distance changes abnormally within a preset time, and the change exceeds a preset threshold, it is determined that the laser detection device has output an obstruction signal. Based on Embodiment 1, within a preset time window, when the emergency triggering unit triggers an emergency trigger signal, or the camera detection device detects human features or facial features within the gap area, or the laser detection device outputs an obstruction signal, emergency protection measures are triggered based on the comparison between the comprehensive risk value and the preset risk threshold. That is, when the emergency trigger signal status value is 1, and / or the visual detection risk value is 1, and the laser detection status value is 1, the corresponding comprehensive risk value is at least [value missing]. Not less than the preset risk threshold The corresponding safety protection mode is triggered, and the scenario is the same as in Implementation Example 1. By comprehensively calculating and judging the laser detection signal and other detection signals, the probability of false triggering can be reduced and the reliability of protection in complex passenger flow environments can be improved.

[0085] In Example 2, a combination of other detection signals and laser detection signals is used to determine the situation, which can effectively avoid false triggering caused by the abnormality of a single laser detection signal. It is especially suitable for platform operation scenarios with high passenger flow, high noise or complex lighting environments.

[0086] Example 3: Collaborative Protection Based on Emergency Triggering, Visual Detection, Laser Detection, and Infrared Detection Building upon Embodiments 1 and 2, this embodiment further includes at least one infrared detection device positioned above or to the side of the door gap area between the platform screen door and the train car door. This device is used to detect the temperature characteristics of targets within the door gap area. The infrared detection device can be an infrared thermal imager, and its detection range covers a preset height range within the door gap area. The infrared detection device, along with the operable emergency trigger unit and the camera detection device, are electrically connected to the safety control unit, forming a multi-source sensing structure.

[0087] During the closing process of platform screen doors and train doors, the infrared detection device continuously collects infrared temperature information in the gap area between the platform screen doors and the train doors. When a target is detected in the gap area and the target's temperature information matches the preset human body temperature characteristic range, the infrared detection matching status value is 1; when no target is detected, or the detected target's temperature information does not match the preset human body temperature characteristic range, the infrared detection matching status value is 0. The human body temperature characteristic range can be preset according to the ambient temperature, the installation location of the infrared detection device, and the operator's safety strategy.

[0088] Within a preset time window, when the emergency trigger unit triggers an emergency trigger signal, or the camera detection device detects human or facial features in the door gap area, or the laser detection device outputs an occlusion signal, or the target temperature information detected by the infrared detection device matches the preset human body temperature range, emergency protective measures are triggered based on the comparison between the comprehensive risk value and the preset risk threshold. Specifically, when the emergency trigger signal status value is 1, and / or the visual detection risk value is 1, and / or the infrared detection matching status value is 1, and the laser detection status value is 1, the corresponding comprehensive risk value is at least [value missing]. Not less than the preset risk threshold This will trigger the corresponding security protection mode.

[0089] In Example 3, by adding infrared detection assistance, the gap area between doors can be assisted in judging under complex lighting conditions, visual obstruction, or interference with laser detection, thereby improving the reliability of the collaborative protection between platform doors and electric trains in complex passenger flow environments.

[0090] Example 4: Comprehensive Risk Value Calculation and Protection Mode Determination When a preset risk period is in effect, the safety control unit calculates a comprehensive risk value based on emergency trigger signals, visual detection signals, laser detection signals, and infrared detection signals, according to preset judgment rules.

[0091] In one specific implementation, the weighting coefficients and preset risk thresholds can be set as follows: , ,

[0092] At this point, the sum of all weighting coefficients satisfies:

[0093] To more clearly illustrate the process of calculating the comprehensive risk value and determining the protection mode under different state values, the following explanations are provided for different numbers of state values: One scenario is that there exists only one state value of 1: When any one of the emergency trigger signal status value, visual detection risk value, or infrared detection matching status value is 1, all other detection status values ​​are 0, and the overall risk value satisfies: Therefore, it enters the security protection mode; When only laser detection status value is available At that time, the overall risk value is: Therefore, the safety protection mode is not triggered independently. When the laser detection signal appears simultaneously with other detection signals, their corresponding weights are included in the comprehensive risk value to enhance the reliability of personnel entrapment risk assessment.

[0094] One scenario is that there are two states with a value of 1: When any two of the emergency trigger signal status value, visual detection risk value, and infrared detection matching status value are 1, all other detection status values ​​are 0, and the overall risk value satisfies: Therefore, it enters the security protection mode; When any one of the emergency trigger signal status value, visual detection risk value, or infrared detection matching status value is 1, the laser detection status value... At that time, the remaining detection status values ​​are 0, and the overall risk value satisfies: Therefore, it enters the security protection mode.

[0095] Another scenario is that there are three states with a value of 1: When the emergency trigger signal status value Visual inspection risk value Infrared detection matching status value At that time, the laser detection status value At that time, the overall risk value satisfies: Therefore, it enters the security protection mode; When any two of the emergency trigger signal status value, visual detection risk value, and infrared detection matching status value are 1, the laser detection status value... At that time, the remaining detection status values ​​are 0, and the overall risk value satisfies: Therefore, it enters the security protection mode.

[0096] Another scenario is that there are four states with a value of 1: When the emergency trigger signal status value, visual detection risk value, infrared detection matching status value, and laser detection status value are all 1, the overall risk value satisfies: Therefore, it enters the security protection mode.

[0097] The last case is when the state value is 1 and does not exist: When the emergency trigger signal status value, visual detection risk value, infrared detection matching status value, and laser detection status value are all 0, the overall risk value satisfies: Therefore, it enters normal protection mode.

[0098] The safety protection mode is as follows: First, the closing action of the platform doors and / or train doors is stopped, and the platform doors and / or train doors are controlled to open in reverse according to the current operating status of the doors; at the same time, the train departure permission is blocked or delayed through hardware interlocking, and alarm information is output to the station control system or dispatching system; that is, the urban rail transit signal control system first outputs a signal to stop the closing action of the platform doors and / or train doors through the safety control unit, and outputs an opening action signal to control the platform doors and / or train doors to open in reverse according to the current operating status of the doors; at the same time, a departure suppression signal to block or delay the train departure permission is output through hardware interlocking, and alarm information is output to the station control system or dispatching system. Simultaneously, an audible and visual alarm is triggered to prompt platform staff to come and rescue the trapped passengers, and the passenger trapped alarm information is simultaneously uploaded to the OCC dispatching and command center through the urban rail transit signal control system. The OCC dispatching and command center simultaneously commands and controls the processing, and coordinates the operating status of other trains on the main line. After the on-site staff rescued the trapped passenger, they pressed the reset button. The urban rail transit signal control system then output a closing signal for the platform doors and train doors through the safety control unit. The platform doors and train doors were closed, and the signal system simultaneously uploaded the information to the OCC dispatch and command center. The signal system then restored the train departure permission, and the safety control unit deactivated the emergency protection state, restoring the normal operation logic of the platform doors, train doors, and train. The train then resumed normal departure operation.

[0099] The normal protection mode is as follows: the platform doors and train doors operate according to the normal closing procedure; that is, the urban rail transit signal control system outputs platform door and train door closing signals through the safety control unit, closes the platform doors and train doors, and uploads the information to the OCC dispatch and command center at the same time. The signal system restores the train departure permission, and the train performs normal departure operation.

[0100] In Example 4, by effectively combining multiple detection methods, auxiliary judgment can be made on the gap area between doors under complex lighting conditions, visual obstruction, or interference with laser detection, thereby improving the reliability of the collaborative protection between platform doors and electric trains in complex passenger flow environments.

[0101] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A platform screen door and electric train collaborative safety protection system based on multi-source sensing, characterized in that, include: The emergency trigger signal acquisition module is used to collect emergency trigger signals actively generated by passengers or station staff. The door gap area detection module is used to detect whether there are human outline features or local human body features in the gap area between the platform door and the electric train door through various detection devices. The safety control unit is used to make rule-based judgments on emergency trigger signals and door gap area detection signals, calculate the comprehensive risk value, determine the corresponding protection mode based on the comprehensive risk value, and generate safety control commands. The door system linkage control module is used to establish a hardware connection with the platform door controller and the electric train door controller through the safety control unit, and to execute door control safety actions according to safety control commands. The electric bus departure suppression module is used to establish a hardware interlock relationship with the electric bus controller through the safety control unit, and to block the electric bus departure permission according to the safety control command.

2. The platform screen door and electric train collaborative protection system based on multi-source sensing according to claim 1, characterized in that, It also includes a power supply and safety protection module, which provides independent or backup power to the safety control unit so that it can still perform safety protection in the event of an anomaly in the main system.

3. The platform screen door and electric train collaborative protection system based on multi-source sensing according to claim 1, characterized in that, The door gap area detection module includes a camera detection device, a laser detection device, and an infrared detection device. The camera detection device is used to detect whether there are human outline features or local human features in the door gap area; the laser detection device is used to detect whether the occlusion state or reflection distance of the door gap area changes abnormally; and the infrared detection device is used to detect whether the temperature information of the target in the door gap area matches the preset human body temperature range.

4. The platform screen door and electric train collaborative protection system based on multi-source sensing according to claim 1, characterized in that, The safety control unit includes a signal input interface circuit, a judgment processing circuit, and a safety output interface circuit. The signal input interface circuit is connected to the emergency trigger signal acquisition module, the door gap area detection module, and the electric train signal control system, respectively, for collecting multi-source data. The judgment processing circuit receives the multi-source data from the signal input interface circuit, calculates a comprehensive risk value based on the multi-source data, determines the corresponding protection mode according to the comprehensive risk value, and generates a safety control command. The safety output interface circuit converts the safety control command into a safety control drive signal. One path establishes a hardware connection with the platform door controller and the electric train door controller to execute door control safety actions; the other path establishes a hardware interlock relationship with the electric train controller to block the electric train departure permission.

5. A platform screen door and electric train collaborative protection system based on multi-source sensing according to claim 4, characterized in that, The protection modes include a normal protection mode and a safety protection mode. In the normal protection mode, the platform doors and train doors operate according to the normal closing procedure. In the safety protection mode, the closing action of the platform doors and / or train doors is first stopped, and the platform doors and / or train doors are controlled to open in reverse according to the current door operating status. At the same time, the train departure permission is blocked or delayed through hardware interlocking, and alarm information is output to the station control system or dispatching system.

6. A method for coordinated protection of platform screen doors and electric trains based on multi-source sensing, characterized in that, include: S1: Collects emergency trigger signals and detection signals from various detection devices; S2: Based on the status of platform doors and electric train doors, perform rule fusion emergency judgment to determine whether the current period is within a preset risk period; The preset risk period includes the period when the platform door or the electric train door changes from the open state to the closed state, and the period when the electric train is in a state where it is allowed to depart or is about to depart; S3: When in a preset risk period, calculate the comprehensive risk value based on the emergency trigger signal and the detection signals from multiple detection devices, according to preset judgment rules; S4: Based on the comparison between the comprehensive risk value and the preset risk threshold, determine the corresponding protection mode. Before the emergency protection state corresponding to the safety protection mode is lifted, block or delay the departure permit of the electric train through hardware interlocking.

7. A method for coordinated protection of platform screen doors and electric trains based on multi-source sensing according to claim 6, characterized in that, Also includes: S5: Output corresponding audible and visual warnings according to the emergency protection status and record the emergency event. The system will resume normal operation after the danger is lifted.

8. A method for coordinated protection of platform screen doors and electric trains based on multi-source sensing according to claim 6, characterized in that, The detection signals from various detection devices include visual detection signals from camera detection devices, laser detection signals from laser detection devices, and infrared detection signals from infrared detection devices.

9. A method for coordinated protection of platform screen doors and electric trains based on multi-source sensing according to claim 8, characterized in that, Based on emergency trigger signals, visual detection signals, laser detection signals, and infrared detection signals, a comprehensive risk value is calculated using preset judgment rules, specifically including: A comprehensive risk value is obtained based on the emergency trigger signal status value and its detection weight, the visual detection risk value and its detection weight, the laser detection status value and its detection weight, and the infrared detection matching status value and its detection weight. Among these, the detection weights of the emergency trigger signal, the visual detection signal, and the infrared detection signal are all not less than a preset risk threshold, while the detection weight of the laser detection signal is less than the preset risk threshold.

10. A method for coordinated protection of platform screen doors and electric trains based on multi-source sensing according to claim 6, characterized in that, Based on the comparison between the comprehensive risk value and the preset risk threshold, the corresponding protection mode is determined as follows: When the overall risk value is less than the preset risk threshold, the normal protection mode is executed, and the platform doors and electric train doors operate according to the normal closing procedure. When the comprehensive risk value is not less than the preset risk threshold, the safety protection mode is executed. First, the closing action of the platform door and / or the electric train door is stopped, and the platform door and / or the electric train door is controlled to open in reverse according to the current door operation status. At the same time, the departure permission of the electric train is blocked or delayed through hardware interlocking, and alarm information is output to the station control system or dispatching system.

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