CN104290686A - System and method for controlling bus door - Google Patents

System and method for controlling bus door Download PDF

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Publication number
CN104290686A
CN104290686A CN201410004702.7A CN201410004702A CN104290686A CN 104290686 A CN104290686 A CN 104290686A CN 201410004702 A CN201410004702 A CN 201410004702A CN 104290686 A CN104290686 A CN 104290686A
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CN
China
Prior art keywords
car door
signal
door
control
people
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Granted
Application number
CN201410004702.7A
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Chinese (zh)
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CN104290686B (en
Inventor
李飞
李会仙
张磊
李明
徐晓林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yutong Bus Co.,Ltd.
Original Assignee
Zhengzhou Yutong Bus Co Ltd
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Priority to CN201410004702.7A priority Critical patent/CN104290686B/en
Publication of CN104290686A publication Critical patent/CN104290686A/en
Application granted granted Critical
Publication of CN104290686B publication Critical patent/CN104290686B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231Circuits relating to the driving or the functioning of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00Arrangements or adaptations of signal devices not provided for in one of the preceding main groups, e.g. haptic signalling

Abstract

The invention relates to a system and method for controlling a bus door, and belongs to the technical field of vehicle safety control. The method comprises the steps that analysis and judgment are carried out according to the vehicle speed, whether a barrier exists in a non-standing area of the bus door, a bus door rocker switch signal and a door opening gas circuit pressure signal; a corresponding control signal is output to control the bus door to be opened and closed and send out corresponding alarm reminding singles. According to the system and method, whether people or other barriers exist in the non-standing area of the bus door can be detected through a video, and therefore motion of the bus door can be controlled; passengers are prevented from being clamped by the bus door. When the bus speed reaches the set value, and nobody stands on a standing area of the bus door, the bus door is controlled to be closed. When people or the other barriers exist in the non-standing area, a driver can reminded through an alarm.

Description

A kind of bus door control system and method
Technical field
The present invention relates to a kind of bus door control system and method, belong to vehicle safety control technology field.
Background technology
Existing bus door controls the open and close realizing car door mainly through the commutation of combined switch Direct driver electromagnetic valve; Whether closed in time by travel switch detection car door and realize anti-pinch people function.This control system only can realize door contact interrupter function simply, and its anti-pinch people function be also be based upon clip to people basis on, and unreasonable.
Along with the requirement of people to safety is more and more higher, the safety of public transport means has become the focus of public attention.As the bus of one of major public transportation instrument, cause crushing the safety misadventure that people even presss from both sides dead person and also happen occasionally because its Car's door controlling mode is unreasonable, thus design a set of not only safety but also the bus door control system of hommization seems particularly important.
Summary of the invention
The object of this invention is to provide a kind of bus door control system and method, to cause because Car's door controlling mode is unreasonable and crush to solve current bus door control process the problem that people even presss from both sides the safety misadventure of dead person.
The present invention is for solving the problems of the technologies described above and providing a kind of bus door control system, this control system comprises signal gathering unit, control unit and output driver element, signal gathering unit comprises speed data collection device, video collector, door contact interrupter collector and enabling airline pressure collector, speed data collection device, video collector, door contact interrupter collector is connected with the input end of control unit with the mouth of enabling gas circuit voltage collector, the mouth control linkage of control unit exports driver element, the mouth exporting driver element is used for according to the speed of a motor vehicle, whether car door forbidden zone of standing has obstacle, car door rocker switch signal and enabling airline pressure signal carry out exporting corresponding control signal after analysis judges, to drive car door action and to remind car door to account for people forbidden zone whether have people or other obstacles.
Described output driver element comprises electromagnetic valve enabling coil drive module and electromagnetic valve and to close the door coil drive module, is respectively used to drive the enabling coil of electromagnetic valve and coil of closing the door.
Described output driver element also comprises alerting signal driving circuit, for driving combined aural and visual alarm.
Described output driver element also comprises warning light output driving circuit.
The present invention additionally provides a kind of bus door control method for solving the problems of the technologies described above, and this control method comprises the following steps:
1) speed of a motor vehicle of collection vehicle, judges whether the speed of a motor vehicle is less than setting value, if be less than setting value, then acquisition monitoring vision signal, judge whether car door forbidden zone of standing has people or other obstacle to exist, and when forbidden zone has people or other obstacle to exist if car door is stood, is noted by warning reminding chaufeur;
2) if when the speed of a motor vehicle is not less than setting value, gather car door OFF signal, ON signal collection and enabling airline pressure P, when car door OFF signal is effective and enabling airline pressure P is more than or equal to setting value P0 time, control closing of the door, simultaneously when car door ON signal is effective and enabling airline pressure P is less than setting value P0 time, control car door opening.
Described step 2) in when car door is in open state, acquisition monitoring vision signal, judges whether car door forbidden zone of standing has people or other obstacle to exist, and car door stand forbidden zone have people or other obstacle to exist time, noted by warning reminding chaufeur.
If car door stands forbidden zone when having people or other obstacle to exist in described step 1), control accounts for people forbidden zone warning light and opens, detect car door OFF signal simultaneously, when car door OFF signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is more than or equal to P0, report to the police, when car door OFF signal is invalid, detect car door ON signal, and when car door ON signal is effective, detects enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is less than P0, control car door opening.
If car door stands forbidden zone nobody and other obstacle when existing in described step 1), detect car door OFF signal, when car door OFF signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is more than or equal to P0, control closing of the door, when car door OFF signal is invalid, detect car door ON signal, and when car door ON signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is less than P0, control car door opening.
The invention has the beneficial effects as follows: the present invention is according to the speed of a motor vehicle, whether car door forbidden zone of standing has obstacle, car door rocker switch signal and enabling airline pressure signal carry out exporting corresponding control signal after analysis judges and control door contact interrupter and corresponding alarm signal, whether the present invention can detect car door forbidden zone of standing by video has people or other obstacles to control car door action, prevent bus door from clipping to passenger, and reach setting value at car speed, and car door Zhan Ren district nobody time control closing of the door, when accounting for people forbidden zone and having people or other obstacle, alarm and reminding chaufeur can be passed through.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of bus door control system of the present invention;
Fig. 2 is the main program flow chart of bus door control method of the present invention;
Fig. 3 is the diagram of circuit of the subprogram 1 of bus door control method of the present invention;
Fig. 4 is the diagram of circuit of the subprogram 2 of bus door control method of the present invention;
Fig. 5 is the diagram of circuit of the subprogram 3 of bus door control method of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
The embodiment of a kind of bus door control system of the present invention
As shown in Figure 1, bus door control system of the present invention comprises signal element, control unit and output drive and performance element, the mouth of signal gathering unit is connected with control unit, the mouth of control unit is connected with corresponding performance element by the corresponding driver element that exports, signal gathering unit comprises vehicle speed signal collecting part, monitor video acquisition of signal part, car door rocker switch acquisition of signal part and enabling gas circuit voltage signal acquisition part, vehicle speed signal collection is measured by speed sensor, also vehicle speed signal can be read by CAN, whether monitor video acquisition of signal has people or other object to exist by camera identification car door forbidden zone of standing, car door rocker switch acquisition of signal is for gathering car door rocker switch state, enabling airline pressure acquisition of signal realizes by installing baroceptor on enabling air pressure passageway, for judging car door current state, output drives and performance element comprises electromagnetic valve opening-closing door coil driver, alerting signal output circuit and forbidden zone warning light output driving circuit of standing, control unit collects speed information according to collecting unit, monitoring video information, car door rocker switch information and enabling airline pressure information control the opening and closing of car door, the realization district that forbids standing reminds automatically, when car starts, car door is closed automatically, car door anti-pinch people and danger warning.Control unit part is the core of this system, it by gather vehicle speed signal, monitor video signal, car door rocker switch signal and enabling airline pressure signal carry out analyzing judge after export corresponding control signal to control door contact interrupter, buzzer warning, alert lamp open the light and the switch of warning light.Thus realize forbidding standing that car door when district reminds automatically, car starts is closed automatically, the function such as car door anti-pinch people and danger warning.
The embodiment of a kind of bus door control method of the present invention
The present invention is undertaken exporting control signal O after analysis judges by gathering vehicle speed signal, monitor video signal, car door rocker switch signal and enabling airline pressure signal 1, O 2, O 3, O 4to control door contact interrupter, the switch of alarm buzzer and alerting signal light switch and warning light, judge car door status, if car door is in open mode, control car door siren horn to open, judge whether car door forbidden zone of standing has people or other obstacle to exist, if had, then control car door to account for people forbidden zone warning light and open, and detect enabling airline pressure P and whether be greater than setting value P0, if be greater than, then control car door annunciator to open, otherwise car door is failure to actuate, when car door stand forbidden zone nobody or other obstacle exist time, closedown is stood forbidden zone warning light, detect enabling airline pressure P, when enabling airline pressure is greater than setting value, closed door, otherwise car door is failure to actuate.As shown in Figure 2, it specifically controls to comprise the following steps the flow process of Car's door controlling method of the present invention:
1. Negotiation speed sensor or the vehicle speed signal U from collection vehicle CAN v, judge whether the vehicle speed signal gathered is more than or equal to certain speed of a motor vehicle setting value U 0if exceed setting value, execution subroutine 3, returns after completing and performs step 1.
If 2. do not exceed setting value, gather the output signal C of video detection module, judge whether car door forbidden zone of standing has people or the existence of other obstacle, if had, control O4 exports high level, and namely car door accounts for people forbidden zone warning light and opens, then execution subroutine 2, returns step 1 after executing.
3., if car door stands forbidden zone nobody or other obstacle when existing, control warning light switch O4 output low level, namely account for people forbidden zone warning light and close, then execution subroutine 1, returns step 1 after executing.
As shown in Figure 3, detailed process is as follows for the diagram of circuit of its sub-routine 1:
1) car door OFF signal G(rocker switch signal is detected), if G is not equal to 1, then perform step 7);
2) enabling airline pressure value P is detected, if P is less than P 0, then step 11) is performed;
3) ECU control O 2export high level, O 1, O 3output low level, car door closes;
4) time delay Δ t 1;
5) detect video processing output signal C, if C is not equal to 1, then perform step 11);
6) ECU control O 4export high level, people forbidden zone warning light of standing is opened, and performs step 9);
7) car door ON signal K(rocker switch signal is detected), if K is not equal to 1, then perform step 11);
8) enabling airline pressure value P is detected, if P is more than or equal to P 0, then step 11) is performed;
9) ECU control O 1export high level, O 2, O 3output low level, car door is opened;
10) time delay Δ t 2;
11) ECU control O 1, O 2, O 3output low level, car door is failure to actuate;
10) subprogram 1 performs end, returns main program.
As shown in Figure 4, detailed process is as follows for the diagram of circuit of subprogram 2:
1) car door OFF signal G(rocker switch signal is detected), if G is not equal to 1, then perform step 4);
2) enabling airline pressure value P is detected, if P is less than P 0, then step 8) is performed;
3) ECU control O 3export high level, O 1, O 2output low level, alarm is opened, and car door is failure to actuate, and subprogram 2 performs end, returns main program;
4) car door ON signal K(rocker switch signal is detected), if K is not equal to 1, then perform step 8);
5) enabling airline pressure value P is detected, if P is more than or equal to P 0, then step 8) is performed;
6) ECU control O 1export high level, O 2, O 3output low level, car door is opened;
7) time delay Δ t 2;
8) ECU control O 1, O 2, O 3output low level, car door is failure to actuate;
9) subprogram 2 performs end, returns main program.
As shown in Figure 5, detailed process is as follows for the diagram of circuit of subprogram 3:
1) car door ON signal K(rocker switch signal is detected), if K is not equal to 1, then perform step 3);
2) ECU control O 3export high level, alarm is opened;
3) ECU control O 3output low level, alarm is closed;
4) detect video processing output signal C, if C equals 1, then perform step 10);
5) ECU control O 4output low level, people forbidden zone warning light of standing closes;
6) enabling airline pressure value P is detected, if P is less than P 0, then step 13) is performed;
7) ECU control O 2export high level, O 1output low level, car door closes;
8) time delay Δ t 2;
9) step 13) is performed;
10) ECU control O 4export high level, people forbidden zone warning light of standing is opened;
11) enabling airline pressure value P is detected, if P is less than P 0, then step 13) is performed;
12) ECU control O 3export high level, alarm is opened;
13) ECU control O 1, O 2output low level, car door is failure to actuate;
14) subprogram 3 performs end, returns main program.
Whether the present invention can detect forbidden zone, car door people from station by video people or other obstacles, controls car door action, prevents bus door from clipping to passenger; Can reach certain value at car speed, and when determining forbidden zone, car door people from station unmanned (or other obstacles), initiatively closed door, when there are people or other obstacles in people forbidden zone of standing, also by alarm and reminding chaufeur; Can when detecting that there are people or other obstacles in people forbidden zone, car door station, by lighting people forbidden zone, station warning light, to remind chaufeur.

Claims (8)

1. a bus door control system, it is characterized in that, this control system comprises signal gathering unit, control unit and output driver element, signal gathering unit comprises speed data collection device, video collector, door contact interrupter collector and enabling airline pressure collector, speed data collection device, video collector, door contact interrupter collector is connected with the input end of control unit with the mouth of enabling gas circuit voltage collector, the mouth control linkage of control unit exports driver element, the mouth exporting driver element is used for according to the speed of a motor vehicle, whether car door forbidden zone of standing has obstacle, car door rocker switch signal and enabling airline pressure signal carry out exporting corresponding control signal after analysis judges, to drive car door action and to remind car door to account for people forbidden zone whether have people or other obstacles.
2. bus door control system according to claim 1, is characterized in that, described output driver element comprises electromagnetic valve enabling coil drive module and electromagnetic valve and to close the door coil drive module, is respectively used to drive the enabling coil of electromagnetic valve and coil of closing the door.
3. bus door control system according to claim 2, is characterized in that, described output driver element also comprises alerting signal driving circuit, for driving combined aural and visual alarm.
4. the bus door control system according to Claims 2 or 3, is characterized in that, described output driver element also comprises warning light output driving circuit.
5. a bus door control method, is characterized in that, this control method comprises the following steps:
1) speed of a motor vehicle of collection vehicle, judges whether the speed of a motor vehicle is less than setting value, if be less than setting value, then acquisition monitoring vision signal, judge whether car door forbidden zone of standing has people or other obstacle to exist, and when forbidden zone has people or other obstacle to exist if car door is stood, is noted by warning reminding chaufeur;
2) if when the speed of a motor vehicle is not less than setting value, gather car door OFF signal, ON signal collection and enabling airline pressure P, when car door OFF signal is effective and enabling airline pressure P is more than or equal to setting value P0 time, control closing of the door, simultaneously when car door ON signal is effective and enabling airline pressure P is less than setting value P0 time, control car door opening.
6. bus door control method according to claim 5, it is characterized in that, described step 2) in when car door is in open state, acquisition monitoring vision signal, judge whether car door forbidden zone of standing has people or other obstacle to exist, and car door stand forbidden zone have people or other obstacle to exist time, noted by warning reminding chaufeur.
7. bus door control method according to claim 6, it is characterized in that, if car door stands forbidden zone when having people or other obstacle to exist in described step 1), control accounts for people forbidden zone warning light and opens, detect car door OFF signal simultaneously, when car door OFF signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is more than or equal to P0, report to the police, when car door OFF signal is invalid, detect car door ON signal, and when car door ON signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is less than P0, control car door opening.
8. bus door control method according to claim 6, it is characterized in that, if car door stands forbidden zone nobody and other obstacle when existing in described step 1), detect car door OFF signal, when car door OFF signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is more than or equal to P0, control closing of the door, when car door OFF signal is invalid, detect car door ON signal, and when car door ON signal is effective, detect enabling airline pressure P, judge whether P is more than or equal to setting value P0, and when P is less than P0, control car door opening.
CN201410004702.7A 2014-01-06 2014-01-06 A kind of bus door control system and method Active CN104290686B (en)

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Cited By (12)

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CN104863445A (en) * 2015-05-07 2015-08-26 郑州宇通客车股份有限公司 Method and system for controlling two side doors of bus
CN105216629A (en) * 2015-10-20 2016-01-06 重庆五洲龙新能源汽车有限公司 For control system and the control method thereof of electric bus
CN105751999A (en) * 2016-03-31 2016-07-13 汪家琳 Fully intelligent and fully automatic (unmanned) automobile
CN105799510A (en) * 2016-03-16 2016-07-27 郑州宇通客车股份有限公司 Bus door early-warning method and system
CN106671989A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Bus safety control system with information collection function
CN106671988A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Bus control system with scanning system
CN106671987A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Intelligent bus control system with scanning system
CN106864368A (en) * 2015-12-11 2017-06-20 罗伯特·博世有限公司 It is applied to the alarming method for power and system of vehicle
CN107415820A (en) * 2017-06-30 2017-12-01 浙江吉利新能源商用车有限公司 A kind of enabling security system based on full-view image
CN107542358A (en) * 2017-08-21 2018-01-05 深圳市海梁科技有限公司 A kind of control method and system of unmanned bus door
CN109695398A (en) * 2017-10-20 2019-04-30 马格纳斯泰尔汽车技术两合公司 Personnel convey transport facility
CN110443936A (en) * 2019-09-09 2019-11-12 珠海格力电器股份有限公司 Control method, device, equipment, locker and the storage medium of cabinet door

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CN108128240A (en) * 2017-12-22 2018-06-08 许郑桁 A kind of bus door safety alarm device

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Cited By (15)

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CN104863445A (en) * 2015-05-07 2015-08-26 郑州宇通客车股份有限公司 Method and system for controlling two side doors of bus
CN105216629A (en) * 2015-10-20 2016-01-06 重庆五洲龙新能源汽车有限公司 For control system and the control method thereof of electric bus
CN106864368A (en) * 2015-12-11 2017-06-20 罗伯特·博世有限公司 It is applied to the alarming method for power and system of vehicle
CN105799510A (en) * 2016-03-16 2016-07-27 郑州宇通客车股份有限公司 Bus door early-warning method and system
CN105751999B (en) * 2016-03-31 2018-07-20 汪家琳 Full automatic intelligent pilotless automobile
CN105751999A (en) * 2016-03-31 2016-07-13 汪家琳 Fully intelligent and fully automatic (unmanned) automobile
CN106671988A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Bus control system with scanning system
CN106671987A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Intelligent bus control system with scanning system
CN106671989A (en) * 2016-07-16 2017-05-17 柳州三木科技有限公司 Bus safety control system with information collection function
CN107415820A (en) * 2017-06-30 2017-12-01 浙江吉利新能源商用车有限公司 A kind of enabling security system based on full-view image
CN107542358A (en) * 2017-08-21 2018-01-05 深圳市海梁科技有限公司 A kind of control method and system of unmanned bus door
CN109695398A (en) * 2017-10-20 2019-04-30 马格纳斯泰尔汽车技术两合公司 Personnel convey transport facility
US10689897B2 (en) 2017-10-20 2020-06-23 Magna Steyr Fahrzeugtechnik Ag & Co Kg Passenger transport vehicle
CN110443936A (en) * 2019-09-09 2019-11-12 珠海格力电器股份有限公司 Control method, device, equipment, locker and the storage medium of cabinet door
CN110443936B (en) * 2019-09-09 2021-04-09 珠海格力电器股份有限公司 Cabinet door control method, device, equipment, storage cabinet and storage medium

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Address after: 450061 Yudao Road, Guancheng District, Zhengzhou City, Henan Province

Patentee after: Yutong Bus Co.,Ltd.

Address before: 450016 Yutong Industrial Zone, eighteen Li River, Henan, Zhengzhou

Patentee before: ZHENGZHOU YUTONG BUS Co.,Ltd.