CN109733441B - Vehicle door and platform door linkage method and system - Google Patents
Vehicle door and platform door linkage method and system Download PDFInfo
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- CN109733441B CN109733441B CN201910107646.2A CN201910107646A CN109733441B CN 109733441 B CN109733441 B CN 109733441B CN 201910107646 A CN201910107646 A CN 201910107646A CN 109733441 B CN109733441 B CN 109733441B
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Abstract
The invention provides a vehicle door and platform door linkage method and system, which are based on the linkage control of single-side or double-side vehicle doors and platform doors, the retransmission mechanism of door opening and closing commands of the vehicle doors, delayed transmission and the like of the method and system, so that the vehicle doors and the platform doors are opened or closed simultaneously, the manual work intensity is reduced, the manual operation errors are reduced, the automation degree of a train is improved, and the work efficiency, the reliability and the safety of an automatic train driving system are improved.
Description
Technical Field
The invention relates to the field of rail transit control, in particular to a method and a system for linking a vehicle door and a platform door.
Background
An Automatic Train Operation System (hereinafter referred to as vehicle-mounted ATO) is characterized in that a vehicle-mounted ATO is arranged on the basis of a Chinese Train Operation Control System (Chinese Train Operation Control System) CTCS-2/CTCS-3 level Train Control System to realize Automatic driving Control, a special accurate positioning responder, a Temporary Speed limiting Server (TSRS device) and a Train Control Center (TCC device) are arranged on the ground to realize accurate positioning, Temporary Speed limiting and the like, and meanwhile, the ground device realizes platform door Control, inter-station data transmission and Train Operation adjustment planning processing through a General Packet Radio Service (GPRS device). The main functions of the train-mounted ATO include automatic departure at a station, automatic operation between sections, automatic stop at the station, automatic door opening (or protection) at a vehicle door, and linkage control of the vehicle door/platform door. The vehicle-mounted ATO system ensures the driving safety by an Automatic Train Protection system (hereinafter referred to as vehicle-mounted ATP), realizes Automatic driving by the vehicle-mounted ATO, and is a safe and efficient Train operation control system.
In the prior art, the train door and the platform door are controlled by wireless remote control mostly by a control interface of a vehicle-mounted ATO, and a single wireless remote control system and method have low reliability, so that if signals are influenced, the train door and the platform door can not be opened or closed in a linkage manner; meanwhile, when the train is used for a station requiring opening and closing doors at two sides, the linkage of the doors at two sides and the station door requires manual operation of a driver, the working intensity of the driver is high, and the problem that the doors of the train or the station door are not opened and closed timely can occur in the running process of the train, so that safety accidents are caused, and potential safety hazards exist.
Disclosure of Invention
The invention provides a vehicle door and platform door linkage method and system, aiming at solving the technical problems of low reliability and potential safety hazard in the prior art.
A linkage method of a vehicle door and a platform door comprises a linkage opening method of the vehicle door and the platform door:
the vehicle-mounted ATP generates and sends the door opening permission information of the single-side or double-side vehicle doors to the vehicle-mounted ATO according to the platform side information from the ground transponder;
based on the door opening permission information, automatically generating or pressing a door opening button by the vehicle-mounted ATO to generate a door opening command corresponding to a single-side or double-side vehicle door;
the vehicle-mounted ATO carries out rationality check on the door opening command, sends the door opening command which is checked reasonably to the TSRS equipment, and simultaneously sends the door opening command which is checked reasonably to the train door at one side or two sides in a delayed mode;
the TSRS device sends a platform door opening instruction corresponding to a single-side or double-side vehicle door opening instruction to a TCC device, and the TCC device sends the platform door opening instruction to a platform door system;
and the train door executes the door opening command of the single-side or double-side door which is reasonably checked, the single-side or double-side door which allows the door to be opened is automatically opened, and meanwhile, the platform door system executes the platform door opening command to automatically open the platform door at the side corresponding to the single-side or double-side door which allows the door to be opened.
A linkage method of a vehicle door and a platform door comprises the following steps:
based on door opening permission information sent by a vehicle-mounted ATP, after passengers finish the operation of getting on and off the vehicle, pressing a corresponding side door closing button of the opened single-side or double-side door to generate a door closing command, and sending the door closing command to the vehicle-mounted ATO;
the vehicle-mounted ATO carries out rationality check on the door closing command, sends a door closing command which is checked reasonably to the TSRS equipment, and simultaneously sends a door closing command which is checked reasonably to the train door at one side or two sides in a delayed mode;
the TSRS equipment sends a platform door closing instruction corresponding to a single-side or double-side door closing instruction to TCC equipment, and the TCC equipment sends the platform door closing instruction to a platform door system;
and the train door executes the single-side or double-side door closing command which is reasonably checked, automatically closes the single-side or double-side door which is allowed to be closed, and simultaneously the platform door system executes the platform door closing command to automatically close the platform door at the side corresponding to the single-side or double-side door which is allowed to be closed.
Further, the door opening permission information includes: left-side allowed, right-side allowed, double-side allowed, or double-side disallowed information.
Further, the linkage method needs to preset a train gating mode, and the train gating mode includes: MM gating mode or AM gating mode, wherein,
the MM door control mode is that a door opening button or a door closing button is pressed to manually open or close a train door;
and after the AM door control mode meets the automatic door opening condition, the vehicle-mounted ATO generates a door opening command and automatically opens the train door, and then presses a door closing button to manually close the train door.
Further, the automatic door opening condition includes: the method comprises the following steps of making a train enter a station and stop stably, selecting an AM gating mode in advance, giving door opening permission information of one-side or two-side doors by a vehicle-mounted ATP, enabling an operation plan and sending the operation plan of a local station of the vehicle-mounted ATO by a TSRS device to be one or more conditions of arrival and handling.
Further, the checking the rationality of the door opening or closing command by the onboard ATO comprises:
when the door opening permission information of the train door is left side permission, the left door opening or closing is an effective command, and all other commands are regarded as invalid commands;
when the door opening permission information of the train door is right-side permission, the right door is opened or closed as an effective command, and all other commands are regarded as invalid commands;
when the door opening permission information of the train door is bilateral permission, only one or more commands of opening the left door, closing the left door, opening the right door, closing the right door, opening the left door and opening the right door, closing the left door and opening the right door, and closing the left door and closing the right door are valid commands, and the rest commands are regarded as invalid commands;
and when the door opening permission information of the train door is not permitted on both sides, all door opening and closing commands are regarded as invalid commands.
Further, after the vehicle-mounted ATO sends a reasonable single-side or double-side door opening or closing command to the TSRS device, the TSRS device feeds back confirmation information of the door opening or closing state of the platform door to the vehicle-mounted ATO according to the response of the TCC device and the platform door system.
Further, according to the condition that the TSRS device feeds back confirmation information to the vehicle-mounted ATO, the vehicle-mounted ATO is provided with a retransmission mechanism of single-side or double-side door opening or closing commands, and the retransmission mechanism comprises:
setting a time threshold value for retransmitting a door opening command in the vehicle-mounted ATO, wherein after the vehicle-mounted ATO sends a door opening or closing command and does not receive the feedback of the TSRS equipment after exceeding the time threshold value, the vehicle-mounted ATO resends the door opening or closing command;
the same door opening or closing command is sent to the ground repeatedly by the vehicle-mounted ATO for N times, wherein N is more than or equal to 1;
and sending the same door opening or closing command for more than N times, wherein the vehicle-mounted ATO still does not receive the feedback of the TSRS equipment, defaults that the linkage between the vehicle door and the platform door fails, records the fault and prompts train drivers through DMI.
Further, the process that the vehicle-mounted ATO sends the door opening or closing command of the single-side or double-side door to the TSRS device includes:
the vehicle-mounted ATO checks and stores door opening or closing commands;
the vehicle-mounted ATO sends a door opening or closing command to the TSRS equipment;
the vehicle-mounted ATO checks the feedback of the door opening or closing command of the TSRS equipment;
and the vehicle-mounted ATO monitors the sending time of the door opening or closing command.
Further, the on-board ATO checking and saving the door opening or closing command includes:
the method comprises the steps that a vehicle-mounted ATO receives door opening or closing commands of a single-side or double-side vehicle door, and the rationality of the door opening or closing commands is checked;
the door opening or closing command which is reasonably checked is only a door opening or closing command of a single-side door, and the door opening or closing command of the single-side door is directly stored;
and the door opening command reasonably checked is a door opening or closing command of the double-side door, the consistency check is continuously carried out on the door opening or closing command of the left side door and the door opening or closing command of the right side door, the door opening or closing command of the double-side door is saved if the check is passed, the door opening or closing command of the double-side door is cleared if the check is not passed, and the linkage failure of the door and the platform door is reported.
Further, the sending of the door opening or closing command to the TSRS device by the vehicle ATO includes:
if a left door opening or closing command and a right door opening or closing command need to be sent in the period, the vehicle-mounted ATO combines the door opening or closing commands of the two doors into a message and sends the message to the TSRS equipment;
if a left door opening or closing command needs to be sent in the period, and a right door opening or closing command does not exist at the moment, the vehicle-mounted ATO only sends the left door opening or closing command to the TSRS device, and a right door opening or closing command field is filled as a no-command;
if the door opening or closing command of the right door needs to be sent in the period, and the door opening or closing command of the left door does not exist at the moment, the vehicle-mounted ATO only sends the door opening or closing command of the right door to the TSRS device, and the door opening or closing command field of the left door is filled as no command.
Further, the feedback of the door opening or closing command by the vehicle-mounted ATO check TSRS device comprises:
if a left door opening or closing command of the train currently exists, the vehicle-mounted ATO receives confirmation information fed back by the TSRS device, the left platform door state is consistent with the left door opening or closing command, the linkage of the left door and the platform door is successful, and the vehicle-mounted ATO clears the left door opening or closing command of the train and resets a retransmission mechanism of the left door opening or closing command;
if a door opening or closing command of a right door of the train currently exists, the vehicle-mounted ATO receives confirmation information fed back by the TSRS equipment, the state of the right platform door is consistent with the door opening or closing command of the right door, the linkage of the right door and the platform door is successful, and the vehicle-mounted ATO clears the door opening or closing command of the right door of the train and resets a retransmission mechanism of the door opening or closing command of the right door;
and if the door opening or closing commands of the train doors at the two sides exist currently, the vehicle-mounted ATO respectively checks the linkage conditions of the train doors at the left side and the right side and the platform doors according to the confirmation information fed back by the TSRS equipment about the door opening or closing commands of the doors at the two sides.
Further, the vehicle-mounted ATO monitoring the sending opportunity of the door opening or closing command comprises:
if a left door opening or closing command of the train exists at present and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed the specified times, the left door opening or closing command is marked to be required to be sent in the period, when the retransmission time threshold is reached and the retransmission times exceed the specified times, linkage failure of the left door and the platform door is reported to an on-board ATO, and the on-board ATO clears the left door opening or closing command and resets a retransmission mechanism of the left door opening or closing command;
if a door opening or closing command of a right door of the train currently exists and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed the specified times, the right door opening or closing command is marked to be required to be sent in the period, when the retransmission time threshold is reached and the retransmission times exceed the specified times, linkage failure of the right door and the platform door is reported to the vehicle-mounted ATO, and the vehicle-mounted ATO clears the door opening or closing command of the right door and resets a retransmission mechanism of the door opening or closing command of the right door.
Further, the vehicle-mounted ATO controls train doors and platform doors of 8 single groups, 8 reconnection trains or M different marshalling trains in a linkage manner, and M is more than or equal to 16.
A vehicle door and platform door linkage system, the system comprising: vehicle ATP, vehicle ATO, vehicle door, platform door system, network equipment, ground responder, TSRS equipment and TCC equipment,
the ground transponder is used for transmitting station side information to the vehicle-mounted ATP;
the vehicle-mounted ATP is used for generating and sending door opening permission information of a single-side or double-side vehicle door according to the platform side information and sending the door opening permission information to the vehicle-mounted ATO;
the vehicle-mounted ATO is used for receiving door opening permission information of a vehicle door, generating a door opening or closing command of the vehicle door, and then sending the door opening or closing command to the TSRS equipment and the vehicle door;
the vehicle door is used for executing a vehicle door opening or closing command sent by the vehicle-mounted ATO;
the TSRS device is used for receiving a door opening or closing command of a vehicle door sent by the vehicle-mounted ATO, sending a platform door opening or closing command corresponding to the door opening or closing command to the TCC device, and feeding back confirmation information of the platform door opening or closing state to the vehicle-mounted ATO;
the TCC device is used for receiving the platform door opening or closing instruction sent by the TSRS device and transmitting the platform door opening or closing instruction to the platform door system;
the platform door system is used for executing a platform door opening or closing instruction transmitted by the TCC device;
the network equipment is used for providing a data transmission network between the vehicle-mounted equipment and the ground equipment.
Further, the vehicle-mounted ATO is further provided with one or more modules of a module for checking and storing door opening or closing commands of the vehicle door, a module for sending the door opening or closing commands of the vehicle door, a module for checking feedback of the door opening or closing commands of the TSRS device to the vehicle door, and a module for monitoring the sending time of the door opening or closing commands of the vehicle door.
In the invention, the vehicle-mounted ATP generates and sends corresponding door opening permission information to the vehicle-mounted ATO according to the platform side information from the ground transponder, the vehicle-mounted ATO automatically generates or presses a door opening button to generate a single-side or double-side door opening command, the vehicle-mounted ATO sends the door opening command to the TSRS device, and the TSRS device sends a platform door opening instruction corresponding to the door opening command to the TCC device and the platform door system; meanwhile, the vehicle-mounted ATO sends a door opening command to a train door in a delayed mode, the train door executes the door opening command and the platform door system executes the door opening command, and linkage opening of the train door and the platform door is achieved; and then, pressing a door closing button to generate a door closing command, and realizing the linkage closing of the vehicle door and the platform door by the vehicle door and platform door linkage closing method. Based on the method and the system, the linkage control of opening and closing doors of the single-side or double-side vehicle doors and the platform doors, the door opening and closing command retransmission mechanism, the delayed transmission and the like of the vehicle doors are realized, the simultaneous opening or closing of the vehicle doors and the platform doors is realized, the manual work intensity is reduced, the manual operation errors are reduced, the automation degree of the train is improved, and the work efficiency, the reliability and the safety of the automatic train driving system are improved. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 illustrates a schematic structural view of a vehicle door and platform door linkage system according to an embodiment of the present invention;
FIG. 2 illustrates a schematic structural diagram of an onboard ATO, in accordance with an embodiment of the present invention;
fig. 3 shows a schematic flow diagram of a method for the coordinated opening of a vehicle door and a platform door according to an embodiment of the invention;
FIG. 4 is a schematic flow chart of a method for closing a vehicle door and a platform door in a linkage manner according to an embodiment of the invention
Fig. 5 illustrates a schematic operation of a vehicle door and platform door linkage system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a schematic structural view of a vehicle door and platform door linkage system according to an embodiment of the present invention. As shown, the vehicle and platform door linkage system includes: vehicle ATP, vehicle ATO, vehicle doors, platform door systems, network devices, ground transponders, TSRS devices, and TCC devices. The ground transponder is used for transmitting station side information to the vehicle-mounted ATP; the vehicle-mounted ATP receives information sent by the ground transponder through electromagnetic induction or other wireless communication technologies, generates and sends door opening permission information of one-side or two-side doors according to the received platform side information, and sends the door opening permission information to the vehicle-mounted ATO; the vehicle-mounted ATO is used for receiving door opening permission information and generating a door opening or closing command, and then sending the door opening or closing command to the TSRS equipment and the vehicle door. Further, four independent logic processing modules are arranged in the vehicle-mounted ATO: the system comprises a vehicle-mounted ATO (automatic train operation) checking and storing module, a module for sending a door opening or closing command, a module for checking feedback of the door opening or closing command of the TSRS device, and a module for monitoring the sending time of the door opening or closing command of the vehicle, wherein fig. 2 shows a schematic structural diagram of the vehicle-mounted ATO. The vehicle-mounted ATO can be used for checking, storing, monitoring and sending door opening or closing commands of the vehicle door, so that the door opening or closing commands of the vehicle door can be correctly and timely sent to the TSRS equipment, and further linkage control of the vehicle door and the platform door can be realized; the vehicle door is used for executing a vehicle door opening or closing command sent by the vehicle-mounted ATO; the TSRS device is used for receiving a door opening or closing command of a vehicle door sent by the vehicle-mounted ATO, sending a platform door opening or closing command corresponding to the door opening or closing command to the TCC device, and feeding back confirmation information of the platform door opening or closing state to the vehicle-mounted ATO; the TCC device is used for receiving the platform door opening or closing instruction sent by the TSRS device and transmitting the platform door opening or closing instruction to the platform door system; the platform door system is used for executing a platform door opening or closing instruction transmitted by the TCC device; the network equipment is used for providing a data transmission network between the vehicle-mounted equipment and the ground equipment. In the embodiment of the present invention, the network device is exemplarily illustrated by taking a GPRS device as an example, and the GPRS network is used to implement a wireless communication function between the vehicle-mounted device and the ground device, but is not limited to use only the GPRS device, and other wireless communication devices, for example: GSM devices, EDGE devices, etc. may be suitable for use with the present invention.
Based on the vehicle door and platform door linkage system, the embodiment of the invention provides a vehicle door and platform door linkage method, the linkage method comprises a vehicle door and platform door linkage opening method, and fig. 3 shows a flow schematic diagram of the vehicle door and platform door linkage opening method according to the embodiment of the invention. As shown in the figure, firstly, after the train enters the station and stops stably, the ground transponder sends the platform side information of the train stop in the station to the vehicle-mounted ATP, and the vehicle-mounted ATP generates and sends the door opening permission information of the single-side or double-side doors to the vehicle-mounted ATO according to the received platform side information. The door opening permission information includes: the left side allows, the right side allows, the both sides allow or the both sides do not allow four conditions, and the linkage control of the train door and the platform door can meet all practical conditions of a train stopping platform, so that the opening and closing errors of the train door and the platform door are reduced, and the safety accident is avoided.
Then, based on the door opening permission information and according to a preset train door control mode, the vehicle-mounted ATO automatically generates or manually presses a door opening button to generate a door opening command corresponding to one-side or two-side vehicle doors. Two train gating modes can be selected in advance in the train-mounted ATO, wherein the two modes are respectively as follows: MM gating mode for hand-on hand-off and AM gating mode for self-on hand-off. If the MM door control mode is selected, a train driver or other drivers are required to press a door opening or closing button to manually open or close train doors; if the AM gating mode is selected, the vehicle-mounted ATO automatically generates a door opening command, and after various conditions of automatic door opening are met, the vehicle-mounted ATO automatically opens the train door, and then a train driver or other drivers need to press a door closing button to manually close the train door. Further, in the method of the embodiment of the invention, the vehicle-mounted ATO automatically opens the vehicle door and meets all the following conditions: the train enters the station and stops stably, a driver selects an AM gating mode, the vehicle-mounted ATP gives door opening permission information on one side or two sides, the operation plan is effective, and the station operation plan of the vehicle-mounted ATO sent by the TSRS equipment is to arrive and hold passengers. The TSRS equipment sends the vehicle-mounted ATO to the station, the operation plan is to-send and the meaning of handling passengers is that the train needs to be parked and then sent out after entering the station, and passengers need to be handled for getting on and off the train at the station.
After the door opening command is generated, the vehicle-mounted ATO can be used for carrying out rationality check on the door opening command, the reasonable single-side door opening command is directly sent to the TSRS equipment or the reasonable double-side door opening command is combined in a message and sent to the TSRS equipment through the GPRS network, and meanwhile, the vehicle-mounted ATO is used for delaying to send the reasonable single-side or double-side door opening command to the train door. The door opening permission information sent by the vehicle-mounted ATP has an internal logical relationship with a door opening or closing command for opening or closing a door, so that the vehicle-mounted ATO needs to check the rationality of the door opening or closing command, the subsequent execution operation can be performed only through the checked reasonable door opening or closing command, the door opening or closing command which does not pass the check is regarded as an invalid command and is not responded, and the relationship between the door opening permission information and the rationality of the door opening or closing command is shown in Table 1. For example, when the vehicle-mounted ATP gives left-side permitted train door opening permission information and the vehicle-mounted ATO checks the rationality of the door opening command, only opening or closing the left door is a valid command, and all the rest commands are, for example: opening or closing the right door, etc. are regarded as invalid commands, and do not respond and execute; when the vehicle-mounted ATP gives door opening permission information of the train door allowed on the right side, only opening or closing the right door is an effective command, and all other commands are regarded as invalid commands and are not responded and executed; when the train door opening permission information allowed by the two sides of the train door is given by the vehicle-mounted ATP, only eight groups of commands of opening the left door, closing the left door, opening the right door, closing the right door, opening the left door and opening the right door, closing the left door and opening the right door, and closing the left door and closing the right door are effective commands, one or more of the eight groups of commands can be responded and executed by the system, and all the rest commands are regarded as ineffective commands and are not responded and executed; when the vehicle-mounted ATP gives door opening permission information of train doors which are not permitted on two sides, all door opening and closing commands are regarded as invalid commands and are not responded and executed; in the method of the embodiment of the invention, the door opening permission information has bilateral permission, and a train driver or other drivers need to press door opening or closing buttons on two sides at the same time, so that the vehicle-mounted ATO combines reasonable bilateral door opening or closing commands in a message and sends the combined two-sided door opening or closing commands to the TSRS device, thereby reducing the difficulty of processing the commands by ground equipment; in addition, after the vehicle-mounted ATO sends the door opening or closing command to the TSRS device, the door opening or closing command needs to be sent to the train doors, but in the linkage process of the train doors and the platform doors, the time required for the door opening or closing command to reach the train doors is short, while the time required for the door opening or closing command to reach the ground device is long, so that the delay time is transmitted according to the door opening or closing command of the train doors, the vehicle-mounted ATO delays sending the door opening or closing command to the train doors, and delays outputting the door opening or closing command to the train doors, so that the train doors and the platform doors can receive the door opening or closing command or command at the same time.
TABLE 1 correspondence table of door opening permission information and reasonable door opening or closing command of train door
And then, the TSRS device generates a platform door opening instruction corresponding to the single-side or double-side door opening instruction, and sends the platform door opening instruction to the TCC device, and the TCC device sends the platform door opening instruction to the platform door system. Particularly, after receiving a platform door opening or closing instruction, the platform door system replies platform door state information to the TSRS device through the TCC device, the TSRS device forms confirmation information based on the platform door state information and feeds the confirmation information back to the vehicle-mounted ATO through a GPRS network, and the feedback confirmation information mechanism can reflect the linkage condition of the vehicle door and the platform door in time, so that the safety of the system and the method provided by the embodiment of the invention is improved; meanwhile, due to the possible problems of GPRS network interruption or data loss due to wireless communication and the like, the TSRS equipment sometimes cannot receive a door opening or closing command sent by the vehicle-mounted ATO. In order to improve the reliability of the system and method, the onboard ATO has a retransmission mechanism for door opening or closing commands of one-sided or two-sided doors: setting a time threshold value for retransmitting a door opening or closing command in the vehicle-mounted ATO, wherein after the vehicle-mounted ATO sends the door opening or closing command, the vehicle-mounted ATO does not receive confirmation information fed back by the TSRS equipment after exceeding the time threshold value, and the vehicle-mounted ATO resends the door opening or closing command; and the vehicle-mounted ATO repeatedly sends N times to the ground by the same door opening or closing command, wherein N is more than or equal to 1. Preferably, N ═ 3; and after the same door opening or closing command is sent for more than N times, the vehicle-mounted ATO still does not receive confirmation information fed back by the TSRS equipment, the linkage between the default vehicle door and the platform door fails, the fault is recorded, and the driver is prompted through the DMI. Further, in the method according to the embodiment of the present invention, under the condition that the door opening permission information is bilaterally permitted, a train driver or other drivers need to press the door opening or closing buttons on both sides at the same time, so a retransmission mechanism for respectively processing the door opening or closing commands of both doors is provided in the vehicle ATO, that is, the retransmission mechanism for the door opening or closing command of the left door is performed independently from the retransmission mechanism for the door opening or closing command of the right door, and when the vehicle ATO sends the door opening or closing command of the left door or the right door, the transmission time, the number of times of transmission, and the transmission state of the vehicle ATO are recorded, and the retransmission mechanism for the door opening or closing command on both sides of the train is realized based. Illustratively, the onboard ATO needs to send a left door closing command and a right door opening command, which are combined into one message, and then 16/12/1/2018: 12:32 sending the message to the TSRS device through a GPRS network, the TSRS device sending a corresponding left platform door closing instruction and a right platform door opening instruction to a platform door system through a TCC device, the platform door system only replying to the TSRS device a state where a left platform door is about to be closed and a right platform door is not in a state, and the TSRS device in 2018, 12, 1, 16: 12:33, feeding back confirmation information that the left platform door is about to be closed and the right platform door is in no state to the vehicle-mounted ATO, and recording by the vehicle-mounted ATO: "left door closing command at 12 months 1 day 16 in 2018: 12:32, sending once, successfully sending, and waiting for closing the left platform door; right door open command at 12 months 1 day 16 in 2018: 12:32 sends once, waiting for feedback of the right station door status. "when the waiting feedback right platform door status exceeds the time threshold, the vehicle ATO is started in 2018, 12/month, 1/day 16: 12:42 resends the right door open command, then the TSRS device sends a command to open the door in 2018, 12, month 1, 16: 12:43 feeding back confirmation information that the right platform door is about to be opened to the vehicle-mounted ATO, wherein the vehicle-mounted ATO records: "left door closing command at 12 months 1 day 16 in 2018: 12:32, sending once, successfully sending, and waiting for closing the left platform door; right door open command at 12 months 1 day 16 in 2018: 12:42 sends a second time that the right platform door is to be opened. At this time, the train doors on the two sides and the platform doors are successfully linked, and the door opening or closing commands or instructions are executed by the door and platform door systems.
And finally, the train door executes the single-side or double-side door opening command which is reasonably checked, the single-side or double-side door allowing the door to be opened is automatically opened, and meanwhile, the platform door system executes the platform door opening command to automatically open the platform door allowing the single-side or double-side door allowing the door to be opened to correspond to the platform door, so that the linkage and the simultaneous opening of the train door and the platform door are realized.
Meanwhile, based on the vehicle door and platform door linkage system, the vehicle door and platform door linkage method provided by the embodiment of the invention further comprises a vehicle door and platform door linkage closing method, and fig. 4 shows a flow schematic diagram of the vehicle door and platform door linkage closing method according to the embodiment of the invention. As shown in the figure, firstly, after a train station-entering door and a station door are opened in a linkage manner, based on door opening permission information sent by a vehicle-mounted ATP (automatic train protection), after passengers complete train getting-on and getting-off operation, a train driver presses a corresponding side door closing button of an opened single-side or double-side door to generate a door closing command, and sends the door closing command to a vehicle-mounted ATO (automatic train operation order); then, the vehicle ATO carries out rationality check on the door closing command, directly sends a reasonably checked one-side door closing command to the TSRS device or combines reasonably checked two-side door closing commands in a message to be sent to the TSRS device, and meanwhile, the vehicle ATO sends a reasonably checked one-side or two-side door closing command to the train door in a delayed mode; then, the TSRS equipment sends a platform door closing instruction corresponding to a single-side or double-side door closing instruction to TCC equipment, and the TCC equipment sends the platform door closing instruction to a platform door system; and finally, the train door executes the single-side or double-side door closing command which is reasonably checked, the single-side or double-side door which allows the door to be closed is automatically closed, and the platform door system executes the platform door closing command to automatically close the platform door on the side corresponding to the single-side or double-side door which allows the door to be closed. In the method for linked closing of the vehicle door and the platform door, the detection of the rationality of the door closing command, the retransmission mechanism, the delayed transmission mechanism and the like are explained in the method for linked opening of the vehicle door and the platform door, and are not described herein again.
Further, the specific process of sending the door opening or closing command of the one-sided or two-sided vehicle door checked to be reasonable by the vehicle-mounted ATO to the TSRS device includes:
first, the onboard ATO checks and saves door open or close commands. After receiving a new door opening or closing command, the vehicle-mounted ATO checks the rationality of the door opening or closing command; after the check, the door opening or closing command is only a door opening or closing command of a single-side door, and is directly stored, namely, if a new left door opening or closing command is received, the left door opening or closing command is stored, and if a new right door opening or closing command is received, the right door opening or closing command is stored; if the door opening or closing commands simultaneously have double-side door opening or closing commands, consistency check needs to be carried out on the left door opening or closing command and the right door opening or closing command, the left door opening or closing command and the right door opening or closing command are stored if the check is passed, the door commands on the two sides are cleared if the check is not passed, and linkage failure of the vehicle door and the platform door is reported. Illustratively, when the vehicle-mounted ATO receives a left door opening command, the left door opening command is directly saved; when the vehicle-mounted ATO receives a door closing command of the two doors, namely, a command exists for the left door and the right door respectively, if the left door has the door closing command, the right door also has the door closing command, and the door closing commands of the two doors are consistent, the door closing commands of the two doors are stored. If there is the command of opening the door in the door of left side, there is the command of closing the door in the door of right side, and both sides door command is inconsistent and not conform to original two sides door command of closing the door, and at this moment, on-vehicle ATO clears away this two sides door command of closing the door, records door and platform door linkage failure, reminds the train navigating mate.
And then, the vehicle-mounted ATO sends a door opening or closing command to the TSRS device. If a left door opening or closing command and a right door opening or closing command need to be sent in the period, the vehicle-mounted ATO combines the door opening or closing commands on the two sides of the train into a message to be sent to the TSRS equipment; if a left door opening or closing command needs to be sent in the period, and a right door opening or closing command does not exist at the moment, the vehicle-mounted ATO only sends the left door opening or closing command to the TSRS device, and a right door opening or closing command field is filled as a no-command; if the door opening or closing command of the right door needs to be sent in the period, and the door opening or closing command of the left door does not exist at the moment, the vehicle-mounted ATO only sends the door opening or closing command of the right door to the TSRS device, and the door opening or closing command field of the left door is filled as no command.
Then, the onboard ATO checks for feedback of door opening or closing commands by the TSRS device. If the left door opening or closing command of the train exists at present, the feedback information is received to indicate that the left platform door state is consistent with the left door command, the left platform door linkage is successful, the left door opening or closing command is cleared, and a retransmission mechanism of the left door opening or closing command is reset; if the door opening or closing command of the right door of the train currently exists, the received feedback information shows that the state of the right platform door is consistent with the right door command, the right platform door is successfully linked, the door opening or closing command of the right door is cleared, and a retransmission mechanism of the door opening or closing command of the right door is reset; if the door opening or closing commands of the train doors at two sides exist at present, the command feedbacks of the doors at two sides are respectively checked, namely, the vehicle-mounted ATO respectively checks the linkage conditions of the train doors at the left side and the right side of the train and the platform doors according to the confirmation information of the TSRS equipment about the states of the platform doors at two sides fed back by the door opening commands at two sides, and the linkage conditions are not influenced mutually.
And finally, the vehicle-mounted ATO monitors the door opening or closing command sending time of the vehicle door. If a left door opening or closing command of the train currently exists and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed a specified number, the left door opening or closing command is marked to be required to be sent in the present period, and when the retransmission time threshold is reached and the retransmission times exceed the specified number, linkage failure of the left door and the platform door is reported to the vehicle-mounted ATO, and the vehicle-mounted ATO clears the left door opening command and resets a left door opening command retransmission mechanism or the vehicle-mounted ATO clears the left door closing command and resets a left door closing command retransmission mechanism; if a door opening or closing command of a right door of the train currently exists and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed a specified number, the right door opening or closing command is marked to be required to be sent in the present period, when the retransmission time threshold is reached and the retransmission times exceed the specified number, linkage failure of the right door and the platform door is reported to the vehicle-mounted ATO, and the vehicle-mounted ATO clears the right door opening command and resets a right door opening command retransmission mechanism or the vehicle-mounted ATO clears the right door closing command and resets a right door closing command retransmission mechanism.
The number of platform doors to be opened or closed is different after the trains with different lengths enter the station and stop. In the embodiment of the invention, the vehicle-mounted ATO can be used for controlling train doors and platform doors of 8 single groups, 8 reconnection groups or 16-18 different marshalling groups in a linkage manner. When the vehicle-mounted ATO sends a door opening or closing command to the ground equipment, the vehicle-mounted ATO comprises train length information, so that the platform door system opens the platform door corresponding to the train length, the linkage of the vehicle door and the platform door opens or closes more safely and reliably, and passengers can get on or off the train smoothly.
Fig. 5 illustrates a schematic operation of a vehicle door and platform door linkage system according to an embodiment of the present invention. As shown in the drawings, the process of the linkage opening and closing of the car door and the platform door is as follows, by combining the method and the system of the embodiment of the invention:
1. after the train enters the station and stops stably and is stopped accurately, the vehicle-mounted ATP sends door opening permission information of single-side or double-side doors to the vehicle-mounted ATO according to the station side information given by the ground transponder;
2. based on the door opening permission information, the vehicle-mounted ATO automatically generates or presses a door opening button to generate a door opening command;
3. after the vehicle-mounted ATO is checked, a vehicle door opening command and train stopping and stopping stability information are sent to the TSRS device, and meanwhile, the vehicle-mounted ATO sends the vehicle door opening command to a vehicle door in a delayed mode;
4. and the TSRS device sends the platform door opening instruction corresponding to the door opening command to the platform door system through the TCC device. Then, the platform door system returns the platform door state to the TSRS device, and the TSRS device feeds back the platform door state to the vehicle-mounted ATO;
5. the vehicle door executes a vehicle door opening command, the platform door system executes a platform door opening command, and the vehicle door and the platform door are opened in a linkage manner;
6. after the passengers get on or off the vehicle, pressing a door closing button to generate a door closing command of the vehicle door;
7. the vehicle-mounted ATO sends a door closing command to the TSRS device, and meanwhile, the vehicle-mounted ATO sends the door closing command to the vehicle door in a delayed mode;
8. and the TSRS device sends a platform door closing instruction corresponding to the door closing command to the platform door system through the TCC device. Then, the platform door system returns the platform door state to the TSRS device, and the TSRS device feeds back the platform door state to the vehicle-mounted ATO;
9. and the vehicle door executes a vehicle door closing command, and the platform door system executes a platform door closing command at the same time, so that the vehicle door and the platform door are closed in a linkage manner.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (14)
1. A linkage method of a vehicle door and a platform door is characterized by comprising the following steps:
the vehicle-mounted ATP generates and sends the door opening permission information of the single-side or double-side vehicle doors to the vehicle-mounted ATO according to the platform side information from the ground transponder;
based on the door opening permission information, automatically generating or pressing a door opening button by the vehicle-mounted ATO to generate a door opening command corresponding to a single-side or double-side vehicle door;
the vehicle-mounted ATO carries out rationality check on the door opening command, sends the door opening command which is checked reasonably to the TSRS equipment, and simultaneously sends the door opening command which is checked reasonably to the train door at one side or two sides in a delayed mode;
the TSRS device sends a platform door opening instruction corresponding to a single-side or double-side vehicle door opening instruction to a TCC device, and the TCC device sends the platform door opening instruction to a platform door system;
the train door executes the single-side or double-side door opening command which is reasonably checked, the single-side or double-side door which is allowed to open is automatically opened, and meanwhile, the platform door system executes the platform door opening command to automatically open the platform door on the side corresponding to the single-side or double-side door which is allowed to open;
wherein, the process that the vehicle-mounted ATO sends the door opening command to the TSRS equipment comprises the following steps:
the vehicle-mounted ATO checks and saves the door opening command;
the vehicle-mounted ATO sends a door opening command to the TSRS equipment;
the vehicle-mounted ATO checks the feedback of the opening command of the TSRS equipment;
and the vehicle-mounted ATO monitors the sending time of the door opening command.
2. A linkage method of a vehicle door and a platform door is characterized by comprising the following steps:
based on door opening permission information sent by a vehicle-mounted ATP, after passengers finish the operation of getting on and off the vehicle, pressing a corresponding side door closing button of the opened single-side or double-side door to generate a door closing command, and sending the door closing command to the vehicle-mounted ATO;
the vehicle-mounted ATO carries out rationality check on the door closing command, sends a door closing command which is checked reasonably to the TSRS equipment, and simultaneously sends a door closing command which is checked reasonably to the train door at one side or two sides in a delayed mode;
the TSRS equipment sends a platform door closing instruction corresponding to a single-side or double-side door closing instruction to TCC equipment, and the TCC equipment sends the platform door closing instruction to a platform door system;
the train door executes the single-side or double-side door closing command which is reasonably checked, the single-side or double-side door which is allowed to be closed is automatically closed, and meanwhile, the platform door system executes the platform door closing command to automatically close the platform door on the side corresponding to the single-side or double-side door which is allowed to be closed;
wherein, the process that the vehicle-mounted ATO sends the door closing command to the TSRS equipment comprises the following steps:
the vehicle-mounted ATO checks and saves a door closing command;
the vehicle-mounted ATO sends a door closing command to the TSRS device;
the vehicle-mounted ATO checks the feedback of the TSRS equipment to the door closing command;
and the vehicle-mounted ATO monitors the door closing command sending time.
3. The vehicle door and platform door linking method according to claim 1 or 2, wherein the door opening permission information includes: left-side allowed, right-side allowed, double-side allowed, or double-side disallowed information.
4. The vehicle door and platform door linking method according to claim 1 or 2, wherein the linking method requires a predetermined train door control mode including: MM gating mode or AM gating mode, wherein,
the MM door control mode is that a door opening button or a door closing button is pressed to manually open or close a train door;
and after the AM door control mode meets the automatic door opening condition, the vehicle-mounted ATO generates a door opening command and automatically opens the train door, and then presses a door closing button to manually close the train door.
5. The vehicle door and platform door linking method according to claim 4, wherein the automatic door opening condition includes: the method comprises the following steps of making a train enter a station and stop stably, selecting an AM gating mode in advance, giving door opening permission information of one-side or two-side doors by a vehicle-mounted ATP, enabling an operation plan and sending the operation plan of a local station of the vehicle-mounted ATO by a TSRS device to be one or more conditions of arrival and handling.
6. The vehicle door and platform door linking method according to claim 1 or 2, wherein the onboard ATO door opening or closing command rationality check includes:
when the door opening permission information of the train door is left side permission, the left door opening or closing is an effective command, and all other commands are regarded as invalid commands;
when the door opening permission information of the train door is right-side permission, the right door is opened or closed as an effective command, and all other commands are regarded as invalid commands;
when the door opening permission information of the train door is bilateral permission, only one or more commands of opening the left door, closing the left door, opening the right door, closing the right door, opening the left door and opening the right door, closing the left door and opening the right door, and closing the left door and closing the right door are valid commands, and the rest commands are regarded as invalid commands;
and when the door opening permission information of the train door is not permitted on both sides, all door opening and closing commands are regarded as invalid commands.
7. The vehicle door and platform door linking method according to claim 1 or 2, wherein after the vehicle ATO transmits a single or double door opening or closing command for checking the reasonableness to the TSRS device, the TSRS device feeds back confirmation information of the door opening or closing state of the platform door to the vehicle ATO according to the TCC device and the reply of the platform door system.
8. The vehicle door and platform door linking method according to claim 7, wherein the vehicle ATO has a retransmission mechanism of a single-sided or double-sided door opening or closing command according to a case where the TSRS device feeds back confirmation information to the vehicle ATO, the retransmission mechanism comprising:
setting a time threshold value for retransmitting a door opening command in the vehicle-mounted ATO, wherein after the vehicle-mounted ATO sends a door opening or closing command and does not receive the feedback of the TSRS equipment after exceeding the time threshold value, the vehicle-mounted ATO resends the door opening or closing command;
the same door opening or closing command is sent to the ground repeatedly by the vehicle-mounted ATO for N times, wherein N is more than or equal to 1;
and sending the same door opening or closing command for more than N times, wherein the vehicle-mounted ATO still does not receive the feedback of the TSRS equipment, defaults that the linkage between the vehicle door and the platform door fails, records the fault and prompts train drivers through DMI.
9. The vehicle door and platform door linking method according to claim 1 or 2, wherein the onboard ATO check and save door open or close command comprises:
the method comprises the steps that a vehicle-mounted ATO receives door opening or closing commands of a single-side or double-side vehicle door, and the rationality of the door opening or closing commands is checked;
the door opening or closing command which is reasonably checked is only a door opening or closing command of a single-side door, and the door opening or closing command of the single-side door is directly stored;
and the door opening command reasonably checked is a door opening or closing command of the double-side door, the consistency check is continuously carried out on the door opening or closing command of the left side door and the door opening or closing command of the right side door, the door opening or closing command of the double-side door is saved if the check is passed, the door opening or closing command of the double-side door is cleared if the check is not passed, and the linkage failure of the door and the platform door is reported.
10. The vehicle door and platform door linking method according to claim 1 or 2, wherein the vehicle-mounted ATO sending a door opening or closing command to a TSRS device comprises:
if a left door opening or closing command and a right door opening or closing command need to be sent in the period, the vehicle-mounted ATO combines the door opening or closing commands of the two doors into a message and sends the message to the TSRS equipment;
if a left door opening or closing command needs to be sent in the period, and a right door opening or closing command does not exist at the moment, the vehicle-mounted ATO only sends the left door opening or closing command to the TSRS device, and a right door opening or closing command field is filled as a no-command;
if the door opening or closing command of the right door needs to be sent in the period, and the door opening or closing command of the left door does not exist at the moment, the vehicle-mounted ATO only sends the door opening or closing command of the right door to the TSRS device, and the door opening or closing command field of the left door is filled as no command.
11. The vehicle door and platform door linking method according to claim 1 or 2, wherein the feedback of the door opening or closing command by the vehicle-mounted ATO inspection TSRS device comprises:
if a left door opening or closing command of the train currently exists, the vehicle-mounted ATO receives confirmation information fed back by the TSRS device, the left platform door state is consistent with the left door opening or closing command, the linkage of the left door and the platform door is successful, and the vehicle-mounted ATO clears the left door opening or closing command of the train and resets a retransmission mechanism of the left door opening or closing command;
if a door opening or closing command of a right door of the train currently exists, the vehicle-mounted ATO receives confirmation information fed back by the TSRS equipment, the state of the right platform door is consistent with the door opening or closing command of the right door, the linkage of the right door and the platform door is successful, and the vehicle-mounted ATO clears the door opening or closing command of the right door of the train and resets a retransmission mechanism of the door opening or closing command of the right door;
and if the door opening or closing commands of the train doors at the two sides exist currently, the vehicle-mounted ATO respectively checks the linkage conditions of the train doors at the left side and the right side and the platform doors according to the confirmation information fed back by the TSRS equipment about the door opening or closing commands of the doors at the two sides.
12. The vehicle door and platform door linking method according to claim 1 or 2, wherein the vehicle-mounted ATO monitoring a door opening or closing command transmission timing includes:
if a left door opening or closing command of the train currently exists and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed a specified number, the left door opening or closing command is marked to be required to be sent in the present period, and when the retransmission time threshold is reached and the retransmission times exceed the specified number, linkage failure of the left door and the platform door is reported to the vehicle-mounted ATO, and the vehicle-mounted ATO clears the left door opening command and resets a left door opening command retransmission mechanism or the vehicle-mounted ATO clears the left door closing command and resets a left door closing command retransmission mechanism;
if a door opening or closing command of a right door of the train currently exists and TSRS equipment feedback information is not received all the time, when a retransmission time threshold is reached and the retransmission times do not exceed a specified number, the right door opening or closing command is marked to be required to be sent in the present period, when the retransmission time threshold is reached and the retransmission times exceed the specified number, linkage failure of the right door and the platform door is reported to the vehicle-mounted ATO, and the vehicle-mounted ATO clears the right door opening command and resets a right door opening command retransmission mechanism or the vehicle-mounted ATO clears the right door closing command and resets a right door closing command retransmission mechanism.
13. The vehicle door and platform door linkage method according to claim 1 or 2, wherein the vehicle-mounted ATO controls train doors and platform doors of 8 single trains, 8 double trains or M different marshalling in a linkage way, M is more than or equal to 16.
14. A vehicle door and platform door linkage system, the system comprising: vehicle ATP, vehicle ATO, vehicle door, platform door system, network equipment, ground responder, TSRS equipment and TCC equipment,
the ground transponder is used for transmitting station side information to the vehicle-mounted ATP;
the vehicle-mounted ATP is used for generating and sending door opening permission information of a single-side or double-side vehicle door according to the platform side information and sending the door opening permission information to the vehicle-mounted ATO;
the vehicle-mounted ATO is used for receiving door opening permission information of a vehicle door, generating a door opening or closing command of the vehicle door, and then sending the door opening or closing command to the TSRS equipment and the vehicle door;
the vehicle door is used for executing a vehicle door opening or closing command sent by the vehicle-mounted ATO;
the TSRS device is used for receiving a door opening or closing command of a vehicle door sent by the vehicle-mounted ATO, sending a platform door opening or closing command corresponding to the door opening or closing command to the TCC device, and feeding back confirmation information of the platform door opening or closing state to the vehicle-mounted ATO;
the TCC device is used for receiving the platform door opening or closing instruction sent by the TSRS device and transmitting the platform door opening or closing instruction to the platform door system;
the platform door system is used for executing a platform door opening or closing instruction transmitted by the TCC device;
the network equipment is used for providing a data transmission network between the vehicle-mounted equipment and the ground equipment;
the vehicle-mounted ATO is also provided with one or more modules of a module for checking and storing door opening or closing commands of the vehicle door, a module for sending the door opening or closing commands of the vehicle door, a feedback module for checking the door opening or closing commands of the vehicle door by the TSRS equipment, and a module for monitoring the sending time of the door opening or closing commands of the vehicle door.
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| CN110424859B (en) * | 2019-06-12 | 2020-12-22 | 北京全路通信信号研究设计院集团有限公司 | Vehicle door and platform door joint control method and system applied to high-speed railway |
| CN110836065A (en) * | 2019-11-11 | 2020-02-25 | 通号城市轨道交通技术有限公司 | Platform shielding door linkage control method and device |
| CN113565394B (en) * | 2020-04-29 | 2023-01-03 | 比亚迪汽车工业有限公司 | Linkage condition determination method, device, vehicle-mounted controller, medium, and system |
| CN114059886B (en) * | 2020-07-29 | 2023-01-06 | 比亚迪股份有限公司 | Platform shielding door control method and system |
| CN112664094A (en) * | 2021-01-12 | 2021-04-16 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle door alignment control method and system, electronic device and storage medium |
| CN113120041B (en) * | 2021-05-24 | 2024-02-13 | 北京交大思诺科技股份有限公司 | Train operation control system for enhancing safety of existing line C0 system |
| CN113311763A (en) * | 2021-05-28 | 2021-08-27 | 宁波奥克斯电气股份有限公司 | Intelligent equipment control method and device, computer device and intelligent equipment control system |
| CN114523992B (en) * | 2022-02-24 | 2023-05-05 | 中车青岛四方车辆研究所有限公司 | Intelligent platform door control system based on vehicle-to-vehicle communication |
| CN115503793B (en) * | 2022-09-27 | 2024-03-26 | 卡斯柯信号有限公司 | Train control system supporting virtual connection and operation method thereof |
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| CN201062461Y (en) * | 2007-06-11 | 2008-05-21 | 铁道科学研究院通信信号研究所 | Wireless station screening door vehicle-ground interlocking control system |
| KR101172004B1 (en) * | 2010-06-28 | 2012-08-08 | 현대엘리베이터주식회사 | Wireless control system for platform screen door linked with automatic train operation |
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| WO2018173142A1 (en) * | 2017-03-22 | 2018-09-27 | 三菱電機株式会社 | On-board control apparatus and platform door control system |
| CN207842925U (en) * | 2017-05-31 | 2018-09-11 | 西门子（中国）有限公司 | Platform screen accelerator control system |
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