WO2024045254A1 - 一种列车车门与站台屏蔽门间障碍物探测方法及系统 - Google Patents

一种列车车门与站台屏蔽门间障碍物探测方法及系统 Download PDF

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WO2024045254A1
WO2024045254A1 PCT/CN2022/122361 CN2022122361W WO2024045254A1 WO 2024045254 A1 WO2024045254 A1 WO 2024045254A1 CN 2022122361 W CN2022122361 W CN 2022122361W WO 2024045254 A1 WO2024045254 A1 WO 2024045254A1
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train
door
obstacle
doors
host processor
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PCT/CN2022/122361
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English (en)
French (fr)
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赵虹
陈志�
黄海霞
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中车南京浦镇车辆有限公司
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Publication of WO2024045254A1 publication Critical patent/WO2024045254A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording

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  • the invention relates to the field of rail transit monitoring and control, and in particular to a method and system for detecting obstacles between train doors and platform screen doors.
  • the staff may not be able to clearly see the distance between the door and the screen door at a distance, as well as the sound and light signals, resulting in misjudgment or misoperation, which may damage passenger safety or property to a certain extent, and affect the safe operation of the train; In order to prevent such accidents from happening, it is particularly important to design a reliable obstacle detection system between the car door and the platform screen door.
  • the invention provides a method and system for detecting obstacles between a train door and a platform screen door, which can solve the problems of misjudgment or misoperation caused by human observation in the prior art.
  • a method for detecting obstacles between train doors and platform screen doors including the following steps:
  • Step 1 Before the train enters station A and opens the door, the train control unit sends the door-opening side signal of station A to the host processor;
  • Step 2 After the train enters station A and stops, the camera on the same side as the door opening side of station A takes a pre-opening picture of the area between the door and the screen door within the radiation angle range, and sends the pre-opening picture information to the host through the switch. Store in the processor before opening the door;
  • Step 3 After the stop time is over, the host processor receives the instruction to close all doors from the train control unit and closes all doors.
  • the camera again captures the area between the door and the screen door within the radiation angle range after closing. Picture, send the picture information after closing the door to the host processor for storage;
  • Step 4 The host processor uses a differential image processing algorithm to compare the image information before opening the door and after closing the door, and determines whether there are obstacles in the area between the door and the screen door based on the image information comparison results;
  • Step 5 If the comparison result is that the differential pixels are not lower than the set threshold, the host processor determines that an obstacle has been found. The host processor sends an obstacle signal to the train control unit, and the train outputs an obstacle intrusion alarm command and controls the train. The obstacle intrusion alarm relay in the traction authorization circuit is disconnected, making the train traction authorization circuit invalid and the train blocked for traction;
  • the host processor determines that no obstacle has been found and the train is towed normally.
  • the alarm is remotely released. If the instruction to close all doors is received again, the camera will again photograph the area between the door and the screen door after the obstacles are cleared and the area is closed. Picture, and the picture information after closing the door is sent to the host processor for storage, and steps four and five are cycled again.
  • the host processor simultaneously sends the obstacle image information and the obstacle signal to the train operation control center.
  • the train operation control center displays an alarm and notifies relevant personnel to deal with the obstacle.
  • the alarm is remotely cleared.
  • the camera will again take a closed picture of the area between the door and the screen door after the obstacles have been cleared, and send the closed picture information to the host processor for storage, and cycle through the steps again.
  • the obstacle intrusion alarm bypass switch and the train emergency traction switch are connected in parallel to the traction authorization circuit in step five;
  • the train emergency traction switch When network communication is abnormal, the train emergency traction switch is in a closed state; when the obstacle intrusion alarm relay fails, the obstacle intrusion alarm bypass switch is in a closed state.
  • An obstacle detection system between train doors and platform screen doors including:
  • Train control unit used to control the on and off of the train traction authorization circuit
  • At least one host processor is used to communicate with the image information acquisition unit and the train control unit.
  • the host processor stores the image information before opening the door and the image information after opening the door taken by the image information acquisition unit, and compares the images before opening the door through a differential image processing algorithm. information and picture information after the door is closed, and based on the comparison result of the picture information, it is determined whether there are obstacles in the area between the car door and the screen door;
  • the comparison result is that the differential pixel points are lower than the set threshold, it is determined that there is no obstacle; if the comparison result is that the differential pixel points are not lower than the computer-set threshold, it is determined that there is an obstacle.
  • the image information collection unit includes two sets of camera units respectively disposed in the middle of both sides of the carriage, and the camera units include at least two hemispheric high-definition cameras.
  • the number of the host processors is two, and they are respectively installed in the front compartment and the rear compartment of the train.
  • the present invention installs two hemispheric high-definition cameras in the middle of both sides of each carriage to monitor obstacles between the train door and the screen door.
  • the train control unit When the train leaves the station, it detects When there is an obstacle, the train control unit is triggered to output an obstacle intrusion alarm command, and the obstacle intrusion command is connected to the train traction authorization circuit to block the train traction. Only after the obstacles are removed can the traction authorization circuit be established before the train can move, thus ensuring Trains operate safely to avoid accidents involving people and objects, and ensure the safety of passengers and property.
  • Figure 1 is a flow chart of the obstacle detection method between a train door and a platform screen door according to the present invention
  • Figure 2 is a circuit diagram of the obstacle detection method between the train door and the platform screen door of the present invention
  • Figure 3 is a partial enlarged view of the circuit diagram in Figure 2;
  • Figure 4 is a message from the train control unit to the host processor according to the present invention.
  • an embodiment of the present invention provides a method for detecting obstacles between train doors and platform screen doors, including the following steps:
  • Step 1 Before the train enters station A and opens the door, the train control unit (i.e. TCMS, this term is used below) sends the door-opening side signal of station A to the host processor (i.e. ODSH, this term is used below). expression);
  • Step 2 After the train enters station A and stops, the camera on the same side as the door opening side of station A takes a pre-opening picture of the area between the door and the screen door within the radiation angle range, and transmits the pre-opening picture information through the switch (ODSRS) Send it to OSDH for storage before opening the door;
  • ODSRS switch
  • Step 3 After the stop time is over, ODSH receives the instruction from TCMS to close all doors and closes all doors. The camera again takes a closed picture of the area between the door and the screen door within the radiation angle range, and closes the door. The picture information is then sent to OSDH for storage;
  • Step 4 ODSH uses a differential image processing algorithm to compare the image information before and after closing the door, and determine whether there are obstacles in the area between the door and the screen door based on the image information comparison results;
  • Step 5 If the comparison result is that the differential pixel points are lower than the computer-set threshold, the host processor determines that no obstacle is found and the train is towed normally;
  • the host processor determines that an obstacle has been found, and ODSH sends an obstacle signal to TCMS.
  • TCMS outputs an obstacle intrusion alarm command and controls the obstacles in the train traction authorization circuit.
  • the physical intrusion limit alarm relay is disconnected, making the train traction authorization circuit invalid and the train blocked for traction;
  • the K contact of the obstacle intrusion alarm relay is connected to the traction authorization circuit.
  • the K contact in the traction authorization circuit is in a closed state and the train can be towed normally.
  • TCMS receives ODSH.
  • the obstacle signal is sent out, and the obstacle intrusion alarm command is output and the K contact in the traction authorization circuit is controlled to open, making the traction authorization circuit invalid and the traction of the train blocked, thereby achieving the purpose of intervening in the traction of the train and blocking it immediately.
  • the train can effectively prevent the train from moving and avoid affecting the personal and property safety of passengers;
  • ODSH While ODSH sends the obstacle signal to TCMS, ODSH sends the obstacle signal and obstacle image information to the train operation control center (OCC).
  • OCC displays an alarm and notifies the station staff to deal with the obstacle. The station staff passes the obstacle image. After the obstacle is found and cleared, the train operation control center remotely cancels the alarm, and the TCMS controls the obstacle intrusion alarm relay to reset. If the instruction to close all doors is received again, the camera will again record the door and the door after the obstacle is cleared. After closing the picture of the area between the screen doors, the information of the picture after closing is sent to OSDH for storage.
  • ODSH uses the differential image processing algorithm to compare the picture information before opening and the picture information after closing, and then determines the door and screen door again based on the comparison results.
  • Tc Car cab head car; Mp Car: motor car with pantograph; M Car: motor car without pantograph; ODSH: host processor; ODSRS: switch; TCMS: train control unit; CAM1/2/3/4 : Dome high-definition camera; K: Obstacle intrusion alarm relay; EMTS: Train emergency traction switch; TDACS: Obstacle intrusion alarm bypass switch; OCC: Train Operation Control Center.
  • An embodiment of the present invention provides an obstacle detection system between a train door and a platform screen door, including:
  • Train control unit used to control the on and off of the train traction authorization circuit
  • At least one host processor is used to communicate with the image information acquisition unit and the train control unit.
  • the host processor stores the image information before opening the door and the image information after opening the door taken by the image information acquisition unit, and compares the images before opening the door through a differential image processing algorithm. information and picture information after the door is closed, and based on the comparison result of the picture information, it is determined whether there are obstacles in the area between the car door and the screen door;
  • the comparison result is that the differential pixel points are lower than the computer-set threshold, it is determined that there is no obstacle; if the comparison result is that the differential pixel points are not lower than the computer-set threshold, it is determined that there is an obstacle;
  • the threshold needs to be determined based on on-site image learning and debugging. It is related to the actual project line design and even the location of the camera, so a definite value cannot be given;
  • the number of host processors is two, and they are respectively installed in the head compartment and the rear compartment of the train.
  • the two host processors have hot standby redundancy and self-organized ring networks through Ethernet switches to ensure reliable transmission of video signals.
  • the two host processors communicate with the train control unit redundantly, and the failure of any host processor will not affect the normal use of the entire system.
  • the host processor also communicates with the train control unit through the RS485 protocol;
  • the ODSH data protocol from the train control unit TCMS to the host processor includes: "Next station door opening side information ODS_CxNextStnDoorOpenL/R, all door closed information ODS_CxAllDorClosed, door opening command signal ODS_CxOpenDoorCmd, train speed signal ODS_CuiTrainSpeed", etc., as shown in Figure 4.
  • the host processor ODSH receives the train control unit TCMS instructions and executes corresponding control;
  • the image information collection unit includes two sets of camera units respectively located in the middle of both sides of the carriage.
  • Each set of camera units includes at least two hemispheric high-definition cameras to reduce blind spots and ensure that the area between all doors and screen doors of the entire train can be covered and monitored. arrive.
  • the embodiment of the present invention is based on the obstacle detection method between the train door and the platform screen door provided in the first embodiment.
  • the obstacle intrusion limit instruction in the traction authorization loop When accessing the obstacle intrusion limit instruction in the traction authorization loop, the situation when the electronic device fails or the network is abnormal is considered.
  • the obstacle intrusion alarm bypass switch TDACS and the train emergency traction switch EMTS are connected in parallel to the traction authorization circuit in step 5 of the first embodiment (as shown in Figure 3);
  • TDACS and EMTS are both disconnected;
  • EMTS When network communication is abnormal, EMTS is in a closed state; when the obstacle intrusion alarm relay fails, TDACS is in a closed state, and the driver can operate TDACS and EMTS accordingly to ensure normal train operation.

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Abstract

本发明公开了一种列车车门与站台屏蔽门间障碍物探测方法及系统，属于轨道交通监测控制领域，在每节车厢两侧中部各安装两台半球高清摄像机，监测列车车门和屏蔽门之间的障碍物，当列车离站前检测到有障碍物时触发列车控制单元输出障碍物侵限告警指令，并将障碍物侵限指令接入列车牵引授权回路中封锁列车牵引，障碍物排除后牵引授权回路方可建立才可动车，从而保证列车安全运营，避免夹人夹物的事故发生，保障乘客人身及财产安全。

Description

一种列车车门与站台屏蔽门间障碍物探测方法及系统 技术领域
本发明涉及轨道交通监测控制领域，特别涉及一种列车车门与站台屏蔽门间障碍物探测方法及系统。
背景技术
随着城市轨道交通建设的不断发展，有人驾驶也逐渐往无人驾驶逐步发展，在列车离站过程中，时常发生站台屏蔽门与列车车门之间夹人夹物的事故，发生此事故如果处理不当，会危及乘客安全或造成财物损失；现有的列车通常设置屏蔽门安全挡板、瞭望灯带、对射式光电开关、红外光幕或者车门与屏蔽间隙防夹装置，当发现车门与屏蔽门有障碍物存在，通过人眼查看声光信号，辅助司机或站务人员查看车门与屏蔽门间异常，且目前这些系统设置只是作为一种辅助手段并未参与列车控制，由于列车由多节车厢连接而成，可能会出现工作人员无法看清远距离的车门与屏蔽门间隙的情况以及声光信号而出现误判或误操作，在一定程度上损伤乘客安全或财物损失，影响到列车安全运营；为防止此类事故的发生，设计可靠的车门与站台屏蔽门间障碍物探测系统尤为重要。
发明内容
本发明提供一种列车车门与站台屏蔽门间障碍物探测方法及系统，可以解决现有技术中通过人力瞭望观察存在的误判或误操作的问题。
一种列车车门与站台屏蔽门间障碍物探测方法，包括如下步骤：
步骤一：在列车进入第A站打开车门前，列车控制单元将第A站开门侧信号发送至主机处理器；
步骤二：列车进第A站停车后，与第A站开门侧相同侧的摄像机拍摄辐射角度范围内的车门与屏蔽门之间区域的开门前图片，并通过交换机将开门前 图片信息发送至主机处理器处存储后再打开车门；
步骤三：停站时间结束后，主机处理器接收列车控制单元发送的所有车门关闭的指令，并将所有车门关闭，所述摄像机再次拍摄辐射角度范围内的车门与屏蔽门之间区域的关门后图片，将关门后图片信息发送至主机处理器处存储；
步骤四：主机处理器通过差分图像处理算法对比开门前和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
步骤五：若对比结果为差分像素点不低于设定阈值，则主机处理器判定为发现障碍物，主机处理器发送障碍物信号至列车控制单元，列车输出障碍物侵限告警指令并控制列车牵引授权回路中的障碍物侵限告警继电器断开，使得列车牵引授权回路无效，列车封锁牵引；
若对比结果为差分像素点低于计算机设定阈值，则主机处理器判定为未发现障碍物，正常牵引列车。
所述步骤五中，在列车封锁牵引后，待障碍物清除后，远程解除告警，若再次收到所有车门关闭的指令，摄像机再次拍摄清除障碍物后的车门与屏蔽门之间区域的关门后图片，并将该关门后图片信息发送至主机处理器处存储，再次循环进行步骤四和步骤五。
所述步骤五中，主机处理器同时发送障碍物图像信息以及障碍物信号至列车运行控制中心，列车运行控制中心显示告警，并通知相关人员前去处理障碍物，障碍物清除后，远程解除告警，若再次收到所有车门关闭的指令，摄像机再次拍摄清除障碍物后的车门与屏蔽门之间区域的关门后图片，并将该关门后图片信息发送至主机处理器处存储，再次循环进行步骤四和步骤五。
所述步骤五中的牵引授权回路中并联接入障碍物侵限告警旁路开关以及列车紧急牵引开关；
当网络通信正常或障碍物侵限告警继电器正常工作时，障碍物侵限告警旁路开关以及列车紧急牵引开关均处于断开状态；
当网络通信异常，则列车紧急牵引开关处于闭合状态；当障碍物侵限告警 继电器故障时，障碍物侵限告警旁路开关处于闭合状态。
一种列车车门与站台屏蔽门间障碍物探测系统，包括：
与若干节车厢一一对应连接的若干个图像信息采集单元，用于采集每个车门与屏蔽门之间区域的图像信息；
列车控制单元，用于控制列车牵引授权回路的通断；
至少一个主机处理器，用于与图像信息采集单元以及列车控制单元通信，主机处理器存储图像信息采集单元所拍摄的开门前图片信息和开门后图片信息，并通过差分图像处理算法对比开门前图片信息和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
若对比结果为差分像素点低于设定阈值，则判定为无障碍物，若对比结果为差分像素点不低于计算机设定阈值，则判定为有障碍物。
较佳的，所述图像信息采集单元包括分别设置于车厢两侧中部的两组摄像单元，所述摄像单元包括至少两个半球高清摄像机。
较佳的，所述主机处理器的数量为两个，且分别设置于列车头部车厢和尾部车厢。
与现有技术相比，本发明的有益效果是：本发明在每节车厢两侧中部各安装两台半球高清摄像机，监测列车车门和屏蔽门之间的障碍物，当列车离站前检测到有障碍物时触发列车控制单元输出障碍物侵限告警指令，并将障碍物侵限指令接入列车牵引授权回路中封锁列车牵引，障碍物排除后牵引授权回路方可建立才可动车，从而保证列车安全运营，避免夹人夹物的事故发生，保障乘客人身及财产安全。
附图说明
图1为本发明的列车车门与站台屏蔽门间障碍物探测方法的流程图；
图2为本发明的列车车门与站台屏蔽门间障碍物探测方法的电路图；
图3为图2电路图中的局部放大图；
图4为本发明的从列车控制单元到主机处理器的报文。
具体实施方式
下面结合附图，对本发明的一个具体实施方式进行详细描述，但应当理解本发明的保护范围并不受具体实施方式的限制。
实施例一
如图1至图4所示，本发明实施例提供的一种列车车门与站台屏蔽门间障碍物探测方法，包括如下步骤：
步骤一：在列车进入第A站打开车门前，列车控制单元(即TCMS，下文中用此词进行表述)将第A站开门侧信号发送至主机处理器(即ODSH，下文中用此词进行表述)；
步骤二：列车进第A站停车后，与第A站开门侧相同侧的摄像机拍摄辐射角度范围内的车门与屏蔽门之间区域的开门前图片，并通过交换机(ODSRS)将开门前图片信息发送至OSDH处存储后再打开车门；
步骤三：停站时间结束后，ODSH接收TCMS发送的所有车门关闭的指令，并将所有车门关闭，所述摄像机再次拍摄辐射角度范围内的车门与屏蔽门之间区域的关门后图片，将关门后图片信息发送至OSDH处存储；
步骤四：ODSH通过差分图像处理算法对比关门前和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
步骤五：若对比结果为差分像素点低于计算机设定阈值，则主机处理器判定为未发现障碍物，正常牵引列车；
若对比结果为差分像素点不低于计算机设定阈值，则主机处理器判定为发现障碍物，ODSH发送障碍物信号至TCMS，TCMS输出障碍物侵限告警指令并控制列车牵引授权回路中的障碍物侵限告警继电器断开，使得列车牵引授权回路无效，列车封锁牵引；
障碍物侵限告警继电器的K触点接入牵引授权回路中，在未发现障碍物时，牵引授权回路中的K触点处于闭合状态，列车能够正常牵引；当发现障碍物时， TCMS接收ODSH发出的障碍物信号，输出障碍物侵限告警指令并控制牵引授权回路中的K触点断开，使得牵引授权回路无效，列车的牵引被封锁，从而达到介入列车牵引的目的，第一时间封锁列车，较之现有技术中通过人为观察提醒易出现误判导致列车开动的方式，能有效防止列车有行驶的动作，避免影响乘客人身以及财产安全；
在ODSH发送障碍物信号至TCMS的同时，ODSH发送障碍物信号以及障碍物图像信息至列车运行控制中心(OCC)，OCC显示告警，并通知站务人员前去处理障碍物，站务人员通过障碍物图像信息找到障碍物并清除将障碍物清除后，列车运行控制中心远程解除告警，TCMS控制障碍物侵限告警继电器复位，若再次收到所有车门关闭的指令，摄像机再次拍摄清除障碍物后的车门与屏蔽门之间区域的关门后图片，并将该关门后图片信息发送至OSDH处存储，ODSH通过差分图像处理算法对比开门前图片信息以及该关门后图片信息，根据对比结果再次判定车门与屏蔽门之间区域内是否有障碍物存在，若对比结果为差分像素点不低于计算机设定阈值，则发现障碍物，再次循环进行步骤四和步骤五，若对比结果为差分像素点低于计算机设定阈值，则未发现障碍物，列车正常牵引。
本发明中涉及的技术名称解释如下：
Tc Car:司机室头车；Mp Car：带受电弓动车；M Car：不带受电弓动车；ODSH：主机处理器；ODSRS：交换机；TCMS：列车控制单元；CAM1/2/3/4:半球高清摄像机；K:障碍物侵限告警继电器；EMTS:列车紧急牵引开关；TDACS：障碍物侵限告警旁路开关；OCC：列车运行控制中心。
实施例二
本发明实施例提供的一种列车车门与站台屏蔽门间障碍物探测系统，包括：
与若干节车厢一一对应连接的若干个图像信息采集单元，用于采集每个车门与屏蔽门之间区域的图像信息；
列车控制单元，用于控制列车牵引授权回路的通断；
至少一个主机处理器，用于与图像信息采集单元以及列车控制单元通信，主机处理器存储图像信息采集单元所拍摄的开门前图片信息和开门后图片信息，并通过差分图像处理算法对比开门前图片信息和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
若对比结果为差分像素点低于计算机设定阈值，则判定为无障碍物，若对比结果为差分像素点不低于计算机设定阈值，则判定为有障碍物；
阈值需要根据现场图像学习调试才能确定，跟实际项目线路设计甚至是摄影机的位置有关，因此无法给出确定的数值；
具体的，主机处理器的数量为两个，且分别设置于列车头部车厢和尾部车厢，两个主机处理器之间热备冗余，通过以太网交换机自组环网，保证视频信号可靠传输，两个主机处理器与列车控制单元冗余通信，任意一台主机处理器故障都不影响整个系统的正常使用，主机处理器还通过RS485协议与列车控制单元通信；
列车控制单元TCMS到主机处理器ODSH数据协议中包含：“下一站开门侧信息ODS_CxNextStnDoorOpenL/R、所有门关好信息ODS_CxAllDorClosed、开门指令信号ODS_CxOpenDoorCmd、列车速度信号ODS_CuiTrainSpeed”等，如图4所示，主机处理器ODSH接收列车控制单元TCMS指令并执行相应控制；
图像信息采集单元包括分别设置于车厢两侧中部的两组摄像单元，每组摄像单元包括至少两个半球高清摄像机，以减少死角保证整列车所有车门与屏蔽门之间的区域都能覆盖并监测到。
实施例三
本发明实施例在实施例一提供的一种列车车门与站台屏蔽门间障碍物探测方法的基础上，在牵引授权回路中接入障碍物侵限指令时，考虑电子器件故障或网络异常时情况下，在实施例一的步骤五中的牵引授权回路中并联接入障碍物侵限告警旁路开关TDACS以及列车紧急牵引开关EMTS(如图3所示)；
当网络通信正常或障碍物侵限告警继电器正常工作时，TDACS以及EMTS均处于断开状态；
当网络通信异常时，EMTS处于闭合状态；障碍物侵限告警继电器故障时，TDACS处于闭合状态，司机可对应操作TDACS以及EMTS，以保证列车正常运营。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神和基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (7)

  1. 一种列车车门与站台屏蔽门间障碍物探测方法，其特征在于，包括如下步骤：
    步骤一：在列车进入第A站打开车门前，列车控制单元将第A站开门侧信号发送至主机处理器；
    步骤二：列车进第A站停车后，与第A站开门侧相同侧的摄像机拍摄辐射角度范围内的车门与屏蔽门之间区域的开门前图片，并通过交换机将开门前图片信息发送至主机处理器处存储后再打开车门；
    步骤三：停站时间结束后，主机处理器接收列车控制单元发送的所有车门关闭的指令，并将所有车门关闭，所述摄像机再次拍摄辐射角度范围内的车门与屏蔽门之间区域的关门后图片，将关门后图片信息发送至主机处理器处存储；
    步骤四：主机处理器通过差分图像处理算法对比开门前和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
    步骤五：若对比结果为差分像素点不低于设定阈值，则主机处理器判定为障碍物存在判定，主机处理器发送障碍物信号至列车控制单元，列车输出障碍物侵限告警指令并控制列车牵引授权回路中的障碍物侵限告警继电器断开，使得列车牵引授权回路无效，列车封锁牵引；
    若对比结果为差分像素点低于设定阈值，则主机处理器判定为未发现障碍物，正常牵引列车。
  2. 如权利要求1所述的一种列车车门与站台屏蔽门间障碍物探测方法，其特征在于，所述步骤五中，在列车封锁牵引后，待障碍物清除后，远程解除告警，若再次收到所有车门关闭的指令，摄像机再次拍摄清除障碍物后的车门与屏蔽门之间区域的关门后图片，并将该关门后图片信息发送至主机处理器处存储，再次循环进行步骤四和步骤五。
  3. 如权利要求1所述的一种列车车门与站台屏蔽门间障碍物探测方法，其特征在于，所述步骤五中，主机处理器同时发送障碍物图像信息以及障碍物 信号至列车运行控制中心，列车运行控制中心显示告警，并通知相关人员前去处理障碍物，障碍物清除后，远程解除告警，若再次收到所有车门关闭的指令摄像机再次拍摄清除障碍物后的车门与屏蔽门之间区域的关门后图片，并将该关门后图片信息发送至主机处理器处存储，再次循环进行步骤四和步骤五。
  4. 如权利要求1所述的一种列车车门与站台屏蔽门间障碍物探测方法，其特征在于，所述步骤五中的牵引授权回路中并联接入障碍物侵限告警旁路开关以及列车紧急牵引开关；
    当网络通信正常或障碍物侵限告警继电器正常工作时，障碍物侵限告警旁路开关以及列车紧急牵引开关均处于断开状态；
    当网络通信异常时，则列车紧急牵引开关处于闭合状态；当障碍物侵限告警继电器故障时，则障碍物侵限告警旁路开关处于闭合状态。
  5. 一种列车车门与站台屏蔽门间障碍物探测系统，其特征在于，包括：
    与若干节车厢一一对应连接的若干个图像信息采集单元，用于采集每个车门与屏蔽门之间区域的图像信息；
    列车控制单元，用于控制列车牵引授权回路的通断；
    至少一个主机处理器，用于与图像信息采集单元以及列车控制单元通信，主机处理器存储图像信息采集单元所拍摄的开门前图片信息和开门后图片信息，并通过差分图像处理算法对比开门前图片信息和关门后的图片信息，根据图片信息对比结果判定车门与屏蔽门之间的区域内是否有障碍物存在；
    若对比结果为差分像素点低于设定阈值，则判定为无障碍物，若对比结果为差分像素点不低于设定阈值，则判定为有障碍物。
  6. 如权利要求5所述的一种列车车门与站台屏蔽门间障碍物探测系统，其特征在于，所述图像信息采集单元包括分别设置于车厢两侧中部的两组摄像单元，所述摄像单元包括至少两个半球高清摄像机。
  7. 如权利要求5所述的一种列车车门与站台屏蔽门间障碍物探测系统，其特征在于，所述主机处理器的数量为两个，且分别设置于列车头部车厢和尾 部车厢。
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