CN114248807A - Pedal device, control method and system of self-adaptive platform - Google Patents
Pedal device, control method and system of self-adaptive platform Download PDFInfo
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- CN114248807A CN114248807A CN202111479732.XA CN202111479732A CN114248807A CN 114248807 A CN114248807 A CN 114248807A CN 202111479732 A CN202111479732 A CN 202111479732A CN 114248807 A CN114248807 A CN 114248807A
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- 238000000034 method Methods 0.000 title claims description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000003044 adaptive effect Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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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Abstract
The invention discloses a pedal device of a self-adaptive platform, which comprises: the pedal frame is also connected with the vertical driving mechanism and used for driving the pedal frame to vertically lift. According to the height of the platform and the width of the gap between the vehicle and the platform, the pedal is controlled to extend up and down and horizontally to make up the gap between the vehicle body and the platform, so that the vehicle-mounted platform is suitable for different platforms, and the interconnection capacity of the vehicles is improved.
Description
Technical Field
The invention belongs to the technical field of urban rail transit door systems, and particularly relates to a pedal device of a self-adaptive platform, a control method of the pedal device, a control system of the self-adaptive platform and a control method of the self-adaptive platform.
Background
Urban rail vehicle door system does not generally take the footboard device, to the vehicle stop behind the platform, the too big clearance between vehicle and the platform can lead to the passenger to get on or off the bus inconvenient, to the disabled person or children of inconvenient action, probably causes to fall etc. and physically dangerous. Even some door systems have a pedal device, the height of different platforms in different countries and regions may be different due to limited factors such as capital construction, the existing system generally has only 1 electric control pedal, and the pedal is fixed in extension distance and cannot be adjusted in height, so that the requirements of different platform heights and different platform widths cannot be met.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a pedal device adaptive to a platform and a control method thereof, and solves the technical problem that the pedal in the prior art cannot adapt to different platform heights.
In order to solve the technical problems, the technical scheme of the invention is as follows.
In a first aspect, a step apparatus for an adaptive platform, comprises: the pedal frame and the pedal frame are internally provided with a horizontal driving mechanism, the horizontal driving mechanism is connected with the movable pedal and is used for driving the movable pedal to horizontally stretch in the pedal frame, and the pedal frame is also connected with a vertical driving mechanism and is used for driving the pedal frame to vertically lift.
Preferably, the horizontal driving mechanism includes: the pedal comprises a horizontal electric push rod, a horizontal guide rail is arranged in a pedal frame, a movable pedal is movably connected to the horizontal guide rail, and the rear end of the movable pedal is connected with the free end of the horizontal electric push rod arranged on the pedal frame. The vertical driving mechanism includes: the pedal frame is movably connected with the pedal frame through a vertical guide rail, the bottom of the vertical guide rail is provided with a support, the support is provided with the vertical electric push rod, and the free end of the vertical electric push rod is connected with the bottom of the pedal frame.
Preferably, the horizontal driving mechanism includes: the telescopic motor is fixed with the screw rod mount pad on the pedal frame, and the screw rod mount pad front end is rotated and is connected with horizontal screw rod, is connected with movable pedal through the slider removal on the horizontal screw rod, and telescopic motor is used for driving horizontal screw rod and rotates. The vertical driving mechanism includes: the screw mounting seat is movably connected with the vertical screw, and the lifting motor is used for driving the vertical screw to rotate.
In a second aspect, a method for controlling a pedal device of an adaptive platform includes the steps of:
when the height of the movable pedal needs to be adjusted to adapt to the height of the platform, the vertical driving mechanism works to drive the whole pedal frame to move in the vertical direction until the height of the pedal is adjusted to the height of the platform.
When the length of the movable pedal needs to be adjusted to adapt to the distance between the movable pedal and the platform, the horizontal driving mechanism works to drive the movable pedal to move in the horizontal direction until the tail end of the movable pedal is adjusted to the edge position of the platform.
Preferably, the method further comprises the following steps: if the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
In a third aspect, a control system for a pedal apparatus of an adaptive platform, includes: a control unit, a pedal device, a platform height detection device and a platform distance detection device.
The pedal device is the pedal device of the adaptive platform of the first aspect.
The platform height detection device is used for detecting the height of the platform and the height distance between the movable pedal and the platform.
The platform distance detection device is used for detecting the platform distance and the horizontal distance between the tail end of the movable pedal and the platform.
The control unit is used for detecting the height of the platform; controlling a vertical driving mechanism to drive the whole pedal frame to move in the vertical direction according to the distance between the height of the movable pedal and the height of the platform until the height of the movable pedal is adjusted to the height of the platform; detecting the platform distance; controlling a horizontal driving mechanism to drive the movable pedal to move in the horizontal direction according to the distance between the movable pedal and the platform until the tail end of the movable pedal is adjusted to the edge position of the platform; controlling the opening of the vehicle door; and judging whether the vehicle door is opened in place, and if not, controlling the vehicle door to be continuously opened until the vehicle door is opened in place.
Preferably, the method further comprises the following steps: and the control unit is used for stopping the movement of the vehicle door if the vehicle door is not opened in place and an obstacle is detected, and trying to open the vehicle door again after waiting for a specified time until the vehicle door is opened in place.
Preferably, the method further comprises the following steps: and the control unit is used for stopping the movement of the movable pedal if the movable pedal is not stretched in place and an obstacle is detected, and trying to stretch out again after waiting for a specified time until the pedal is completely stretched in place.
Preferably, the passenger seat further comprises a gravity detection sensor, the gravity detection sensor detects whether a passenger is in the pedal device area, if so, the gravity detection sensor provides a signal to the control unit, the control unit immediately controls the pedal device to stop moving after receiving the signal, and when the signal disappears, the control unit continues to control the pedal device to move.
Preferably, the control unit adopts a DCU.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the height of the platform and the width of the gap between the vehicle and the platform are determined according to the sensor arranged at the front end of the pedal, so that the pedal is controlled to extend up and down and horizontally to make up the gap between the vehicle body and the platform, thereby adapting to different platforms and improving the interconnection capacity of the vehicle.
Drawings
Fig. 1 is a schematic view of a horizontally extended structure of a movable step according to a first embodiment of the present invention.
Fig. 2 is a schematic structural view of the height adjustment of the movable pedal according to the first embodiment of the present invention.
Fig. 3 is a schematic structural view of a movable pedal of a second embodiment of the present invention cooperating with a high platform.
Fig. 4 is a schematic structural view of a movable pedal of a second embodiment of the present invention cooperating with a low platform.
Fig. 5 is a schematic structural diagram of a control system according to an embodiment of the present invention.
Fig. 6 is a control flowchart of the pedal apparatus of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment:
the pedal device of an adaptive platform of the present invention, as shown in fig. 1 and 2, is mounted on a vehicle body, and includes: horizontal guide rails are arranged in the pedal frame 1 and the pedal frame 1, idler wheels 3 are arranged in the horizontal guide rails, a movable pedal 5 is movably connected to the horizontal guide rails, and the rear end of the movable pedal 5 is connected with the free end of a horizontal electric push rod 2 arranged on the pedal frame 1. The pedal frame is characterized in that two sides of the pedal frame 1 are movably connected with vertical guide rails 4, a support 7 is arranged at the bottom of each vertical guide rail 4, a vertical electric push rod 6 is arranged on each support 7, and the free end of each vertical electric push rod 6 is connected with the bottom of the pedal frame 1.
In a first embodiment of the present invention, a step device for an adaptive platform includes:
when the movable pedal needs to be horizontally stretched, the horizontal electric push rod extends out, and the movable pedal horizontally extends out; the horizontal electric push rod retracts, and the movable pedal retracts horizontally.
When the movable pedal needs to move vertically, the vertical electric push rod extends out to drive the pedal frame to rise upwards along the vertical guide rail, and the rising height of the pedal frame is consistent with the height of the high platform 9; the vertical electric push rod is retracted to drive the pedal frame to descend downwards along the vertical guide rail, and the falling height of the pedal frame is consistent with the height of the low platform 8.
The second embodiment:
the invention discloses a pedal device of a self-adaptive platform, which is mounted on a vehicle body and comprises a pedal frame 1, wherein a screw mounting seat 10 is fixed on the pedal frame 1, the front end of the screw mounting seat 10 is rotatably connected with a horizontal screw 11, a movable pedal 5 is movably connected on the horizontal screw 11 through a sliding block, the screw mounting seat 10 is movably connected with a vertical screw 12, and the vertical screw 12 rotates to drive the screw mounting seat 10 to lift up and down. Still include flexible motor 13, flexible motor 13's pivot is connected with driving gear 14, and driving gear 14 meshes with driven gear 15 mutually, and driven gear 15 meshes with horizontal screw 11 mutually for drive horizontal screw 11 rotates.
In a second embodiment of the present invention, a step device for an adaptive platform, wherein a moving step motion process is as follows:
when the movable pedal needs to be horizontally stretched, the stretching motor 13 rotates to drive the driving gear 14 and the driven gear 15 to rotate, the driven gear 15 drives the horizontal screw rod 11 to rotate, and the horizontal screw rod 11 drives the movable pedal 5 to stretch through the sliding block so as to meet the requirements of platforms with different gap widths.
When the movable pedal needs to move vertically, the lifting motor drives the vertical screw 12 to rotate, the screw mounting seat 10 movably connected to the vertical screw 12 moves up and down, and the pedal frame 1, the horizontal screw 11 and the movable pedal 5 are driven to lift together, so that platforms with different heights are met.
A control method of a pedal device of an adaptive platform according to a first embodiment of the present invention, as shown in fig. 5, includes the following steps:
when the height of the movable pedal needs to be adjusted to adapt to the height of the platform, the vertical electric push rod works to drive the pedal frame to integrally move in the vertical direction until the height of the pedal is adjusted to the height of the platform.
When the length of the movable pedal needs to be adjusted to adapt to the distance between the movable pedal and the platform, the horizontal electric push rod works to drive the movable pedal to move in the horizontal direction until the tail end of the movable pedal is adjusted to the edge position of the platform.
According to the invention, by detecting the height of the platform and the distance between the platform and the vehicle, when the movable pedal is allowed to be controlled, the height and the telescopic distance of the movable pedal are adjusted by controlling the vertical electric push rod and the horizontal electric push rod, so that the platform height and the distance between the vehicle and the platform are adapted.
If the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
A second embodiment of the present invention provides a method for controlling a pedal device of an adaptive platform, including the steps of:
when the height of the movable pedal needs to be adjusted to adapt to the height of the platform, the lifting motor works to drive the vertical screw rod to rotate, and the pedal frame is driven to integrally move in the vertical direction until the height of the pedal is adjusted to the height of the platform.
When the length of the movable pedal needs to be adjusted to adapt to the distance between the movable pedal and the platform, the telescopic motor works to drive the horizontal screw rod to rotate and drive the movable pedal to move in the horizontal direction until the tail end of the movable pedal is adjusted to the edge position of the platform.
According to the invention, by detecting the height of the platform and the distance between the platform and the vehicle, when the movable pedal is allowed to be controlled, the height and the telescopic distance of the movable pedal are adjusted by controlling the lifting motor and the telescopic motor, so that the platform height and the distance between the vehicle and the platform are adapted.
If the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
The invention provides a pedal device suitable for different platform heights, which can overcome the defects that the extension width of a pedal in the conventional product is fixed, the extension height of the pedal cannot be adjusted and the like, can selectively extend the pedal or adjust the position of the pedal according to different platforms to adapt to the platforms, and increases the interconnection capacity of vehicles.
In another aspect, the present invention provides a control system for a pedal device of an adaptive platform, as shown in fig. 6, including a control unit, a pedal device, a platform height detecting device and a platform distance detecting device.
And the control unit is used for controlling the opening and closing of the vehicle door and adjusting the pedal device to adapt to the platform position.
Pedal devices, i.e. the pedal devices described above.
The platform height detection device is used for detecting the height of the platform and the height distance between the movable pedal and the platform.
And the platform distance detection device is used for detecting the platform distance and the horizontal distance between the tail end of the movable pedal and the platform.
The specific working process of the control system is as follows:
detecting the height of the platform;
controlling a vertical electric push rod to drive the whole pedal frame to move in the vertical direction according to the distance between the height of the movable pedal and the height of the platform until the height of the movable pedal is adjusted to the height of the platform;
detecting the platform distance;
controlling a horizontal electric push rod to drive the movable pedal to move in the horizontal direction according to the distance between the movable pedal and the platform until the tail end of the movable pedal is adjusted to the edge position of the platform;
controlling the opening of the vehicle door;
and judging whether the vehicle door is opened in place, and if not, controlling the vehicle door to be continuously opened until the vehicle door is opened in place.
If the door is not opened in place and an obstacle is detected, the door stops moving, waits for a specified time and tries to open again until the door is opened in place.
If the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
The invention provides a control system of a pedal device of a self-adaptive platform, which comprises a control unit, the pedal device, a platform height detection device and a platform distance detection device.
And the control unit is used for controlling the opening and closing of the vehicle door and adjusting the pedal device to adapt to the platform position.
Pedal devices, i.e. the pedal devices described above.
The platform height detection device is used for detecting the height of the platform and the height distance between the movable pedal and the platform.
And the platform distance detection device is used for detecting the platform distance and the horizontal distance between the tail end of the movable pedal and the platform.
The specific working process of the control system is as follows:
detecting the height of the platform;
controlling a lifting motor to drive the whole pedal frame to move in the vertical direction according to the distance between the height of the movable pedal and the height of the platform until the height of the movable pedal is adjusted to the height of the platform;
detecting the platform distance;
controlling a telescopic motor to drive a movable pedal to move in the horizontal direction according to the distance between the movable pedal and the platform until the tail end of the movable pedal is adjusted to the edge position of the platform;
controlling the opening of the vehicle door;
and judging whether the vehicle door is opened in place, and if not, controlling the vehicle door to be continuously opened until the vehicle door is opened in place.
If the door is not opened in place and an obstacle is detected, the door stops moving, waits for a specified time and tries to open again until the door is opened in place.
If the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
The control system of the invention realizes the control of the doors of the passenger compartment through an electronic control unit (DCU) and can control the pedal device to adapt to different platform positions.
Further, through increasing gravity detection sensor, the footboard can detect whether have the passenger to be in the footboard region, if there is the passenger in the footboard region when, gravity detection sensor provides the signal and gives control unit (DCU), and control unit receives and controls the footboard stop motion immediately after the signal, avoids the footboard motion to lead to the passenger on the footboard to fall down the risk, after the signal disappears, continues to control the footboard motion.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A step arrangement for an adaptive platform, comprising: the pedal frame and the pedal frame are internally provided with a horizontal driving mechanism, the horizontal driving mechanism is connected with the movable pedal and is used for driving the movable pedal to horizontally stretch in the pedal frame, and the pedal frame is also connected with a vertical driving mechanism and is used for driving the pedal frame to vertically lift.
2. The apparatus of claim 1, wherein the horizontal driving mechanism comprises: the pedal comprises a pedal frame, a horizontal electric push rod, a horizontal guide rail, a movable pedal, a pedal body and a pedal body, wherein the horizontal guide rail is arranged in the pedal frame; the vertical driving mechanism includes: the pedal frame is movably connected with the pedal frame through a vertical guide rail, the bottom of the vertical guide rail is provided with a support, the support is provided with the vertical electric push rod, and the free end of the vertical electric push rod is connected with the bottom of the pedal frame.
3. The apparatus of claim 1, wherein the horizontal driving mechanism comprises: the pedal frame is fixedly provided with a screw mounting seat, the front end of the screw mounting seat is rotatably connected with a horizontal screw, the horizontal screw is movably connected with a movable pedal through a sliding block, and the telescopic motor is used for driving the horizontal screw to rotate; the vertical driving mechanism includes: the screw mounting seat is movably connected with the vertical screw, and the lifting motor is used for driving the vertical screw to rotate.
4. A control method of a pedal device of an adaptive platform according to any one of claims 1 to 3, comprising the steps of:
when the height of the movable pedal needs to be adjusted to adapt to the height of the platform, the vertical driving mechanism works to drive the whole pedal frame to move in the vertical direction until the height of the pedal is adjusted to the height of the platform;
when the length of the movable pedal needs to be adjusted to adapt to the distance between the movable pedal and the platform, the horizontal driving mechanism works to drive the movable pedal to move in the horizontal direction until the tail end of the movable pedal is adjusted to the edge position of the platform.
5. The control method according to claim 4, characterized by further comprising: if the movable pedal is not extended in place and an obstacle is detected, the movable pedal stops moving, and after waiting for a specified time, extension is tried again until the pedal is fully extended in place.
6. The control system for a pedal device of an adaptive platform according to any one of claims 1 to 3, comprising a control unit, a pedal device, a platform height detection device and a platform distance detection device;
the pedal device is a pedal device of an adaptive platform according to any one of claims 1 to 3;
the platform height detection device is used for detecting the height of the platform and the height distance between the movable pedal and the platform;
the platform distance detection device is used for detecting the platform distance and the horizontal distance between the tail end of the movable pedal and the platform;
the control unit is used for detecting the height of the platform; controlling a vertical driving mechanism to drive the whole pedal frame to move in the vertical direction according to the distance between the height of the movable pedal and the height of the platform until the height of the movable pedal is adjusted to the height of the platform; detecting the platform distance; controlling a horizontal driving mechanism to drive the movable pedal to move in the horizontal direction according to the distance between the movable pedal and the platform until the tail end of the movable pedal is adjusted to the edge position of the platform; controlling the opening of the vehicle door; and judging whether the vehicle door is opened in place, and if not, controlling the vehicle door to be continuously opened until the vehicle door is opened in place.
7. The control system of a pedal device of an adaptive platform according to claim 6, further comprising: and the control unit is used for stopping the movement of the vehicle door if the vehicle door is not opened in place and an obstacle is detected, and trying to open the vehicle door again after waiting for a specified time until the vehicle door is opened in place.
8. The control system for pedal device of adaptive platform according to claim 6, further comprising: and the control unit is used for stopping the movement of the movable pedal if the movable pedal is not stretched in place and an obstacle is detected, and trying to stretch out again after waiting for a specified time until the pedal is completely stretched in place.
9. The control system of pedal device of adaptive platform of claim 6, further comprising a gravity sensor, wherein the gravity sensor detects whether there is a passenger in the pedal device area, if there is a passenger in the pedal device area, the gravity sensor provides a signal to the control unit, the control unit stops the pedal device immediately after receiving the signal, and continues to control the pedal device to move when the signal disappears.
10. The control system of pedal apparatus of adaptive platform according to claim 6, wherein the control unit employs DCU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479732.XA CN114248807A (en) | 2021-12-06 | 2021-12-06 | Pedal device, control method and system of self-adaptive platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479732.XA CN114248807A (en) | 2021-12-06 | 2021-12-06 | Pedal device, control method and system of self-adaptive platform |
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| CN114248807A true CN114248807A (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111479732.XA Pending CN114248807A (en) | 2021-12-06 | 2021-12-06 | Pedal device, control method and system of self-adaptive platform |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02143361U (en) * | 1989-05-02 | 1990-12-05 | ||
| JPH0542869A (en) * | 1991-08-09 | 1993-02-23 | Nabco Ltd | Step device of platform |
| CN201217437Y (en) * | 2008-05-09 | 2009-04-08 | 阮伟良 | Platform of rail transit |
| KR20110015481A (en) * | 2009-08-08 | 2011-02-16 | 김명선 | Gap prevention apparatus of the car gate |
| CN104787064A (en) * | 2015-04-29 | 2015-07-22 | 南京康尼机电股份有限公司 | Motor train unit door system with automatic pedal device |
| CN109572732A (en) * | 2019-01-18 | 2019-04-05 | 中车青岛四方机车车辆股份有限公司 | A kind of control method, system and the rail vehicle of rail vehicle platform compensation mechanism |
| CN213138743U (en) * | 2020-07-31 | 2021-05-07 | 中铁四院集团广州设计院有限公司 | Station platform telescopic type anti-empty-stepping device with fault removing function |
| CN214450948U (en) * | 2021-01-04 | 2021-10-22 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle door with platform compensation function and rail vehicle |
-
2021
- 2021-12-06 CN CN202111479732.XA patent/CN114248807A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02143361U (en) * | 1989-05-02 | 1990-12-05 | ||
| JPH0542869A (en) * | 1991-08-09 | 1993-02-23 | Nabco Ltd | Step device of platform |
| CN201217437Y (en) * | 2008-05-09 | 2009-04-08 | 阮伟良 | Platform of rail transit |
| KR20110015481A (en) * | 2009-08-08 | 2011-02-16 | 김명선 | Gap prevention apparatus of the car gate |
| CN104787064A (en) * | 2015-04-29 | 2015-07-22 | 南京康尼机电股份有限公司 | Motor train unit door system with automatic pedal device |
| CN109572732A (en) * | 2019-01-18 | 2019-04-05 | 中车青岛四方机车车辆股份有限公司 | A kind of control method, system and the rail vehicle of rail vehicle platform compensation mechanism |
| CN213138743U (en) * | 2020-07-31 | 2021-05-07 | 中铁四院集团广州设计院有限公司 | Station platform telescopic type anti-empty-stepping device with fault removing function |
| CN214450948U (en) * | 2021-01-04 | 2021-10-22 | 中车青岛四方机车车辆股份有限公司 | Rail vehicle door with platform compensation function and rail vehicle |
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