CN110103991B - Laser scanning anti-pinch system suitable for rail transit platform door and control method thereof - Google Patents
Laser scanning anti-pinch system suitable for rail transit platform door and control method thereof Download PDFInfo
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- CN110103991B CN110103991B CN201910390006.7A CN201910390006A CN110103991B CN 110103991 B CN110103991 B CN 110103991B CN 201910390006 A CN201910390006 A CN 201910390006A CN 110103991 B CN110103991 B CN 110103991B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
- G01V8/18—Detecting, e.g. by using light barriers using one transmitter and one receiver using mechanical scanning systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
- G01V8/26—Detecting, e.g. by using light barriers using multiple transmitters or receivers using mechanical scanning systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
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- Transportation (AREA)
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- Platform Screen Doors And Railroad Systems (AREA)
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Abstract
The invention discloses a laser scanning anti-pinch system suitable for a rail transit platform door and a control method thereof, which belong to the technical field of platform door safety detection. The laser scanning anti-pinch system is simple in structure and convenient to set, can effectively realize the surface scanning detection of people or objects between the platform door assembly and the train body, ensures the safety of station operation, has high detection accuracy and small error, does not invade the train limit when the train is running, can fully ensure the stability of the train running, reduces the damage of the anti-pinch system to the train body, has longer service life, and has better application prospect and popularization value.
Description
Technical Field
The invention belongs to the technical field of platform door safety detection, and particularly relates to a laser scanning anti-pinch system suitable for a rail transit platform door and a control method thereof.
Background
With the continuous acceleration of the urban process, the application of rail transit is becoming more and more common. Compared with other urban traffic systems, the system has the advantages that the traffic volume of the rail traffic is large, the quasi-point rate is high, the travel of people can be greatly facilitated, the rail traffic does not occupy the road surface traffic space of automobiles and buses, and the system has a remarkable effect on improving urban congestion.
In the operation of rail traffic, a platform door system is generally provided on a platform thereof for distinguishing the platform from a track and enabling passengers to get on and off the vehicle. Because of considering the train limit in the running process of the train, the arrangement of the platform door system often needs to meet the requirement that a certain distance is reserved between the platform door system and the stopped train, so that a certain width gap exists between the platform door system and the stopped train, and a certain potential safety hazard exists in the running process of the platform door system. In recent years, it has been common for rail traffic passengers to be trapped between a closed platform door and a train door, and such an accident is particularly likely to occur when the platform door and the train door are about to be closed, the passengers still want to forcefully get on or get off the train, or when the passengers get on or off the train.
Obviously, in order to improve the safety of rail traffic operation, passengers are required to improve the safety awareness and take a bus safely; secondly, related improvement is needed to be carried out on the existing rail transit station so as to improve the running safety of the station. Therefore, several operation departments add anti-pinch safety measures on the rail transit platform, and the existing anti-pinch safety measures generally have the following steps: 1. a safety baffle is additionally arranged on the edge of the sliding door of the platform door, so that the gap between the train door and the platform door is reduced, and the possibility that passengers enter the gap is reduced. The method can only prevent passengers from actively entering the gap area, but can not prevent passengers from passively extruding into the gap from the inside of the vehicle, and the danger is higher when the train is started; 2. the opposite active infrared detection system is arranged at the station and generally comprises an infrared transmitting tube and an infrared photoelectric receiving tube which are respectively arranged at two sides of the station, wherein the infrared transmitting tube transmits infrared light signals into a space between the station door and the train, and the infrared photoelectric receiving tube receives the infrared light signals. When an obstacle exists between the platform door and the train, the infrared receiving tube cannot receive the infrared light signal sent from the opposite side to send out an alarm. Although the safety of the platform door system can be improved to a certain extent by the method, the divergence angle and the light spot of the light beam emitted by the infrared emission tube are large, the power density is greatly attenuated during transmission, and the phenomenon of spurious reflection is easy to occur during narrow-gap transmission so as to generate alarm leakage or spurious alarm, so that the accuracy is poor, and certain limitations exist; 3. the station is provided with the correlation laser detection system, the laser transmitter and the terminal receiver are respectively arranged at two ends of the station, the laser transmitter transmits laser signals to the terminal receiver, the receiver converts the received modulated optical signals into corresponding electric signals, and when the light beam is interrupted, an alarm signal is sent to the control host, so that the running safety of the station door system is ensured. The system can improve the safety of platform operation to a certain extent, and reduce the occurrence of the condition that passengers are clamped in front of platform doors and a vehicle body. However, due to the straightness of laser transmission, a certain detection blind area exists in parallel correlation of laser, the detection accuracy cannot be fully ensured, and the existing laser detection system often needs to invade a limit, so that certain influence is caused on the setting stability of the detection system and the running safety of a train; meanwhile, in the long-term use process of the existing laser detection system, displacement is usually generated due to vibration of the environment, so that correlation errors are caused, frequent human overhaul and maintenance are needed, the operation cost of a station is increased, and great inconvenience is caused.
Disclosure of Invention
Aiming at one or more of the defects or improvement demands in the prior art, the invention provides a laser scanning anti-pinch system and a control method thereof, which are suitable for a rail transit platform door, wherein a laser emitter and a laser sensor are respectively arranged at two ends of a platform correspondingly, and a rotating motor and a scanning steering engine are correspondingly arranged to control the laser emitter and the laser sensor to deflect correspondingly, so that the surface scanning detection between the platform door and a train body can be effectively realized, the coverage of the detection is enlarged, the blind area of the detection is reduced, the invasion of the anti-pinch system to the limit of a train is reduced, and the safety in the operation process of the platform is ensured.
In order to achieve the above object, according to one aspect of the present invention, there is provided a laser scanning anti-pinch system for a rail transit platform door, comprising at least one laser scanning unit and a laser receiving unit separately disposed at both ends of a linear platform;
the laser scanning device comprises at least one laser scanning unit, a laser receiving unit, a rotating motor, a first motor and a second motor, wherein the rotating motor, namely the first motor and the second motor, is respectively arranged corresponding to the at least one laser scanning unit and the laser receiving unit, the two rotating motors are respectively fixed on end doors at two longitudinal ends of a platform, output shafts of the two rotating motors are respectively arranged vertically, rotating shafts, namely a first rotating shaft and a second rotating shaft, are respectively arranged corresponding to the two rotating motors, and the two rotating shafts are respectively and fixedly connected with the output shafts of the corresponding rotating motors coaxially, so that the two rotating shafts can rotate around the shaft under the control of the corresponding rotating motors;
the laser scanning unit comprises a laser emitter capable of emitting laser and a scanning steering engine fixedly connected to the periphery of the first rotating shaft, a scanning output shaft of the scanning steering engine is horizontally arranged, a scanning swing arm is coaxially arranged corresponding to the scanning output shaft, one end of the scanning swing arm is fixedly connected with the scanning output shaft, and the other end of the scanning swing arm is fixedly connected with the laser emitter, so that the laser emitter can deflect for a certain angle in a reciprocating manner around the axis of the scanning swing arm under the control of the scanning steering engine;
the laser receiving unit comprises vertically arranged and strip-shaped laser sensors which can receive laser emitted by the laser emitter and are fixedly connected to the periphery of the second rotating shaft through a plurality of sensor swing arms; the laser scanning unit can be driven by the first rotating shaft to deflect at a certain angle under the control of the first motor, corresponding adjustment that the laser scanning unit stretches into the train limit when working and is far away from the train limit when not working is realized, and the laser scanning unit can be driven by the second rotating shaft to deflect at a certain angle under the control of the second motor, and corresponding adjustment that the laser scanning unit is longitudinally aligned with the laser scanning unit when working and is far away from the train limit when not working is realized.
As a further improvement of the invention, the number of the laser scanning units is two, and the two laser scanning units are vertically aligned.
As a further improvement of the present invention, the angle of rotation required for the laser scanning unit to switch from the inactive state to the active state is equal to the angle of rotation required for the laser receiving unit to switch from the inactive state to the active state.
As a further development of the invention, the angle of rotation required for the laser scanning unit and the laser receiving unit to switch from the inactive state to the active state is 90 °, and the laser scanning unit in the inactive state is flush with the platform door on the platform, and the laser receiving unit in the inactive state is flush with the platform door.
As a further improvement of the invention, the deflectable angle of the output shaft of the scanning steering engine is 3-8 degrees, and more preferably 5 degrees.
As a further development of the invention, the laser scanning unit and/or the laser receiving unit is/are arranged at the connection interface of the end door and the platform door.
As a further improvement of the present invention, the set length of the laser sensor is 1.0 to 1.5m, and more preferably 1.2m.
As a further improvement of the invention, the bottom of the laser sensor is 0.1-0.3 m from the top surface of the station board.
In another aspect of the present invention, a control method of the laser scanning anti-pinch system suitable for a rail transit platform door is provided, and the control steps are as follows:
s1: after the train enters the station and stops, the laser scanning unit and the laser receiving unit respectively receive control signals and deflect to a track area of the station under the control of corresponding rotating motors;
s2: the laser transmitter and the laser sensor deflect a certain angle respectively and then extend into the train limit, and the laser transmitter and the laser sensor are aligned along the longitudinal direction;
s3: the laser transmitter starts to work, generates laser and transmits the laser to the laser sensor; simultaneously, the scanning steering engine starts to work and performs reciprocating shaft-winding deflection at a certain angle;
s4: before the train is about to come out, detecting and feeding back a signal by the laser sensor, and if the signal is fed back and displayed normally, closing a platform door to prepare the train for coming out; if the signal feedback display is abnormal, the platform door is closed temporarily, and the train stops going out of the station until the signal display is normal;
s5: the signal of the laser sensor is displayed as normal, the platform door is closed, and the train is started; simultaneously, the laser transmitter and the laser sensor are respectively controlled by corresponding rotating motors to deflect towards the direction deviating from the track area, and are far away from the train limit;
s6: and the laser scanning unit and the laser receiving unit deflect back to the initial positions, and the two rotating motors stop working and wait for the next train to enter.
As a further improvement of the present invention, in step S4, if the signal is detected as abnormal, before feeding back the abnormal signal, a trimming process of the laser emitter and/or the laser sensor is performed, so as to determine whether the abnormal signal is caused by misalignment of the laser emitter and the laser sensor, where the trimming process is as follows:
and controlling the first motor and/or the second motor to deflect by a certain angle, if the laser sensor can receive continuous and uninterrupted scanning light after deflection, feeding back a normal signal by the laser sensor, and if the laser sensor can not receive continuous and uninterrupted scanning light after deflection, feeding back an abnormal signal by the laser sensor.
The above-mentioned improved technical features can be combined with each other as long as they do not collide with each other.
In general, the above technical solutions conceived by the present invention have the following beneficial effects compared with the prior art:
(1) The invention discloses a laser scanning anti-pinch system suitable for rail transit platform doors, which is characterized in that a laser scanning unit and a laser receiving unit are correspondingly arranged on end doors at two ends of a rail transit platform, a rotating motor and a rotating shaft are correspondingly arranged, the rotating motor correspondingly controls the laser scanning unit and the laser receiving unit to deflect a certain angle in a transverse plane, so that the laser scanning anti-pinch system is far away from a train limit when a train runs and stretches into the train limit when the train is detected, the accuracy of scanning detection is improved while the scratch of the anti-pinch system on the train is reduced, the safe running of the train is ensured, the setting stability of the anti-pinch system is improved, and the service life of the anti-pinch system is prolonged;
(2) According to the laser scanning anti-pinch system suitable for the rail transit platform door, the scanning swing arm and the scanning steering engine are arranged on the corresponding laser transmitters, the scanning steering engine correspondingly drives the laser transmitters to deflect a certain angle in the vertical plane, so that laser scanning detection in the vertical plane is realized, compared with point-to-point correlation detection, the coverage of detection is greatly improved, the generation of detection dead zones is reduced, the detection accuracy is improved, and the operation safety of the platform is further improved;
(3) According to the laser scanning anti-pinch system suitable for the rail transit platform door, abnormal signals are fed back when the laser receiving unit receives intermittent scanning light or fails to receive the scanning light, so that no person or object exists between the platform door and a train when the platform door is closed, detection errors caused by misalignment of the laser transmitter and the laser sensor are effectively avoided through corresponding fine adjustment of the rotating motor, accuracy of feedback results of the anti-pinch system is ensured, and calibration procedures of the laser scanning anti-pinch system are simplified;
(4) The control method of the laser scanning anti-pinch system suitable for the rail transit platform door has the advantages that the steps are simple, the control is simple and convenient, the invasion of the laser anti-pinch system to the train limit during the train operation can be effectively avoided, no people or objects exist between the train body and the platform door before the train goes out of the station, and the safety of the operation of the platform is fully ensured;
(5) The laser scanning anti-pinch system suitable for the rail transit platform door is simple in structure and convenient to set, can effectively realize scanning detection of people or objects between the platform door assembly and a train body, ensures safety of station operation, is high in detection accuracy and small in error, does not invade a train limit when a train runs, can fully ensure stability of the train running, reduces damage of the anti-pinch system to the train body, is long in service life, and has good application prospect and popularization value.
Drawings
FIG. 1 is a schematic diagram of a laser scanning anti-pinch system in an embodiment of the present invention in operation;
FIG. 2 is a schematic diagram of a laser scanning anti-pinch system in an embodiment of the invention when not in operation;
FIG. 3 is a schematic diagram of a laser scanning unit of the laser scanning anti-pinch system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a laser receiving unit of the laser scanning anti-pinch system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a laser scanning unit of a laser scanning anti-pinch system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a laser receiving unit of a laser scanning anti-pinch system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a laser scanning unit of a laser scanning anti-pinch system before scanning in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a laser scanning unit of a laser scanning anti-pinch system in scanning according to an embodiment of the present invention;
like reference numerals denote like technical features throughout the drawings, in particular: 1. the device comprises a laser scanning unit, a laser emitter, a scanning steering engine, a first motor, a scanning swing arm and a first rotating shaft, wherein the laser scanning unit, the laser emitter, the scanning steering engine, the first motor, the scanning swing arm and the first rotating shaft are respectively arranged in sequence, and the first rotating shaft is arranged in sequence; 2. the laser receiving unit 201 comprises a laser sensor 202, a second motor 203, a second rotating shaft 204 and a sensor swing arm; 3. platform plate, 4, platform door assembly, 401, end door, 402, platform door; 5. scanning the light.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The laser scanning anti-pinch system in the preferred embodiment of the invention is shown in fig. 1 and 2, wherein fig. 1 is a schematic diagram of the state of the laser scanning anti-pinch system when the laser scanning anti-pinch system is in operation, and fig. 2 is a schematic diagram of the state of the laser scanning anti-pinch system when the laser scanning anti-pinch system is not in operation. As can be seen from the illustration, the laser scanning anti-pinch system is arranged on a linear platform of the rail transit, specifically, the linear platform of the rail transit comprises a platform plate 3 arranged corresponding to a train track area, a platform door assembly 4 is correspondingly arranged on the platform plate 3, obviously, the platform door assembly 4 is arranged corresponding to a parking area of a train, and comprises end doors 401 which are respectively arranged at two ends and a platform door 402 which is arranged between the two end doors 401 along the straight line, and the platform door 402 in the preferred embodiment comprises a safety door arranged corresponding to a train body and a sliding door arranged corresponding to a train door; further, with the direction of the train track as the longitudinal direction, the platform door 402 is disposed along the longitudinal direction, and the end door 401 is preferably disposed along the transverse direction, and both ends of the platform door 402 are correspondingly connected to the side of the end door 401 near the track area.
Further, the laser scanning anti-pinch system is arranged on one side of the end door 401 close to the track area, preferably at the joint of the end door 401 and the platform door 402, and comprises a laser scanning unit 1 and a laser receiving unit 2 which are respectively arranged on the two end doors 401. Wherein at least one of the laser scanning units 1 is provided corresponding to the laser receiving unit 2, and in the preferred embodiment, two are provided at intervals in the vertical direction, as shown in fig. 1 and 2. Obviously, the laser scanning unit may be provided as one or a plurality, which may be preferable according to actual needs.
Further, the laser scanning unit 1 in the preferred embodiment includes a laser transmitter 101, a scanning steering engine 102, and a first motor 103, where the first motor 103 is correspondingly disposed at an end of the end door 401, and further preferably disposed at a connection position between the end door 401 and the platform door 402, and an output shaft thereof is disposed vertically, and is coaxially disposed with a first rotation shaft 105 corresponding to the output shaft thereof, one end of the first rotation shaft 105 is coaxially connected with the output shaft of the first motor 103, and the other end is correspondingly matched through a rotation pair, and then through corresponding control of the first motor 103, the rotation of the first rotation shaft 105 around the axis can be realized; further, at least one scanning steering engine 102 is correspondingly arranged on the first rotating shaft 105, and the number of the scanning steering engines 102 is consistent with the number of the laser scanning units 1, so that the rotation of the first rotating shaft 105 can realize the rotation control of all the laser scanning units 1.
Further specifically, in the preferred embodiment, the scanning steering engine 102 is fixedly arranged on the first rotating shaft 105, the output shaft of the scanning steering engine 102 is horizontally arranged, the scanning swing arm 104 is coaxially arranged corresponding to the output shaft of the scanning steering engine 102, one end of the scanning swing arm is fixedly connected with the output shaft of the scanning steering engine 102, the laser emitter 101 is correspondingly arranged at the other end of the scanning swing arm, and then the scanning swing arm 104 can rotate around the shaft through corresponding control of the scanning steering engine 102, so that the laser emitter 101 is driven to swing around the axis of the scanning swing arm 104, and the laser emitter 101 is scanned on a vertical plane with a certain width; further, in the preferred embodiment, the deflection angle of the two laser transmitters 101 is 3 ° to 8 °, and more particularly preferably 5 °, and the accuracy of the deflection angle can reach 0.05 °, which can be achieved by correspondingly setting the working state of the scanning steering engine 102, when the laser transmitters 101 do not start scanning, as shown in fig. 7, and when the laser transmitters 101 start scanning, as shown in fig. 8.
Further, the laser transmitter 101 in the preferred embodiment is deflectable by the first motor 103 to a position away from the track area when not in operation, as in the preferred embodiment the laser scanning unit 1 is flush with the platform door 402 when not in operation, as shown in fig. 3, when the axis of the scanning swing arm 104 is arranged in the longitudinal direction; of course, the laser transmitter 101 may also be rotated to a position inside the platform door 402 or slightly outside the platform door 402 under the control of the first motor 103, as long as the train is not invaded by the train limit of the train; to improve the accuracy of the control, the first motor 103 in the preferred embodiment rotates 90 ° a single time, rotating the axis of the scanning swing arm 104 from longitudinal to transverse. Since the laser scanning anti-pinch system is configured to detect whether a person or object is pinched between the landing door assembly 4 and the train, and in particular, in the confined space of the train, the length of the scanning swing arm 104 in the preferred embodiment is such that the laser transmitter 101 can extend into the train's confines during operation and ensure that the laser transmitter 101 is spaced a distance from the train's body.
Further, the laser receiving unit 2 in the preferred embodiment is disposed corresponding to the laser scanning unit 1, and includes a vertically disposed and elongated laser sensor 201, and a second motor 202, a second rotating shaft 203, and a sensor swing arm 204 are disposed corresponding to the laser sensor 201; the second motor 202 is correspondingly disposed at the end of the end door 401 on the side facing away from the laser scanning unit 1, which is close to the track area, the output shaft of the second motor 202 is disposed vertically, one end of the second rotating shaft 203 is coaxially and fixedly connected with the output shaft of the second motor 202, and a plurality of sensor swing arms 204 are correspondingly disposed on the second rotating shaft 203, the axes of the sensor swing arms 204 are horizontally disposed, one end of the sensor swing arms is fixedly connected with the second rotating shaft 203, the other end of the sensor swing arms is fixedly connected with the laser sensor 201, and then the second rotating shaft 203 can rotate the laser sensor 201 to a position flush with the platform door 402 through corresponding control of the second motor 202, or rotate the laser sensor 201 to extend into the train limit, and align with each laser scanning unit 1 rotating in place in the longitudinal direction, and then the scanning light rays 5 emitted by the laser emitters 101 can correspondingly strike the sensing surfaces of the laser sensor 201, as shown in fig. 1, thereby detecting whether people or things exist between the laser sensors 201.
Further, in the preferred embodiment, the vertical length of the laser sensor 201 is set to the deflection angle of the laser transmitter 101, so that when each laser transmitter 101 is deflected to two extreme positions, the scanning light 5 emitted by the laser transmitter 101 can be received by the laser sensor 201, and in the preferred embodiment, the vertical length of the laser sensor 201 is 1m to 1.5m, and more particularly preferably 1.2m. Of course, the bottom of the laser sensor 201 is located 10-30 cm above the top surface of the platform 3, preferably above the top surface of the platform, to ensure that structures such as baffles located in correspondence with the platform doors 402 do not interfere with the operation of the laser scanning anti-pinch system. Further preferably, the laser scanning anti-pinch system may start to operate immediately after the train is stopped, or may start to operate within a certain time before the platform door is ready to be closed, and at the same time, after the laser scanning anti-pinch system deflects into the train limit, the laser transmitter 101 may start to deflect and scan immediately, or may start to deflect and scan when the platform door is ready to be closed. In a word, the working time interval of the laser scanning anti-pinch system can be adjusted according to actual needs, and the adjustment space is large and the flexibility is high.
In addition, after the long-time reciprocating swing, the alignment relationship between the laser scanning unit 1 and the laser receiving unit 2 may deviate slightly, so that the alignment relationship between the laser scanning unit 1 and the laser receiving unit 2 needs to be calibrated, after the two components rotate in place, the scanning light 5 of the laser scanning unit 1 can accurately strike the middle part of the sensing surface of the laser sensor 201 without blocking a partition, the position calibration between the laser scanning unit 1 and the laser receiving unit 2 can be completed within the empty window time of a station, the calibration process can be completed through the fine adjustment of the angle of the first motor 103 and/or the second motor 202, and after the calibration is completed, the single rotation angle of the first motor 103 and the second motor 202 is set to be the same, so that the accurate retraction and the accurate alignment of the laser transmitter 101 and the laser sensor 201 can be effectively ensured.
Further, the control method of the laser scanning anti-pinch system in the preferred embodiment of the invention preferably comprises the following steps:
s1: before the train enters the station, the laser scanning unit 1 and the laser receiving unit 2 are in an inactive state, do not invade the limit of the train, and are preferably arranged flush with the platform door 402, and at the moment, the axes of the scanning swing arm 104 and the sensor swing arm 204 are arranged along the longitudinal direction;
s2: after the train enters the station and stops stably, the platform door corresponding to the train door starts working, and passengers start to get on and off the train; meanwhile, the laser scanning unit 1 and the laser receiving unit 2 start to work after receiving signals, and are respectively driven by the first motor 103 and the second motor 202 to rotate to a certain angle towards one side close to the track area, which is 90 degrees in the preferred embodiment, so that the laser scanning unit 1 and the laser receiving unit 2 respectively deflect and extend into the limit of the train and are aligned along the longitudinal direction, and at the moment, the scanning swing arm 104 and the sensor swing arm 204 are perpendicular to the track direction of the train, namely the axes of the two swing arms are arranged along the transverse direction;
s3: the laser scanning unit 1 and the laser receiving unit 2 start to work, the laser transmitter 101 generates scanning light 5 to be transmitted to the laser sensor 201, the scanning steering engine 102 starts to work, and the laser transmitter 101 is driven to swing reciprocally around the axis of the scanning swing arm 104, so that plane scanning of the scanning light 5 between the laser scanning unit 1 and the laser receiving unit 2 is realized;
s4: before the train is about to come out of the station, the platform door of the station starts to be slowly closed, at the moment, a laser receiving unit 2 correspondingly feeds back signals to the train and/or the station control room, and further, whether the platform door needs to be closed in an emergency stop or not is judged according to the signals fed back by the laser receiving unit 2, and whether the train can be started from the station or not is judged;
specifically, when the laser receiving unit 2 can receive the continuous scanning light 5, it indicates that no person or object is clamped between the platform door assembly and the train body, and a "normal" signal is fed back, the platform door can be correspondingly closed, and the train can be discharged after the platform door is closed.
When the laser receiving unit 2 cannot receive the continuous scanning light 5, it indicates that a person or object is clamped between the platform door assembly and the train body, and an abnormal signal is fed back at the moment, the platform door is closed temporarily, and the train stops going out.
Before feeding back the abnormal signal, the deflection position of the laser transmitter 101 and/or the laser sensor 201 can be finely adjusted under the drive of the first motor 103 and/or the second motor 202, and if the laser sensor 201 can receive the continuous and uninterrupted scanning light 5 after fine adjustment, the normal signal is fed back; if the laser sensor 201 can not detect the continuous scanning light 5 after fine adjustment, an abnormal signal is fed back, the platform door is closed temporarily, and the train stops going out.
S5: when the train is ready to go out (it is ensured that no person or object is clamped between the platform door and the train body), the train starts to start while the platform door is closed, and the laser scanning unit 1 and the laser receiving unit 2 are respectively controlled by the first motor 103 and the second motor 202 to deflect towards two sides, further away from the track area of the train, and the initial state is restored.
The laser scanning anti-pinch system for the rail transit platform door is characterized in that the laser scanning units and the laser receiving units are respectively arranged at two ends of the platform corresponding to the train track area, the laser scanning units scan in a certain deflection angle, so that whether a person or a thing exists between the platform door and a train body or not is effectively detected, compared with the original point-to-point detection, the surface scanning detection is effectively realized, the coverage area of the detection is effectively enlarged, the scanning blind area is reduced, the safety in the operation process of the rail transit platform is fully ensured, the laser scanning units and the laser receiving units in the system can be driven by the rotating shafts to deflect under the control of corresponding motors when not working, the limit of the train is further kept away, the arrangement of the laser scanning anti-pinch system is ensured not to influence the normal operation of the train, the arrangement stability of the laser scanning anti-pinch system is also improved, and the service life of the laser scanning anti-pinch system is prolonged; in addition, the laser scanning unit and the laser receiving unit can deflect and finely tune under the drive of the corresponding motor, so that the problem of misalignment caused by manual adjustment when the laser scanning anti-clamping system is affected by environmental vibration and maintenance is effectively avoided, the automatic calibration of the anti-clamping system is realized, the workload of manual overhaul and calibration is reduced, and the working accuracy of the anti-clamping system is improved.
The laser scanning anti-pinch system is simple in structure and convenient to set, can effectively realize scanning detection of people or objects between the platform door assembly and the train body, ensures the safety of station operation, is high in detection accuracy and small in error, does not invade a train limit when the train runs, can fully ensure the stability of the train running, reduces the damage of the anti-pinch system to the train body, is long in service life, and has good application prospect and popularization value.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The laser scanning anti-pinch system suitable for the rail transit platform door is characterized by comprising at least one laser scanning unit and at least one laser receiving unit which are respectively arranged at two ends of a linear platform;
the laser scanning device comprises at least one laser scanning unit, a laser receiving unit, a rotating motor, a first motor and a second motor, wherein the rotating motor, namely the first motor and the second motor, is respectively arranged corresponding to the at least one laser scanning unit and the laser receiving unit, the two rotating motors are respectively fixed on end doors at two longitudinal ends of a platform, output shafts of the two rotating motors are respectively arranged vertically, rotating shafts, namely a first rotating shaft and a second rotating shaft, are respectively arranged corresponding to the two rotating motors, and the two rotating shafts are respectively and fixedly connected with the output shafts of the corresponding rotating motors coaxially, so that the two rotating shafts can rotate around the shaft under the control of the corresponding rotating motors;
the laser scanning unit comprises a laser emitter capable of emitting laser and a scanning steering engine fixedly connected to the periphery of the first rotating shaft, a scanning output shaft of the scanning steering engine is horizontally arranged, a scanning swing arm is coaxially arranged corresponding to the scanning output shaft, one end of the scanning swing arm is fixedly connected with the scanning output shaft, and the other end of the scanning swing arm is fixedly connected with the laser emitter, so that the laser emitter can deflect for a certain angle in a reciprocating manner around the axis of the scanning swing arm under the control of the scanning steering engine;
the laser receiving unit comprises vertically arranged and strip-shaped laser sensors which can receive laser emitted by the laser emitter and are fixedly connected to the periphery of the second rotating shaft through a plurality of sensor swing arms; the laser scanning unit can be driven by the first rotating shaft to deflect at a certain angle under the control of the first motor, corresponding adjustment that the laser scanning unit stretches into the train limit when working and is far away from the train limit when not working is realized, the laser receiving unit can be driven by the second rotating shaft to deflect at a certain angle under the control of the second motor, and corresponding adjustment that the laser scanning unit is longitudinally aligned with the laser scanning unit when working and is far away from the train limit when not working is realized.
2. The laser scanning pinch resistant system for rail transit platform doors of claim 1, wherein the laser scanning units are two vertically spaced apart, the two laser scanning units being vertically aligned.
3. The laser scanning anti-pinch system for a rail transit platform door of claim 1, wherein an angle of rotation required for the laser scanning unit to transition from an inactive state to an active state is equal to an angle of rotation required for the laser receiving unit to transition from an inactive state to an active state.
4. A laser scanning anti-pinch system adapted for use with a rail transit platform door according to claim 3, wherein the angle of rotation required by the laser scanning unit and the laser receiving unit to switch from an inactive state to an active state is 90 ° and the laser scanning unit is flush with the platform door on the platform in the inactive state and the laser receiving unit is flush with the platform door in the inactive state.
5. The laser scanning anti-pinch system for rail transit platform doors according to any of claims 1-4, wherein the deflectable angle of the output shaft of the scanning steering engine is 3 ° to 8 °.
6. The laser scanning pinch resistant system for rail transit platform doors according to any of claims 1-4, wherein the laser scanning unit and/or the laser receiving unit is arranged at the junction of the end door and the platform door.
7. The laser scanning pinch prevention system for rail transit platform doors according to any of claims 1-4, wherein the laser sensor is provided in a length of 1.0-1.5 m.
8. The laser scanning pinch prevention system for rail transit platform doors of any of claims 1-4, wherein the bottom of the laser sensor is 0.1-0.3 m from the top surface of the platform plate.
9. A control method of the laser scanning anti-pinch system suitable for the rail transit platform door according to any one of claims 1 to 8, comprising the following control steps:
s1: after the train enters the station and stops, the laser scanning unit and the laser receiving unit respectively receive control signals and deflect to a track area of the station under the control of corresponding rotating motors;
s2: the laser transmitter and the laser sensor deflect a certain angle respectively and then extend into the train limit, and the laser transmitter and the laser sensor are aligned along the longitudinal direction;
s3: the laser transmitter starts to work, generates laser and transmits the laser to the laser sensor; simultaneously, the scanning steering engine starts to work and performs reciprocating shaft-winding deflection at a certain angle;
s4: before the train is about to come out, detecting and feeding back a signal by the laser sensor, and if the signal is fed back and displayed normally, closing a platform door to prepare the train for coming out; if the signal feedback display is abnormal, the platform door is closed temporarily, and the train stops going out of the station until the signal display is normal;
s5: the signal of the laser sensor is displayed as normal, the platform door is closed, and the train is started; simultaneously, the laser transmitter and the laser sensor are respectively controlled by corresponding rotating motors to deflect towards the direction deviating from the track area, and are far away from the train limit;
s6: and the laser scanning unit and the laser receiving unit deflect back to the initial positions, and the two rotating motors stop working and wait for the next train to enter.
10. The method for controlling a laser scanning anti-pinch system for a rail transit platform door according to claim 9, wherein in step S4, if the signal is detected as abnormal, a trimming process of the laser transmitter and/or the laser sensor is performed before the abnormal signal is fed back, so as to determine whether the abnormal signal is caused by misalignment of the laser transmitter and the laser sensor, the trimming process is as follows:
and controlling the first motor and/or the second motor to deflect by a certain angle, if the laser sensor can receive continuous and uninterrupted scanning light after deflection, feeding back a normal signal by the laser sensor, and if the laser sensor can not receive continuous and uninterrupted scanning light after deflection, feeding back an abnormal signal by the laser sensor.
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| CN114084171B (en) * | 2021-11-02 | 2024-02-23 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | Intelligent monitoring and alarming method and system for gap between rocker arm type platforms and electronic equipment |
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