CN111098871B - Door control system of city train - Google Patents
Door control system of city train Download PDFInfo
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- CN111098871B CN111098871B CN202010001450.8A CN202010001450A CN111098871B CN 111098871 B CN111098871 B CN 111098871B CN 202010001450 A CN202010001450 A CN 202010001450A CN 111098871 B CN111098871 B CN 111098871B
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- door
- train
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- switch
- cab
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D19/00—Door arrangements specially adapted for rail vehicles
- B61D19/02—Door arrangements specially adapted for rail vehicles for carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D19/00—Door arrangements specially adapted for rail vehicles
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a train door control system of a city train, wherein a set of switch devices are arranged on the outer side and the inner side of a train passenger compartment train door, and the opening and closing of the train door can be realized by operating the switch devices, namely, the train door can be opened and closed by the switch devices when a cab is not activated, so that the problem that personnel can not get on or off the train when the cab is not activated is solved.
Description
Technical Field
The invention relates to the field of rail transit circuit control, in particular to a vehicle door control system of an urban train.
Background
At present, the train in the urban area includes articulated light rail vehicles, trolley buses, straddle monorail and suspended monorail, and the like, and the door control system of the train in the urban area as shown in fig. 1 is usually adopted for controlling the doors of the train in the urban area. Specifically, the operation principle of the train door control system of the city train in fig. 1 includes: the door controller controls the electric opening of the door to be realized only when the train is activated (the train is electrified and the train activation relay K102 is closed), the cab ON one side is activated (the master key of the cab is turned to the ON position and the cab activation relay K109 is closed), the train speed is 0, a door opening allowing signal exists and a door opening command exists (the door opening button in the cab is pressed down); the door controller controls the door to close electrically only when the train is active, one cab is active and the associated door command (the door closing button in the cab is pressed). It can be seen that when the train is not activated or the train is activated but the drivers 'cabs on either side are not activated, the doors cannot be electrically opened or closed, so that the passengers cannot get on or off the train when the drivers' cabs are not activated.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a vehicle door control system of a train in a city area, which can open and close a vehicle door of a passenger room through a switch device when a cab is not activated, so that the problem that personnel can not get on or off the train when the cab is not activated is solved.
In order to solve the above technical problem, the present invention provides a train door control system for a train in a city area, comprising:
the first switch device is arranged on the outer side of a door of a passenger room of the train;
the second switch device is arranged on the inner side of a passenger compartment door of the train;
the door controller is respectively connected with the first switch device and the second switch device and is used for controlling the door of the passenger room to be opened when the first switch device or the second switch device is operated to the door opening position; controlling the passenger compartment door to close when the first switching device or the second switching device is operated to a closed door position.
Preferably, the first switch device comprises a first relay and a first electric operating switch arranged on the outer side of a door of a passenger room of the train; wherein:
the first end of the first electric operating switch is hung on a permanent load train line of a train, the second end of the first electric operating switch is connected with the first end of the first relay, the second end of the first relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of the door controller, and the third end of the first electric operating switch is connected with a door closing signal end of the door controller; wherein the first electrically operated switch has a first end and a second end connected to close the first relay when operated to a door open position, and a first end and a third end connected when operated to a door close position;
the door controller is specifically used for controlling the door of the passenger room to be opened when a door zero-speed signal end, a door opening allowing signal end and a door opening signal end are all at high level; and when the door closing signal end is at a high level, controlling the door of the passenger room to be closed.
Preferably, the second switch device comprises a second relay and a second electric operation switch arranged on the inner side of a door of a passenger room of the train; wherein:
the first end of the second electric operating switch is hung on a permanent load train line of a train, the second end of the second electric operating switch is connected with the first end of the second relay, the second end of the second relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of the door controller, and the third end of the second electric operating switch is connected with a door closing signal end of the door controller; wherein the second electrically operated switch has a first end and a second end connected to close the second relay when operated to the door open position, and a first end and a third end connected when operated to the door closed position.
Preferably, the first relay and the second relay are the same relay.
Preferably, the vehicle door control system further comprises a cab activation relay arranged in a train cab; wherein:
the first end of cab activation relay articulates on the permanent load train line of train, the normally closed terminal of cab activation relay respectively with first electric operating switch's first end with the first end of second electric operating switch is connected, the normally open terminal of cab activation relay is connected with the first end of cab in-opening door button and the first end of closing the door button respectively, the second end of opening the door button with the second end of closing the door button with the door controller is connected.
Preferably, the cab of the train is in particular a cab without side doors.
Preferably, the vehicle door control system further includes:
the first standby switch device is arranged on the outer side of a door of a passenger room of the train and has the same structure with the first switch device;
and the second standby switch device is arranged on the inner side of the door of the passenger room of the train and has the same structure with the second switch device.
The invention provides a train door control system of a city train, wherein a set of switch devices are arranged on the outer side and the inner side of a train passenger compartment train door, and the opening and closing of the train door can be realized by operating the switch devices, namely, the train door can be opened and closed by the switch devices when a cab is not activated, so that the problem that personnel can not get on or off the train when the cab is not activated is solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a door control system of a city train in the prior art;
fig. 2 is a schematic structural diagram of a door control system of an urban train according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a door control of a train in an urban area according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a door opening control of an urban train under an inactive working condition according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a door closing control of an urban train under an inactive working condition according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a vehicle door control system of a train in a city area, and the vehicle door of a passenger room can be opened and closed by a switch device when a cab is not activated, so that the problem that personnel can not get on or off the train when the cab is not activated is solved.
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.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a door control system of a train in a city area according to an embodiment of the present invention.
This door control system of municipality territory train includes:
a first switch device K1 arranged outside a door of a passenger compartment of the train;
a second switch device K2 arranged on the inner side of the door of the passenger room of the train;
a door controller C connected to the first switching device K1 and the second switching device K2, respectively, for controlling the door of the passenger compartment to be opened when the first switching device K1 or the second switching device K2 is operated to the door-opening position; when the first switching device K1 or the second switching device K2 is operated to the closed door position, the passenger compartment door is controlled to be closed.
Specifically, the door control system of the city area train of this application includes first switching device K1, second switching device K2 and door controller C, and its theory of operation is:
considering that the train in the prior art cannot control the opening and closing of the passenger room door under the non-activated working condition, the train door opening and closing device comprises a set of switch devices arranged on the outer side and the inner side of the passenger room door of the train, and specifically comprises a first switch device K1 arranged on the outer side of the passenger room door and a second switch device K2 arranged on the inner side of the passenger room door.
It is known that each compartment is provided with a door controller for controlling the opening and closing of the door of the corresponding compartment, so the door controller is still adopted for controlling the opening and closing of the door of the passenger compartment. Specifically, the first opening/closing device K1 on the outer side and the second opening/closing device K2 on the inner side of the door of one passenger compartment are connected to the door controller C corresponding to the passenger compartment. The door controller C controls the door of the passenger compartment to open when the first switching device K1 is operated to the door opening position; controlling the passenger compartment door to be closed when the first switching device K1 is operated to the closed door position; similarly, when the second switch device K2 is operated to the door opening position, the door of the passenger room is controlled to be opened; when the second switch device K2 is operated to the closed door position, the passenger room door is controlled to be closed, so that when the cab is not activated, the passenger room door can be opened and closed through the switch device, and personnel can enter to complete the corresponding operation.
For example, when the cab is not activated, the driver can get on or off the train through the switch device of the door of the passenger compartment to perform the train preheating or precooling operation: when the cab is not activated, a driver can open the door to enter the cab by operating a first switch device K1 on the outer side of the door of the cab, and then activate the train and start a cab air conditioner to preheat or pre-cool the cab; after the driver and the passengers get off the train, the door can be closed through the first switch device K1 on the outer side of the door of the passenger room or the second switch device K2 on the inner side of the door of the passenger room, and the function of pre-heating or pre-cooling the train waiting for the train under the door closing working condition is realized.
More specifically, the left and right sides of the train car are each provided with a door, and the left side door control system of the train includes: the first left side opening and closing device is arranged on the outer side of a left side door of a passenger room of the train; the second left side opening and closing device is arranged on the inner side of a left side door of a passenger room of the train; the left door controller is respectively connected with the first left opening and closing device and the second left opening and closing device and is used for controlling the left door of the passenger room to be opened when the first left opening and closing device or the second left opening and closing device is operated to the door opening position; and controlling the left door of the passenger compartment to be closed when the first left switch device or the second left switch device is operated to the closing position. In a similar manner, the right side door control system of the train comprises: the first right side opening and closing device is arranged on the outer side of a door on the right side of a passenger room of the train; the second right side opening and closing device is arranged on the inner side of a right side door of a passenger room of the train; the right door controller is respectively connected with the first right opening and closing device and the second right opening and closing device and is used for controlling the right door of the passenger room to be opened when the first right opening and closing device or the second right opening and closing device is operated to the door opening position; and controlling the right door of the passenger compartment to be closed when the first right switch device or the second right switch device is operated to the closed door position.
The invention provides a train door control system of a city train, wherein a set of switch devices are arranged on the outer side and the inner side of a train passenger compartment train door, and the opening and closing of the train door can be realized by operating the switch devices, namely, the train door can be opened and closed by the switch devices when a cab is not activated, so that the problem that personnel can not get on or off the train when the cab is not activated is solved.
On the basis of the above-described embodiment:
as an alternative embodiment, the first switching device K1 includes a first relay and a first electrically operated switch provided outside a door of a passenger compartment of the train; wherein:
the first end of the first electric operating switch is connected to a permanent load train line of the train in a hanging manner, the second end of the first electric operating switch is connected with the first end of a first relay, the second end of the first relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of a door controller C, and the third end of the first electric operating switch is connected with a door closing signal end of the door controller C; the first electric operating switch is connected with a first end and a second end to close the first relay when operated to the door opening position, and connected with a third end when operated to the door closing position;
the door controller C is specifically used for controlling the door of the passenger room to be opened when the door zero-speed signal end, the door opening allowing signal end and the door opening signal end are all at high level; and when the door closing signal end is at a high level, controlling the door of the passenger room to be closed.
Specifically, the first switching device K1 of the present application includes a first relay and a first electrically operated switch, and its operating principle is:
in the prior art, the conditions for controlling the door to open by the door controller C under the activation condition are as follows: 1) the train speed is 0 (when the train speed is 0, a zero-speed relay on the train door zero-speed train line is closed, and a signal on the train door zero-speed train line is converted into high level); 2) the presence of a door open enable signal (i.e., the door open allows the signal on the train line to be high); 3) there is a door open command (the cab door open button is pressed and the signal on the door open train line goes high). The conditions for controlling the door to be closed by the door controller C under the activation condition are as follows: door command (door closing button in cab pressed, signal on the closing train line goes high).
The application is based on this design first relay and the interconnecting link of first electrically operated switch. Under the condition that the train is not activated, the power supply and the control power supply of the door of the passenger room are provided by a storage battery connected with a permanent load train line of the train. When the first electric operating switch is operated to the door opening position, the first end and the second end of the first electric operating switch are connected, the first relay is powered on and closed, correspondingly, the door zero-speed signal end, the door opening allowing signal end and the door opening signal end which are connected with the first relay are all converted into high levels, and the door controller C controls the door of the passenger room to be opened when the door zero-speed signal end, the door opening allowing signal end and the door opening signal end are all at the high levels. Similarly, when the first electric operating switch is operated to the door closing position, the first end and the third end of the first electric operating switch are connected, the first relay is disconnected, and the door closing signal end connected with the third end of the first electric operating switch is switched to the high level, so that the door controller C controls the door of the passenger compartment to be closed when the door closing signal end is at the high level.
As an alternative embodiment, the second switching device K2 includes a second relay and a second electrically operated switch provided inside a door of a passenger compartment of the train; wherein:
the first end of the second electric operating switch is connected to a permanent load train line of the train in a hanging manner, the second end of the second electric operating switch is connected with the first end of a second relay, the second end of the second relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of the door controller C, and the third end of the second electric operating switch is connected with a door closing signal end of the door controller C; wherein the second electrically operated switch has a first end and a second end connected to close the second relay when operated to the door open position, and a third end connected to close the door when operated to the door close position.
Specifically, the second switch device K2 of the present application has the same principle as the first switch device K1, and the detailed description thereof is omitted here.
More specifically, referring to fig. 3, fig. 3 is a schematic diagram of a door control of a train in a city area according to an embodiment of the present invention. When the train is in an inactivated working condition (the train is not activated and the cab is not activated or the train is activated and the cab is not activated) and the doors are closed, the first end and the second end of the electric operating switch are connected (namely, the normally open contacts 13-14 are closed) when the electric operating switch (S111, S211, S311 … …) on the outer side of any passenger room left side door or the electric operating switch (S112, S212, S312 … …) on the inner side of any passenger room left side door or the electric operating switch (S113, S213, S313 … …) on the outer side of any passenger room right side door or the electric operating switch (S114, S214, S314 … …) on the inner side of any passenger room right side door is operated to the door opening position, the corresponding left side door electric operating switch control relay (K113, K213, K313 … …) or right side door electric operating switch control relay (K314, K214, K314 … …) is electrified, and the normally open contacts 13-14 are closed, the door zero-speed signal terminal 1, the door opening allowing signal terminal 2 and the door opening signal terminal 3 of the corresponding left door controller or right door controller are all at high level, and the left door controller or right door controller controls the door to open.
When the train is in an inactivated condition and the doors are opened, the first end and the third end of the electric operating switch (i.e. the normally open contacts 13-15 are closed) can be connected (i.e. the normally open contacts 13-15 are closed) when the electric operating switch (S111, S211, S311 … …) on the outer side of any door on the left side of the passenger compartment or the electric operating switch (S112, S212, S312 … …) on the inner side of any door on the left side of the passenger compartment or the electric operating switch (S113, S213, S313 … …) on the outer side of any door on the right side of the passenger compartment or the electric operating switch (S114, S214, S314 … …) on the inner side of any door on the right side of the passenger compartment is operated to the door closing position, the door closing signal end 4 of the corresponding door controller on the left side or.
As an alternative embodiment, the first relay and the second relay are the same relay.
Specifically, the first relay and the second relay of this application share same relay to practice thrift the cost on the basis of realizing original function.
As an optional embodiment, the vehicle door control system further comprises a cab activation relay K102 arranged in the train cab; wherein:
the first end of cab activation relay K102 is connected to the permanent load train line of the train in a hanging manner, the normally closed terminal of cab activation relay K102 is connected with the first end of the first electric operating switch and the first end of the second electric operating switch respectively, the normally open terminal of cab activation relay K102 is connected with the first end of the cab in-opening door button and the first end of the door closing button respectively, and the second end of the door opening button and the second end of the door closing button are connected with the door controller C.
Further, the present application improves the connection structure of the existing cab activation relay, and the principle is as follows (see fig. 4 and 5):
when a train is activated (the contacts 13-14 of the train activation relay K101 are closed) and a cab is activated (the contacts 13-14 of the cab activation relay K102 are closed, namely the normally open terminal of the cab activation relay K102 is closed), a driver can operate a door opening button (S15, S17) in the cab to send a door opening signal to a door controller, and when the door opening allowing signal and the door zero-speed signal received by the door controller are high-level (effective), the door controller controls a door to be opened. Similarly, the driver can operate the door closing button (S16, S18) in the driver' S cabin to send a door closing signal to the door controller, which controls the door to be closed.
Meanwhile, when the cab is activated, the contacts 13-15 of the cab activation relay K102 are disconnected (namely the normally closed terminal of the cab activation relay K102 is disconnected), no matter the electric operation switch on the outer side or the inner side of the door of the passenger compartment is operated to the door opening position or the door closing position, the electric energy of the permanent load train line cannot reach the door controller through the electric operation switch and the electric operation switch control relay, namely the door opening operation and the door closing operation cannot be carried out through the electric operation switch on the outer side or the inner side of the door of the passenger compartment, so that the unique interlocking control of the door button (the door opening button and the door closing button) and the door signal controlled by the door electric operation switch is realized under the condition that the train is activated and the cab is activated, the safety problem that the passenger mistakenly operates the door electric operation switch to open the door on one side of the passenger compartment in the passenger compartment or outside the passenger compartment is solved under the condition that the, thereby improving the safety of the train.
As an alternative embodiment, the cab of the train is specifically a cab without a side door.
Specifically, for urban trains with short lengths, a cab side door is cancelled, and only a passenger room side door is reserved, so that space is saved when a train cab is designed. The driver can open the door or close the door to get on or off the train under the condition that the driver cab is not activated by the switch devices respectively arranged at the inner side and the outer side of the door of the first passenger room close to the driver cab.
As an alternative embodiment, the vehicle door control system further includes:
the first standby switch device is arranged on the outer side of the door of the passenger room of the train and has the same structure as the first switch device K1;
and a second backup opening and closing device which is provided inside the door of the passenger compartment of the train and has the same structure as the second opening and closing device K2.
Further, the present application may also provide the first switching device K1 and the second switching device K2 with backup switches to function instead when the first switching device K1 or the second switching device K2 fails.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A door control system of a city train, comprising:
the first switch device is arranged on the outer side of a door of a passenger room of the train;
the second switch device is arranged on the inner side of a passenger compartment door of the train;
the door controller is respectively connected with the first switch device and the second switch device and is used for controlling the door of the passenger room to be opened when the first switch device or the second switch device is operated to the door opening position; controlling the passenger compartment door to close when the first switching device or the second switching device is operated to a closed door position;
the first switch device comprises a first relay and a first electric operating switch arranged on the outer side of a door of a passenger room of the train; wherein:
the first end of the first electric operating switch is hung on a permanent load train line of a train, the second end of the first electric operating switch is connected with the first end of the first relay, the second end of the first relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of the door controller, and the third end of the first electric operating switch is connected with a door closing signal end of the door controller; wherein the first electrically operated switch has a first end and a second end connected to close the first relay when operated to a door open position, and a first end and a third end connected when operated to a door close position;
the door controller is specifically used for controlling the door of the passenger room to be opened when a door zero-speed signal end, a door opening allowing signal end and a door opening signal end are all at high level; and when the door closing signal end is at a high level, controlling the door of the passenger room to be closed.
2. The system as claimed in claim 1, wherein the second switch means comprises a second relay and a second electrically operated switch provided inside a door of a passenger compartment of the train; wherein:
the first end of the second electric operating switch is hung on a permanent load train line of a train, the second end of the second electric operating switch is connected with the first end of the second relay, the second end of the second relay is respectively connected with a door zero-speed signal end, a door opening allowing signal end and a door opening signal end of the door controller, and the third end of the second electric operating switch is connected with a door closing signal end of the door controller; wherein the second electrically operated switch has a first end and a second end connected to close the second relay when operated to the door open position, and a first end and a third end connected when operated to the door closed position.
3. The system of claim 2, wherein the first relay and the second relay are the same relay.
4. The system for controlling train doors of city train as claimed in claim 2, wherein said system for controlling vehicle doors further comprises a cab activating relay provided in the cab of the train; wherein:
the first end of cab activation relay articulates on the permanent load train line of train, the normally closed terminal of cab activation relay respectively with first electric operating switch's first end with the first end of second electric operating switch is connected, the normally open terminal of cab activation relay is connected with the first end of cab in-opening door button and the first end of closing the door button respectively, the second end of opening the door button with the second end of closing the door button with the door controller is connected.
5. The system for controlling train doors of city trains according to claim 1, wherein the cab of the train is a cab without a side door.
6. The train door control system of a city train according to claim 1, further comprising:
the first standby switch device is arranged on the outer side of a door of a passenger room of the train and has the same structure with the first switch device;
and the second standby switch device is arranged on the inner side of the door of the passenger room of the train and has the same structure with the second switch device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010001450.8A CN111098871B (en) | 2020-01-02 | 2020-01-02 | Door control system of city train |
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| CN202010001450.8A CN111098871B (en) | 2020-01-02 | 2020-01-02 | Door control system of city train |
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| CN111098871B true CN111098871B (en) | 2021-05-11 |
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| CN112693486A (en) * | 2021-01-15 | 2021-04-23 | 中车青岛四方机车车辆股份有限公司 | Door control system and door control method for maintenance mode of railway vehicle and railway vehicle |
| CN113022601B (en) * | 2021-03-19 | 2022-08-05 | 中车青岛四方车辆研究所有限公司 | Railway vehicle partition door control system, control method and railway vehicle |
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| FR2709720A1 (en) * | 1993-09-10 | 1995-03-17 | Faiveley Transport | Emergency device for electrically controlling the unlocking of a door from the outside |
| CN103821424A (en) * | 2014-03-17 | 2014-05-28 | 南车南京浦镇车辆有限公司 | Vehicle door closing control method improving stability |
| CN207177578U (en) * | 2017-05-08 | 2018-04-03 | 中车株洲电力机车有限公司 | A kind of control device and tramcar of the self-service enabling of tramcar passenger |
| CN108035649A (en) * | 2017-12-07 | 2018-05-15 | 湖南磁浮交通发展股份有限公司 | Train door control system and train |
| CN109469421A (en) * | 2018-11-07 | 2019-03-15 | 中车株洲电力机车有限公司 | Passenger compartment doors open and close control circuit and control method, rail traffic vehicles |
| CN110616983A (en) * | 2019-10-22 | 2019-12-27 | 中车株洲电力机车有限公司 | Vehicle door opening and closing control method and urban rail transit vehicle |
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