Whole car railway folding conveying belt invasion prevention control method and system

Abstract

The application provides a whole vehicle railway folding conveying belt anti-intrusion control method and system, three-axis acceleration information of the folding conveying belt in the transportation process is collected; the intrusion weight corresponding to each axis in the three-axis acceleration information is determined based on the anti-intrusion direction, and the peak value feature of the three-axis acceleration information is extracted based on the intrusion weight corresponding to each axis, to obtain the transportation intrusion feature of the folding conveying belt; the transportation deviation trend of the three-axis acceleration information is extracted based on the transportation weight corresponding to each axis, to obtain the transportation deviation trend of the folding conveying belt; the railway ground vibration signal is obtained, the folding conveying belt is judged based on the transportation deviation trend and the transportation intrusion feature, and the anti-intrusion result is sent to the conveying belt control center, the anti-intrusion judgment can be made based on the deviation trend and the intrusion feature in the conveying belt transportation, and the active anti-intrusion in the transportation process is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of folding conveyor belts, and more particularly, to a folding conveyor belt intrusion prevention control method and system for whole vehicle railways. BACKGROUND

[0002] With the rapid development of the railway transportation industry, the automation and intelligence level of railway equipment is constantly improving, especially in the process of whole vehicle railway transportation, the requirements for cargo transfer efficiency and equipment operation safety are increasing. As a key auxiliary equipment in railway cargo transfer, the folding conveyor belt is widely used in railway transportation systems due to its compact structure, convenient installation, flexible operation and other characteristics. However, in actual operation, the folding conveyor belt often deviates or slides due to uneven stress, uneven terrain, loose mechanical structure and other factors. Once the conveyor belt deviates into the railway limit area, it not only affects the transportation efficiency, but also may pose a serious threat to train operation safety.

[0003] The existing intrusion prevention system mainly includes a planar perimeter fence set by laser or infrared transmission. When an object passes through or blocks the laser or infrared perimeter, an alarm is sounded. By modeling the video features of large machinery, video recognition is used for judgment and alarm. However, the laser or infrared transmission method occupies a large area, and passive intrusion prevention is achieved, which can only identify intrusion after it occurs. Therefore, how to achieve active intrusion prevention of the folding conveyor belt during transportation has become a problem to be solved. SUMMARY

[0004] The present application provides a folding conveyor belt intrusion prevention control method and system for whole vehicle railways, which can determine intrusion prevention based on the deviation trend and intrusion characteristics during conveyor belt transportation, and achieve active intrusion prevention during transportation.

[0005] In the first aspect, the present application provides a folding conveyor belt intrusion prevention control method for whole vehicle railways. The method can be executed by a network device, or a chip configured in the network device. The present application does not limit this.

[0006] Specifically, the method comprises:

[0007] Collecting three-axis acceleration information of the folding conveyor belt during transportation;

[0008] Determining the intrusion weight of each axis corresponding to the three-axis acceleration information based on the intrusion prevention direction, and extracting the peak value characteristics of the three-axis acceleration information according to the intrusion weight of each axis corresponding to the three-axis acceleration information to obtain the transportation intrusion characteristics of the folding conveyor belt;

[0009] Determine a transportation weight corresponding to each axis in the three-axis acceleration information based on a transportation direction of the folding conveyor belt, and extract a transportation deviation trend of the folding conveyor belt from the three-axis acceleration information according to the transportation weight corresponding to each axis.

[0010] Obtain a railway ground vibration signal, and perform an intrusion prevention judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation deviation trend of the folding conveyor belt, and the transportation intrusion feature, and send an intrusion prevention result to a conveyor belt control center.

[0011] In combination with the first aspect, in some implementations of the first aspect, three-axis acceleration information of the folding conveyor belt in a transportation process is collected by a three-axis acceleration sensor.

[0012] In combination with the first aspect, in some implementations of the first aspect, the intrusion prevention direction is a vertical direction of a middle support position of the folding conveyor belt and the railway.

[0013] In combination with the first aspect, in some implementations of the first aspect, determining an intrusion weight corresponding to each axis in the three-axis acceleration information based on the intrusion prevention direction specifically includes: establishing a three-dimensional space coordinate system according to the three-axis acceleration information; obtaining a unit vector of the intrusion prevention direction in the three-dimensional space coordinate system, and taking a coordinate value corresponding to each axis of the unit vector as the intrusion weight corresponding to each axis in the three-axis acceleration information.

[0014] In combination with the first aspect, in some implementations of the first aspect, extracting a peak feature of the three-axis acceleration information according to the intrusion weight corresponding to each axis specifically includes:

[0015] Perform weighted fusion on the three-axis acceleration information based on the intrusion weight corresponding to each axis, to obtain an intrusion acceleration sequence.

[0016] Define a plurality of time windows, determine an intrusion acceleration peak value in each time window according to each intrusion acceleration value in the intrusion acceleration sequence and a corresponding time label, and compose a transportation intrusion feature according to a time sequence.

[0017] In combination with the first aspect, in some implementations of the first aspect, performing an intrusion prevention judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation deviation trend of the folding conveyor belt, and the transportation intrusion feature specifically includes:

[0018] Obtain a preset transportation intrusion weight and a transportation deviation initial weight.

[0019] According to the railway ground vibration signal, a vibration energy trend is extracted, a trend correlation index between the vibration energy trend and the transport deviation trend is determined, a weight correction is performed on the transport deviation initial weight based on the trend correlation index, and a transport deviation correction weight is obtained;

[0020] Based on the transport intrusion weight and the transport deviation correction weight, a risk weighted fusion is performed on the transport deviation trend of the folding conveyor belt and the transport intrusion feature, and a prevention intrusion risk coefficient is obtained.

[0021] According to the prevention intrusion risk coefficient and a preset risk threshold, a prevention intrusion judgment is performed on the folding conveyor belt.

[0022] In combination with the first aspect, in some implementations of the first aspect, a ground vibration sensor arranged at the bottom of the conveyor belt support is used to collect the railway ground vibration signal.

[0023] In the second aspect, the present application provides a whole vehicle railway folding conveyor belt prevention intrusion control system, which comprises a transport intrusion control unit.

[0024] A transport information collection module is configured to collect three-axis acceleration information of the folding conveyor belt during the transport process.

[0025] A transport information processing module is configured to determine an intrusion weight corresponding to each axis in the three-axis acceleration information, and perform peak feature extraction on the three-axis acceleration information according to the intrusion weight corresponding to each axis, so as to obtain a transport intrusion feature of the folding conveyor belt.

[0026] The transport information processing module is further configured to determine a transport weight corresponding to each axis in the three-axis acceleration information based on the transport direction of the folding conveyor belt, and perform transport deviation trend extraction on the three-axis acceleration information according to the transport weight corresponding to each axis, so as to obtain a transport deviation trend of the folding conveyor belt.

[0027] A transport intrusion judgment module is configured to obtain a railway ground vibration signal, perform prevention intrusion judgment on the folding conveyor belt according to the railway ground vibration signal, the transport deviation trend of the folding conveyor belt and the transport intrusion feature, and send a prevention intrusion result to a conveyor belt control center.

[0028] In the third aspect, the present application provides a computer terminal device, which comprises a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned whole vehicle railway folding conveyor belt prevention intrusion control method.

[0029] In a fourth aspect, the present application provides a computer readable storage medium, which stores at least one computer program, and the computer program is loaded and executed by a processor to implement the operation of the above-mentioned vehicle railway folding conveyor belt intrusion limiting control method.

[0030] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0031] In the vehicle railway folding conveyor belt intrusion limiting control method and system provided by the present application, first, three-axis acceleration information of the folding conveyor belt in the transportation process is collected; the intrusion weight corresponding to each axis in the three-axis acceleration information is determined based on the intrusion limiting direction, and the peak feature extraction is performed on the three-axis acceleration information based on the intrusion weight corresponding to each axis, to obtain the transportation intrusion feature of the folding conveyor belt; the transportation weight corresponding to each axis in the three-axis acceleration information is determined based on the transportation direction of the folding conveyor belt, and the transportation deviation trend extraction is performed on the three-axis acceleration information based on the transportation weight corresponding to each axis, to obtain the transportation deviation trend of the folding conveyor belt; the railway ground vibration signal is obtained, the intrusion limiting judgment is performed on the folding conveyor belt according to the transportation deviation trend and the transportation intrusion feature, and the intrusion limiting result is sent to the conveyor belt control center.

[0032] Therefore, it can be seen that, by collecting the three-axis acceleration information of the folding conveyor belt in the running process in real time, compared with the passive detection means of the traditional external intrusion detection (such as laser beam), the present application can perceive the transportation state change from the inside of the folding conveyor belt, realize the active intrusion limiting detection of the folding conveyor belt, and then extract the transportation intrusion feature according to the three-axis acceleration information, which is used to identify the sudden abnormal behavior in the transportation process, extract the transportation deviation trend which is used to identify the chronic drift hidden danger of the conveyor belt in the transportation process, and introduce the railway ground vibration signal to identify the part caused by the background disturbance in the transportation deviation trend, to avoid the intrusion limiting false alarm, enhance the identification ability of the system to the real risk, and improve the accuracy and robustness of the intrusion limiting judgment.

[0033] In summary, the present application can perform the intrusion limiting judgment based on the deviation trend and the intrusion feature in the transportation of the conveyor belt, to realize the active intrusion limiting in the transportation process. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is an exemplary flowchart of a vehicle railway folding conveyor belt intrusion limiting control method according to some embodiments of the present application;

[0035] Figure 2 is a structural schematic diagram of a transportation intrusion limiting control unit according to some embodiments of the present application;

[0036] Figure 3It is a structure schematic diagram of a computer terminal device for realizing a whole vehicle railway folding conveying belt anti-intrusion control method according to some embodiments of the present application. DETAILED DESCRIPTION

[0037] The present application collects three-axis acceleration information of the folding conveying belt in the transportation process; determines the intrusion weight corresponding to each axis in the three-axis acceleration information based on the anti-intrusion direction, and extracts the peak value characteristics of the three-axis acceleration information based on the intrusion weight corresponding to each axis, to obtain the transportation intrusion characteristics of the folding conveying belt; determines the transportation weight corresponding to each axis in the three-axis acceleration information based on the transportation direction of the folding conveying belt, and extracts the transportation deviation trend of the three-axis acceleration information based on the transportation weight corresponding to each axis, to obtain the transportation deviation trend of the folding conveying belt; acquires the railway ground vibration signal, judges the anti-intrusion of the folding conveying belt according to the transportation deviation trend and the transportation intrusion characteristics, and sends the anti-intrusion result to the conveying belt control center, which can judge the anti-intrusion based on the transportation deviation trend and the intrusion characteristics in the conveying belt transportation, and realize the active anti-intrusion in the transportation process.

[0038] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings in the specification and specific embodiments. Reference Figure 1 The figure is an exemplary flow chart of a whole vehicle railway folding conveying belt anti-intrusion control method 100 according to some embodiments of the present application, which mainly includes the following steps:

[0039] In step S101, three-axis acceleration information of the folding conveying belt in the transportation process is collected.

[0040] Preferably, in some embodiments, the three-axis acceleration information of the folding conveying belt in the transportation process is collected by a three-axis acceleration sensor; in the specific implementation, the three-axis acceleration sensor is arranged on the middle support of the folding conveying belt, and in some other embodiments, it can also be arranged on the tail drum of the folding conveying belt, which is not limited by the present application.

[0041] Preferably, in some embodiments, the present application sets the sampling frequency of the three-axis acceleration sensor to 500Hz by an STM32 single-chip microcomputer controller, and stores the collected three-axis acceleration information in the form of matrix data.

[0042] In step S102, the intrusion weight corresponding to each axis in the three-axis acceleration information is determined based on the anti-intrusion direction, and the peak value characteristics of the three-axis acceleration information are extracted according to the intrusion weight corresponding to each axis, to obtain the transportation intrusion characteristics of the folding conveying belt.

[0043] It should be noted that the anti-intrusion direction described in this application is the vertical direction between the middle bracket position of the folding conveyor belt and the railway, specifically the horizontal direction perpendicular to the running direction of the railway and pointing to the center of the track, which is used to judge whether the conveyor belt is offset toward the railway and there is a risk of intrusion. Furthermore, in one embodiment of the present invention, based on the anti-intrusion direction between the folding conveyor belt and the railway, the main intrusion direction in the three axes of acceleration is determined, and the intrusion direction vector is determined accordingly; the acceleration information of each axis is weightedly fused according to the direction vector to form a fused acceleration signal reflecting the intrusion risk; and then the peak features in the fused signal are extracted based on the sliding time window to obtain the transport intrusion features used for anti-intrusion judgment.

[0044] Preferably, in some embodiments, determining the intrusion weight corresponding to each axis in the three-axis acceleration information based on the anti-intrusion direction specifically includes: establishing a three-dimensional space coordinate system based on the three-axis acceleration information; obtaining the unit vector of the anti-intrusion direction in the three-dimensional space coordinate system, and using the coordinate values ​​corresponding to the unit vector on each axis as the intrusion weight corresponding to each axis in the three-axis acceleration information.

[0045] It should be noted that the transport intrusion feature described in this application is an instantaneous dynamic feature index extracted in the anti-intrusion direction based on the three-axis acceleration signal of the conveyor belt, which is used to identify the risk characteristics of sudden crossing behavior. Preferably, in some embodiments, the peak feature extraction of the three-axis acceleration information is performed based on the intrusion weight corresponding to each axis, and the transport intrusion feature of the folding conveyor belt is obtained, which specifically includes:

[0046] Performing weighted fusion on the three-axis acceleration information based on the violation weight corresponding to each axis to obtain the violation acceleration sequence;

[0047] A plurality of time windows are defined, and the peak value of the acceleration violation in each time window is determined according to each acceleration violation value and the corresponding time tag in the acceleration violation sequence, and a transport violation feature is formed according to the time sequence.

[0048] In specific implementation, acceleration data is obtained from the three-axis acceleration sensor on the folding conveyor belt, which are acceleration sequences of the X-axis, Y-axis and Z-axis. The intrusion weights corresponding to the three axes are calculated according to the anti-intrusion direction. The weights reflect the degree of influence of the acceleration of each axis on the intrusion risk. Generally, the weights are non-negative real numbers, and the sum of the weights can be normalized to 1. The three-axis acceleration data at each time point are weighted and summed according to the corresponding intrusion weights to obtain the intrusion acceleration values ​​corresponding to each time point, and the intrusion acceleration sequence is composed according to the time sequence.

[0049] Specifically, in some embodiments, the three-axis acceleration information is weighted and fused based on the violation weights corresponding to each axis to obtain a violation acceleration sequence. The three-axis acceleration information includes multiple collected time points and the corresponding three-axis acceleration values. The three-axis acceleration data at each time point is weighted and summed according to the corresponding violation weights, where violation acceleration value = violation weight corresponding to the X-axis × acceleration value corresponding to the X-axis + violation weight corresponding to the Y-axis × acceleration value corresponding to the Y-axis + violation weight corresponding to the Z-axis × acceleration value corresponding to the Z-axis. Furthermore, the violation acceleration values ​​calculated at each time point are arranged in sequence to form a one-dimensional violation acceleration time series, where, for example:

[0050] Three-axis acceleration data (unit: meters per square second)

[0051]

[0052] The intrusion weight corresponding to the X-axis is 0.2

[0053] Y-axis corresponding to the limit weight: 0.6

[0054] The intrusion weight corresponding to the Z axis is 0.2

[0055] For each time point, weighted calculation:

[0056] t=1: 0.2×0.5 + 0.6×0.7 + 0.2×0.4 = 0.10 + 0.42 + 0.08 = 0.60

[0057] t=2: 0.2×0.6 + 0.6×0.8 + 0.2×0.5 = 0.12 + 0.48 + 0.10 = 0.70

[0058] t=3: 0.2×0.4 + 0.6×0.6 + 0.2×0.6 = 0.08 + 0.36 + 0.12 = 0.56

[0059] t=4: 0.2×0.8 + 0.6×0.9 + 0.2×0.4 = 0.16 + 0.54 + 0.08 = 0.78

[0060] t=5: 0.2×0.7 + 0.6×1.0 + 0.2×0.3 = 0.14 + 0.60 + 0.06 = 0.80

[0061] t=6: 0.2×0.3 + 0.6×0.6 + 0.2×0.2 = 0.06 + 0.36 + 0.04 = 0.46

[0062] The sequence of the intrusion acceleration is as follows:

[0063] [0.60, 0.70, 0.56, 0.78, 0.80, 0.46]

[0064] Further, each 3 seconds is divided into a time window (window size = 3)

[0065] Window 1 (t=1~t=3) corresponding value: [0.60, 0.70, 0.56] → peak value = 0.70

[0066] Window 2 (t=4~t=6) corresponding value: [0.78, 0.80, 0.46] → peak value = 0.80

[0067] The transportation intrusion feature is the peak value sequence in each time window arranged in time sequence, and the system outputs the final transportation intrusion feature: [0.70, 0.80].

[0068] In step S103, the transportation weight corresponding to each axis in the three-axis acceleration information is determined based on the transportation direction of the folding conveyor belt, and the transportation offset trend of the three-axis acceleration information is extracted according to the transportation weight corresponding to each axis, to obtain the transportation offset trend of the folding conveyor belt.

[0069] It should be noted that although the transportation offset trend and the transportation intrusion feature are both judgment bases extracted based on acceleration signals, they are completely different in the physical phenomenon concerned, the extraction method and the purpose. The transportation offset trend reflects the characteristics of the folding conveyor belt slowly tilting to one side due to slight subsidence of the foundation of one side support during normal operation, although the amplitude is small, but it is continuously accumulated, and finally leads to intrusion of the folding conveyor belt, reflecting the chronic trend of intrusion. The transportation intrusion feature represents that the conveyor belt is subjected to sudden lateral thrust or blockage, resulting in rapid side sliding or jumping, which is manifested as peak mutation in a certain axis direction in the acceleration data within a short time, such as ±0.7m / s^2 instantaneous change, reflecting the rapid change characteristics of intrusion. In the present application, the transportation offset trend and the transportation intrusion feature are used for intrusion judgment, which can not only identify the rapid intrusion behavior occurring at present, but also identify the chronic offset trend that will accumulate to cause intrusion in the future, so as to complete the active anti-intrusion identification in the transportation process of the folding conveyor belt.

[0070] It should be noted that the acceleration fluctuations of the folding conveyor belt in the transport direction are affected by specific working conditions. Generally, the possibility of intrusion danger is small, and the deviation danger often occurs in the non-transportation direction, such as lateral support slippage. When extracting the chronic deviation trend, the weight of the transport direction should be weakened to improve the sensitivity of identifying acceleration changes in non-desired directions. In order to suppress the influence of acceleration deviation in the transport direction on trend judgment and enhance the perception of chronic deviation in the non-transportation direction, in some specific embodiments of the present application, determining the transport weight corresponding to each axis in the three-axis acceleration information based on the transport direction of the folding conveyor belt specifically includes: obtaining the unit vector of the transport direction of the folding conveyor belt in the three-dimensional space coordinate system as the transport vector, and normalizing the inverse of the coordinate value corresponding to the transport vector on each axis as the transport weight corresponding to each axis in the three-axis acceleration information.

[0071] In specific implementation, since the setting direction of the three-axis acceleration sensor sometimes coincides with the transportation direction of the conveyor belt, in order to avoid meaningless transportation weights, when setting the code, the coordinate value corresponding to the transportation vector on each axis is added to the preset minimum value and the inverse is taken. After the absolute value is normalized, it is used as the transportation weight corresponding to each axis in the three-axis acceleration information.

[0072] Specifically, in some embodiments, in the process of determining the transport weight corresponding to each axis in the three-axis acceleration information based on the transport direction of the folding conveyor belt, a three-dimensional space coordinate system is first constructed based on the acceleration detection direction of the three-axis acceleration sensor, and then the transport direction of the folding conveyor belt is marked in the three-dimensional space coordinate system to obtain the corresponding unit direction vector. For example, the transport direction vector of the folding conveyor belt in the three-dimensional space coordinate system is: V = (3, 4, 12), the calculated vector modulus is 13, and the unit transport vector is: (3 / 13, 4 / 13, 12 / 13), and then the reciprocal is taken after adding the minimum value to each component. e^-2 is often used as the minimum value in engineering. In this embodiment, the reciprocal return value corresponding to the X-axis is: 1 / (0.231 + e^-2) ≈ 4.15, the reciprocal return value corresponding to the Y-axis is 1 / (0.308 + e^-2) ≈ 3.14, and the reciprocal return value corresponding to the Z-axis is 1 / (0.923 + 0.01) ≈ 1.072, and then after normalizing the reciprocal return values ​​corresponding to each axis, the transportation weight of the X-axis is 0.496, the transportation weight corresponding to the Y-axis is 0.376, and the transportation weight corresponding to the Z-axis is 0.128.

[0073] Preferably, in some embodiments, extracting the transport deviation trend of the three-axis acceleration information according to the transport weight corresponding to each axis to obtain the transport deviation trend of the folding conveyor belt specifically includes:

[0074] weighting and fusing the three-axis acceleration information based on the transport weight corresponding to each axis to obtain a sequence of offset accelerations;

[0075] defining a plurality of time windows, determining an average offset acceleration in each time window according to each offset acceleration value in the sequence of offset accelerations and a corresponding time tag, and composing a transport offset trend according to the time sequence.

[0076] In step S104, a railway ground vibration signal is obtained, and a limit intrusion judgment is performed on the folding conveyor belt according to the railway ground vibration signal, the transport offset trend of the folding conveyor belt, and the transport limit intrusion feature, and a limit intrusion prevention result is sent to a conveyor belt control center.

[0077] It should be noted that the passing of a train on a railway will cause synchronous vibration of a local folding conveyor belt, and a false offset trend may appear in terms of acceleration trend. If interference identification is not performed, false positives may easily occur in limit intrusion prevention. Optionally, in some embodiments, a vibration sensor installed at a foundation of a conveyor belt support is used to obtain a railway ground vibration signal, which is used to identify environmental vibration caused by the passing of a train on a railway, so as to avoid interference with the judgment of the transport offset trend.

[0078] Preferably, in some embodiments, a ground vibration sensor is arranged at the bottom of the conveyor belt support to collect a railway ground vibration signal in the track environment in real time. The system performs synchronous window matching on the signal, time alignment analysis with the transport offset trend, and correlation analysis based on the railway ground vibration signal and the transport offset trend to obtain a trend correlation index. When the trend correlation index is higher than a preset threshold, it is determined that the transport offset trend is a normal environmental disturbance caused by the running of a train, and the system correspondingly filters or weakens the offset trend signal. In this way, the interference of vibration caused by the passing of a train on the judgment of the transport offset trend is effectively prevented, and the accuracy and robustness of the limit intrusion risk judgment of the folding conveyor belt are improved. Specifically, in implementation, the power spectral density of the railway ground vibration signal in each time window can be used as a vibration energy trend, and time alignment analysis is performed with the transport offset trend. The Pearson correlation coefficient between the vibration energy trend and the transport offset trend is used as the trend correlation index.

[0079] Preferably, in some embodiments, the limit intrusion judgment on the folding conveyor belt according to the railway ground vibration signal, the transport offset trend of the folding conveyor belt, and the transport limit intrusion feature specifically includes:

[0080] obtaining a preset transport limit intrusion weight and a transport offset initial weight;

[0081] According to the railway ground vibration signal, a vibration energy trend is extracted, a trend correlation index between the vibration energy trend and the transport deviation trend is determined, an initial weight of the transport deviation is weight-corrected based on the trend correlation index to obtain a transport deviation correction weight;

[0082] Based on the transport intrusion weight and the transport deviation correction weight, a transport deviation trend of the folding conveyor belt and the transport intrusion feature are respectively risk-weighted and fused to obtain a prevention intrusion risk coefficient;

[0083] According to the prevention intrusion risk coefficient and a preset risk threshold, a prevention intrusion judgment is performed.

[0084] In a specific implementation, the transport intrusion weight and the transport deviation initial weight are calibrated as constants based on historical experience, wherein, according to the trend correlation index, an interval mapping is performed to obtain a corresponding correction coefficient, and a proportional correction of the transport deviation initial weight is performed, the greater the correction coefficient, the smaller the corresponding transport deviation correction weight, or the ratio between the trend correlation index and a set standard trend correlation index is taken as the correction coefficient, which is not limited in the present application.

[0085] Preferably, in some embodiments, in the process of obtaining the prevention intrusion risk coefficient by risk-weighted fusion of the transport deviation trend of the folding conveyor belt and the transport intrusion feature based on the transport intrusion weight and the transport deviation correction weight, the transport deviation trend and the transport intrusion feature are normalized respectively, the feature mean value and the trend mean value are multiplied by the corresponding transport intrusion weight and deviation correction weight respectively, and the sum of the product results is taken as the prevention intrusion risk coefficient.

[0086] Optionally, in some embodiments, in the process of sending the prevention intrusion result to the conveyor belt control center, after the comprehensive judgment of the transport deviation trend, the transport intrusion feature and the railway ground vibration signal disturbance is completed, the system sends the prevention intrusion result to the conveyor belt control center in the form of a digital signal to realize active regulation of the conveyor belt running state, and in a specific implementation, the system generates a prevention intrusion state code according to the analysis result, common states include: state code 0 represents normal operation, no deviation / intrusion risk, state code 1 represents suspicious deviation trend, it is suggested to enter the monitoring state, state code 2 represents that there is a potential intrusion risk, it needs to slow down or warning processing, and state code 3 represents that the intrusion event is confirmed, the conveyor belt operation needs to be stopped immediately, wherein, the system can interact with the conveyor belt control center through CAN wired communication mode.

[0087] Optionally, in some embodiments, in the process of judging the intrusion prevention of the folding conveyor belt according to the railway ground vibration signal, the transportation deviation trend of the folding conveyor belt and the transportation intrusion feature, a trained support vector machine model can also be used to jointly take the railway ground vibration signal, the transportation deviation trend of the folding conveyor belt and the transportation intrusion feature as a multi-dimensional input vector, and perform feature classification to obtain the judgment result of the intrusion prevention. In the training process of the support vector machine model, the transportation deviation trend feature, the transportation intrusion feature and the ground vibration feature detected in several experimental environments are used as training samples, and the recognition results of the normal state and the intrusion state determined by artificial judgment are used as classification results. The classification parameters of the model are adjusted by cross-validation until the error rate of the model classification result and the artificial classification result is lower than a preset threshold, and it is judged that the training of the support vector machine model is completed.

[0088] In addition, another aspect of the present application, in some embodiments, the present application provides a whole vehicle railway folding conveyor belt intrusion prevention control system, which comprises a transportation intrusion control unit, which is used to Figure 2 The figure is a structural schematic diagram of an exemplary hardware and / or software of a transportation intrusion control unit according to some embodiments of the present application. The transportation intrusion control unit 200 comprises a transportation information acquisition module 201, a transportation information processing module 202 and a transportation intrusion judgment module 203, which are described as follows:

[0089] The transportation information acquisition module 201 is used to acquire the three-axis acceleration information of the folding conveyor belt in the transportation process.

[0090] The transportation information processing module 202 is used to determine the intrusion weight corresponding to each axis in the three-axis acceleration information, and to extract the peak feature of the three-axis acceleration information according to the intrusion weight corresponding to each axis, to obtain the transportation intrusion feature of the folding conveyor belt.

[0091] The transportation information processing module 202 is also used to determine the transportation weight corresponding to each axis in the three-axis acceleration information based on the transportation direction of the folding conveyor belt, and to extract the transportation deviation trend of the three-axis acceleration information according to the transportation weight corresponding to each axis, to obtain the transportation deviation trend of the folding conveyor belt.

[0092] The transportation intrusion judgment module 203 is used to acquire a railway ground vibration signal, to judge the intrusion prevention of the folding conveyor belt according to the railway ground vibration signal, the transportation deviation trend of the folding conveyor belt and the transportation intrusion feature, and to send the intrusion prevention result to the conveyor belt control center.

[0093] The above describes in detail an example of the vehicle railway folding conveying belt intrusion prevention control method and system provided by the embodiments of the present application. It can be understood that the corresponding device includes the corresponding hardware structure and / or software module for executing each function to achieve the above functions.

[0094] Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function in the application is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution, so a professional skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0095] In addition, the present application also provides a computer terminal device, which comprises a memory and a processor, the memory stores a code, and the processor is configured to acquire the code and execute the above-mentioned vehicle railway folding conveying belt intrusion prevention control method.

[0096] In some embodiments, with reference to Figure 3 The figure is a structural schematic diagram of a computer terminal device for implementing a vehicle railway folding conveying belt intrusion prevention control method according to some embodiments of the present application. The vehicle railway folding conveying belt intrusion prevention control method in the above embodiments can be implemented by the computer terminal device shown in the figure, which comprises at least one communication bus 301, a communication interface 302, a processor 303 and a memory 304. Figure 3

[0097] The processor 303 can be a general central processing unit (CPU), an application-specific integrated circuit (ASIC) or one or more for controlling the execution of the vehicle railway folding conveying belt intrusion prevention control method in the present application.

[0098] The communication bus 301 can include a path for transmitting information between the above components.

[0099] ​The memory 304 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk or other magnetic storage device, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto. The memory 304 can exist independently of the processor 303, and can be connected to the processor 303 via the communication bus 301. The memory 304 can also be integrated with the processor 303.

[0100] The memory 304 is configured to store program codes for implementing the solutions of the present application, and the processor 303 is configured to execute the program codes stored in the memory 304. The program codes can include one or more software modules. The determination of the transport infringement feature in the above embodiments can be implemented by the processor 303 and one or more software modules in the program codes in the memory 304.

[0101] The communication interface 302 is configured to communicate with other devices or communication networks, such as an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc., using any transceiver-like mechanism.

[0102] Optionally, the computer terminal device 300 can further include a power supply 305 configured to provide power to various components or circuits in the real-time computer terminal device.

[0103] In a specific implementation, as an example, the computer terminal device can include a plurality of processors, each of which can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0104] The computer terminal device described above can be a general-purpose computer terminal device or a special-purpose computer terminal device. In a specific implementation, the computer terminal device can be a desktop computer, a laptop computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of computer terminal device.

[0105] In addition, the computer readable storage medium of the other aspects of the present application stores at least one computer program, and the computer program is loaded and executed by the processor to implement the operations performed by the above-mentioned whole vehicle railway folding conveyor belt anti-intrusion control method.

[0106] In summary, in the whole vehicle railway folding conveyor belt anti-intrusion control method and system disclosed by the embodiments of the present application, first, the three-axis acceleration information of the folding conveyor belt in the transportation process is collected; the intrusion weight corresponding to each axis in the three-axis acceleration information is determined based on the anti-intrusion direction, and the peak feature extraction is performed on the three-axis acceleration information based on the intrusion weight corresponding to each axis, to obtain the transportation intrusion feature of the folding conveyor belt; the transportation weight corresponding to each axis in the three-axis acceleration information is determined based on the transportation direction of the folding conveyor belt, and the transportation offset trend extraction is performed on the three-axis acceleration information based on the transportation weight corresponding to each axis, to obtain the transportation offset trend of the folding conveyor belt; the railway ground vibration signal is acquired, the anti-intrusion judgment is performed on the folding conveyor belt according to the transportation offset trend and the transportation intrusion feature, and the anti-intrusion result is sent to the conveyor belt control center, which can perform the anti-intrusion judgment based on the offset trend and the intrusion feature in the conveyor belt transportation, to realize the active anti-intrusion in the transportation process.

[0107] The above is only an embodiment of the present application, and the specific technical solutions or characteristics known in the scheme are not described in detail. It should be noted that, for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the patent implementation.

[0108] The scope of protection of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and changes of the present application belong to the scope of the claims of the present application and its equivalent technology, the present application also intends to include these modifications and changes.

Claims

1. A method for controlling the intrusion limit of a foldable conveyor belt for a whole vehicle of railway, characterized in that: include: Collect the three-axis acceleration information of the folding conveyor belt during transportation; Determining an intrusion weight corresponding to each axis in the three-axis acceleration information based on the anti-intrusion direction, and extracting peak features of the three-axis acceleration information according to the intrusion weight corresponding to each axis to obtain a transport intrusion feature of the folding conveyor belt; Determining a transport weight corresponding to each axis in the three-axis acceleration information based on the transport direction of the folding conveyor belt, and extracting a transport deviation trend of the three-axis acceleration information according to the transport weight corresponding to each axis to obtain the transport deviation trend of the folding conveyor belt; Acquire a railway ground vibration signal, perform an anti-intrusion judgment on the foldable conveyor belt based on the railway ground vibration signal, the transport deviation trend of the foldable conveyor belt, and the transport intrusion characteristics, and send the anti-intrusion result to a conveyor belt control center; The step of determining the anti-intrusion capability of the foldable conveyor belt according to the railway ground vibration signal, the transport deviation trend of the foldable conveyor belt, and the transport intrusion feature specifically includes: Obtain the preset transport intrusion weight and transport offset initial weight; extracting a vibration energy trend according to the railway ground vibration signal, determining a trend correlation index between the vibration energy trend and the transport offset trend, and performing weight correction on the transport offset initial weight based on the trend correlation index to obtain a transport offset correction weight; Based on the transport intrusion weight and the transport deviation correction weight, risk-weighted fusion is performed on the transport deviation trend and the transport intrusion feature of the folding conveyor belt to obtain an anti-intrusion risk coefficient; An anti-intrusion limit judgment is performed on the folding conveyor belt according to the anti-intrusion limit risk coefficient and a preset risk threshold.

2. The method according to claim 1, wherein The three-axis acceleration sensor is used to collect the three-axis acceleration information of the folding conveyor belt during transportation.

3. The method according to claim 1, wherein The anti-intrusion limit direction is the vertical direction between the middle bracket position of the folding conveyor belt and the railway.

4. The method according to claim 1, wherein Determining the intrusion weight corresponding to each axis in the three-axis acceleration information based on the anti-intrusion direction specifically includes: establishing a three-dimensional space coordinate system based on the three-axis acceleration information; obtaining the unit vector of the anti-intrusion direction in the three-dimensional space coordinate system, and using the coordinate values ​​corresponding to the unit vector on each axis as the intrusion weight corresponding to each axis in the three-axis acceleration information.

5. The method according to claim 1, wherein The peak feature extraction of the three-axis acceleration information is performed according to the limit violation weight corresponding to each axis to obtain the transport limit violation feature of the folding conveyor belt, which specifically includes: Performing weighted fusion on the three-axis acceleration information based on the violation weight corresponding to each axis to obtain the violation acceleration sequence; A plurality of time windows are defined, and the peak value of the acceleration violation in each time window is determined according to each acceleration violation value and the corresponding time tag in the acceleration violation sequence, and a transport violation feature is formed according to the time sequence.

6. The method according to claim 1, wherein Railway ground vibration signals are collected by a ground vibration sensor installed at the bottom of the conveyor belt support.

7. A vehicle-mounted railway folding conveyor belt anti-intrusion control system, comprising a transport intrusion control unit, wherein the transport intrusion control unit is configured to execute a vehicle-mounted railway folding conveyor belt anti-intrusion control method according to any one of claims 1 to 6, characterized in that: The transport violation control unit includes: The transportation information collection module is used to collect the three-axis acceleration information of the folding conveyor belt during transportation; a transport information processing module, configured to determine an intrusion weight corresponding to each axis in the three-axis acceleration information, and extract peak features of the three-axis acceleration information according to the intrusion weight corresponding to each axis, to obtain a transport intrusion feature of the folding conveyor belt; The transport information processing module is further configured to determine a transport weight corresponding to each axis in the three-axis acceleration information based on the transport direction of the folding conveyor belt, and extract a transport deviation trend from the three-axis acceleration information according to the transport weight corresponding to each axis to obtain the transport deviation trend of the folding conveyor belt; The transport intrusion judgment module is used to obtain the railway ground vibration signal, perform anti-intrusion judgment on the folding conveyor belt based on the railway ground vibration signal, the transport deviation trend of the folding conveyor belt and the transport intrusion characteristics, and send the anti-intrusion result to the conveyor belt control center.

8. A computer terminal device, characterized in that: The computer terminal device includes a memory and a processor, the memory stores a code, and the processor is configured to obtain the code and execute the anti-intrusion control method for a foldable conveyor belt for a whole vehicle of railway according to any one of claims 1 to 6.

9. A computer-readable storage medium storing at least one computer program, characterized in that: The computer program is loaded and executed by a processor to implement the operations performed by the anti-intrusion control method for a whole vehicle railway folding conveyor belt as described in any one of claims 1 to 6.

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