Refueling Truck Safety Detection Method and System

Abstract

The present application provides a safety detection method and system for a refueling vehicle. Among them, the safety detection method for a refueling vehicle includes: obtaining an automatic driving instruction for the refueling vehicle; wherein, the automatic driving instruction includes an automatic driving path and the parking position of the aircraft to be refueled; in response to the automatic driving instruction, detecting whether a plurality of vehicle interlock devices in the interlock mechanism are in a safe state; if at least one of the plurality of vehicle interlock devices is not in a safe state, controlling the refueling vehicle to brake; if all of the plurality of vehicle interlock devices are in a safe state, releasing the brake on the refueling vehicle and controlling the refueling vehicle to travel along the automatic driving path to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled.

Description

Technical Field

[0001] The present invention relates to the technical field of refueling vehicle design, and particularly to a safety detection method and system for a refueling vehicle. Background Art

[0002] During the refueling process of an aircraft refueling vehicle, multiple facilities of the refueling vehicle must be connected to the aircraft or the oil supply pipeline network. After refueling, all these facilities connected to the aircraft or the oil supply pipeline network need to be reset to the designated positions before the refueling vehicle is allowed to drive away. Otherwise, it will cause oil leakage, and in severe cases, it may even lead to flight accidents.

[0003] Therefore, to prevent accidents caused by the operator's misoperation, an interlock control system is generally adopted on aircraft refueling vehicles. When there are facilities on the aircraft refueling vehicle that are not reset, the interlock control system will forcibly brake the vehicle. When the refueling vehicle driver finds that the refueling vehicle cannot be forcibly braked, the driver will check all the facilities that need to be reset one by one. In this way, the labor cost is high and the efficiency of safety detection is low. Summary of the Invention

[0004] The present application provides a safety detection method and system for a refueling vehicle, with low labor cost and high safety detection efficiency.

[0005] The present application provides a safety detection method for a refueling vehicle, and the safety detection method for the refueling vehicle includes:

[0006] Obtaining an automatic driving instruction of the refueling vehicle; wherein, the automatic driving instruction includes an automatic driving path and a parking position of the aircraft to be refueled;

[0007] Responding to the automatic driving instruction, detecting whether a plurality of vehicle interlock devices in the interlock mechanism are in a safe state;

[0008] If at least one of the plurality of vehicle interlock devices is not in a safe state, controlling the refueling vehicle to brake;

[0009] If all the plurality of vehicle interlock devices are in a safe state, releasing the brake on the refueling vehicle, and controlling the refueling vehicle to drive to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled according to the automatic driving path;

[0010] After releasing the brake on the refueling vehicle when all the plurality of vehicle interlock devices are in a safe state, the safety detection method for the refueling vehicle further includes:

[0011] Sending an operation instruction in the cab of the refueling vehicle to a dispatching center, so that the dispatching center determines whether the operation instruction is an instruction of misoperation and generates a corresponding response message; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel;

[0012] Receive the response information;

[0013] Perform corresponding operations according to the response information.

[0014] Optionally, the multiple vehicle interlock devices include a first vehicle interlock device. Detecting whether the multiple vehicle interlock devices in the detection interlock mechanism are in a safe state includes:

[0015] Obtain the indicator signal of the indicator light interlocked with the first vehicle interlock device; Determine whether the first vehicle interlock device is in a safe state according to the indicator signal;

[0016] And / or

[0017] The fuel truck safety detection method includes: obtaining the first position information and the first name information of the vehicle interlock device that is not in a safe state; determining the position display point of the vehicle interlock device that is not in a safe state among all vehicle interlock devices according to the first position information; displaying the first position information, the first name information, and the position display point through the console of the fuel truck;

[0018] And / or

[0019] The braking interlock component in the interlock mechanism includes a solenoid valve and a cylinder, and the cylinder interlocks the solenoid valve; Controlling the braking of the fuel truck includes: controlling the power supply system to supply power to the solenoid valve to control the cylinder to brake the fuel truck;

[0020] And / or, the fuel truck safety detection method further includes:

[0021] If the image collected by the image acquisition component shows that there are dropped parts on the fuel truck, then control the fuel truck to brake;

[0022] And / or, the fuel truck safety detection method further includes: receiving a control instruction from the user to release the brake when the multiple vehicle interlock devices are in the safe state; sending the control instruction to the dispatching center so that the dispatching center establishes a call connection with the cab of the fuel truck; if a permission to pass command issued by the dispatching center is received, release the brake of the fuel truck;

[0023] And / or

[0024] After releasing the brake on the fuel truck when all the multiple vehicle interlock devices are in a safe state, the method further includes: if the emergency stop switch is operated, lock the tires by locking the hardware, where the emergency stop switch is mechanically connected to the locking hardware.

[0025] Optionally, the multiple vehicle interlock devices include a resetable interlock device and an interlock device with a safety threshold, where the resetable interlock device includes a platform fuel filling connector, a reel fuel filling connector, a pit fuel filling connector, a pit hose lifting mechanism, a loading arm, a platform hose cantilever, a static conductive grounding wire clamp, a platform aircraft fuel tank cover box, a reel aircraft fuel tank cover box, a power take-off, a lifting platform, and / or an interlock;

[0026] The interlock device with a safety threshold includes a vehicle tire and / or a fuel tank.

[0027] Optionally, detecting whether multiple vehicle interlock devices in an interlock mechanism are in a safe state according to the autonomous driving instruction includes:

[0028] In response to the autonomous driving instruction, collecting induction signals of sensors set corresponding to the vehicle interlock devices;

[0029] Determining whether the multiple vehicle interlock devices are in a safe state according to the induction signals, where the sensors include inductive proximity switches set corresponding to the resetable interlock devices and pressure sensors set corresponding to the interlock devices with a safety threshold.

[0030] Optionally, when releasing the brake of the fuel truck if the multiple vehicle interlock devices are all in a safe state, the fuel truck safety detection method further includes:

[0031] If an operation instruction in the cab of the fuel truck is received, acquiring an image in the cab; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel;

[0032] If it is determined according to the image that the operation instruction is an incorrect operation instruction, controlling the fuel truck to maintain the current state;

[0033] If it is determined according to the image that the operation instruction is a correct operation instruction, controlling the fuel truck to execute the operation instruction.

[0034] Optionally, determining that the operation instruction is an incorrect operation according to the image includes:

[0035] Identifying the posture of the fuel dispenser in the image;

[0036] If it is determined according to the posture that the fuel dispenser is not in a driving posture, determining that the operation instruction is an incorrect operation; where the driving posture includes holding the steering wheel, opening the eyes, and wearing a seat belt;

[0037] And / or,

[0038] The described safety detection method for the fuel truck further includes: obtaining a first pressure signal from a pressure sensor provided on the steering wheel; obtaining a second pressure signal from a pressure sensor provided on the accelerator pedal; obtaining a third pressure signal from a pressure sensor provided on the brake pedal; if the first pressure signal is not less than a first pressure threshold, the second pressure signal is not less than a second pressure threshold, and the third pressure signal is not less than a third pressure threshold, determining that the operation instruction is a correct operation;

[0039] and / or,

[0040] The described safety detection method for the fuel truck includes: if the obtained operation instruction is an instruction to increase the vehicle speed, controlling the vehicle to travel at a predetermined speed.

[0041] Optionally, the sending the operation instruction in the cab of the fuel truck to the dispatching center so that the dispatching center determines whether the operation instruction is an incorrect operation instruction includes: sending the operation instruction in the cab of the fuel truck to the dispatching center so that the dispatching center identifies the posture of the fuel dispenser in the image according to the image collected by the image acquisition component; if it is determined according to the posture that the fuel dispenser is not in the driving posture, determining that the operation instruction is an incorrect operation; wherein, the driving posture includes holding the steering wheel, opening the eyes, and wearing a seat belt;

[0042] and / or,

[0043] The described safety detection method for the fuel truck includes: if the obtained operation instruction is an instruction to increase the vehicle speed, controlling the vehicle to travel at a predetermined speed.

[0044] Optionally, the sending the operation instruction in the cab of the fuel truck to the dispatching center so that the dispatching center determines whether the operation instruction is an incorrect operation instruction includes:

[0045] sending the operation instruction in the cab of the fuel truck to the dispatching center so that the dispatching center determines that the operation instruction is a first operation instruction, then determining that the operation instruction is an incorrect operation and not generating corresponding response information; if the dispatching center receives the operation instruction as a second operation instruction within a preset time, determining that the operation instruction is a correct operation and generating corresponding response information.

[0046] Optionally, the sending the operation instruction in the cab of the fuel truck to the dispatching center includes: obtaining the operation instruction in the cab of the fuel truck; obtaining the information sensed by the lidar of the fuel truck and / or the monitoring image according to the operation instruction; sending the operation instruction, the information sensed by the lidar, and / or the monitoring image to the dispatching center so that the dispatching center determines whether the operation instruction is an incorrect operation instruction;

[0047] and / or

[0048] Sending the operation instructions in the cab of the refueling vehicle to the dispatching center includes: sending the operation instructions to the dispatching center through a 5G communication module; receiving the response information includes: receiving the response information through a 5G communication module.

[0049] Optionally, receiving the response information includes:

[0050] When a call connection is established between the dispatching center and the cab of the refueling vehicle, if an allowable passage command issued by the dispatching center is received, the braking of the refueling vehicle is released.

[0051] Optionally, the refueling vehicle safety detection method further includes:

[0052] Detecting whether the roadblock of the refueling vehicle is a static object or a dynamic object;

[0053] If the roadblock is a static object and is within the automatic driving path, plan a detour route;

[0054] Control the refueling vehicle to detour according to the detour route.

[0055] Optionally, detecting whether the roadblock of the refueling vehicle is a static object or a dynamic object includes:

[0056] Obtaining 3D information of the roadblock;

[0057] According to the 3D information, determining the 3D position of the roadblock in a pre-established 3D map;

[0058] Obtaining the return time of the roadblock through a lidar multiple times;

[0059] Determining whether the roadblock is a static object or a dynamic object according to the 3D position and the return time.

[0060] Optionally, detecting whether the roadblock of the refueling vehicle is a static object or a dynamic object includes:

[0061] Measuring the distance between the roadblock and the refueling vehicle through a lidar;

[0062] Determining an image of the roadblock through an imaging device;

[0063] Determining whether the roadblock is a static object or a dynamic object according to the distance, the image of the roadblock and the speed of the refueling vehicle.

[0064] The present application provides a refueling vehicle safety detection system, including one or more processors for implementing the method described in any one of the above.

[0065] The present application provides a computer-readable storage medium, on which a program is stored. When the program is executed by a processor, the method described in any one of the above is implemented.

[0066] In some embodiments, the fuel truck safety detection method of the present application can detect that at least one vehicle interlock device is not in a safe state. In this way, it is possible to know which specific vehicle interlock device or devices are not in a safe state. As a result, after the fuel dispenser intervenes, the specific vehicle interlock device that is not in a safe state can be found in a timely manner, and the efficiency of safety detection is relatively high. At the same time, it is not necessary to check each vehicle interlock device one by one, reducing the labor cost. Moreover, when it is detected that at least one vehicle interlock device is not in a safe state, the fuel truck is controlled to brake. In this way, by interlocking and braking the fuel truck with at least one vehicle interlock device that is not in a safe state, accidents caused by unreturned vehicle interlock devices can be avoided, and the intensity of the fuel truck interlock braking is also improved. And if multiple vehicle interlock devices are all in a safe state, the braking of the fuel truck is released. In this way, it can be ensured that all vehicle interlock devices return to a safe state, improving the safety of the fuel truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 The figure shows a flowchart of a fuel truck safety detection method provided by an embodiment of the present application;

[0068] Figure 2 The figure shows a flowchart of displaying vehicle interlock devices that are not in a safe state provided by an embodiment of the present application;

[0069] Figure 3 The figure shows a flowchart of determining whether a first vehicle interlock device is in a safe state provided by an embodiment of the present application;

[0070] Figure 4 The figure shows a flowchart of determining whether multiple vehicle interlock devices are in a safe state provided by an embodiment of the present application;

[0071] Figure 5 The figure shows a flowchart of determining whether multiple vehicle interlock devices are in a safe state provided by an embodiment of the present application;

[0072] Figure 6 The figure shows a flowchart of determining an indication of a misoperation of an operation instruction provided by an embodiment of the present application;

[0073] Figure 7 The figure shows a flowchart of determining that an operation instruction is a correct operation provided by an embodiment of the present application;

[0074] Figure 8The figure shows a flowchart of a safety detection method for a refueling vehicle provided by an embodiment of the present application;

[0075] Figure 9 As shown in Figure 8 is a flowchart of an embodiment of step 401 in

[0076] Figure 10 The figure shows a flowchart of controlling a refueling vehicle to detour according to a detour route provided by an embodiment of the present application;

[0077] Figure 11 As shown in Figure 10 is a flowchart of determining whether an obstacle is a static object or a dynamic object in

[0078] Figure 12 As shown in Figure 10 is a flowchart of determining whether an obstacle is a static object or a dynamic object in

[0079] Figure 13 The figure shows a flowchart of a safety detection method for a refueling vehicle provided by an embodiment of the present application;

[0080] Figure 14 The figure shows a block diagram of a safety detection system for a refueling vehicle provided by an embodiment of the present application. Detailed implementation

[0081] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of this specification. On the contrary, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0082] It should be noted that: In other embodiments, the steps of the corresponding methods are not necessarily executed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may also be combined into a single step for description in other embodiments.

[0083] The interlock control system in the related art includes vehicle interlock devices and a vehicle braking system. Generally, refueling vehicle drivers need to be trained and certified before taking up their posts. The training content includes which vehicle interlock devices in the refueling vehicle are prone to failure. When the refueling vehicle is forced to brake, an audible and visual alarm will sound in the cab of the refueling vehicle. At this time, after hearing the audible and visual alarm, the refueling vehicle driver will, relying on their training experience, check the specific fault points of the refueling vehicle by themselves and perform operations such as resetting. In this way, the labor cost is high and the efficiency of safety detection is low.

[0084] To solve the above technical problems, the embodiments of the present application provide a refueling vehicle safety detection method and system, which can detect that at least one vehicle interlock device is not in a safe state. In this way, it is possible to know which specific vehicle interlock device or devices are not in a safe state, so that after the refueling operator intervenes, the specific vehicle interlock device that is not in a safe state can be found in a timely manner, the efficiency of safety detection is high, and at the same time, it is not necessary to check each vehicle interlock device one by one, reducing the labor cost.

[0085] First, an introduction is made to a refueling vehicle safety detection method provided by the embodiments of the present application, which can be applied to a refueling vehicle control system or a dispatching system. In some embodiments, the refueling vehicle control system may refer to the respective independent control systems of refueling vehicles, such as a refueling vehicle safety detection system. In some embodiments, the dispatching system may be a system that dispenses all refueling vehicles, and it can interact with the refueling vehicle control system for information.

[0086] Secondly, the refueling vehicle safety detection method and system of the embodiments of the present application are introduced in detail in combination with the accompanying drawings, and the details are as follows.

[0087] Figure 1 The flowchart of a refueling vehicle safety detection method provided by an embodiment of the present application is shown. The method may include the following steps 101 to 104.

[0088] Step 101, obtain the automatic driving instruction of the refueling vehicle; wherein, the automatic driving instruction includes the automatic driving path and the parking position of the aircraft to be refueled.

[0089] In some embodiments, the refueling vehicle is used to refuel the aircraft to be refueled. For example, the refueling vehicle may include, but is not limited to, an oil tanker that carries its own fuel and / or a pipeline vehicle that refuels using an oil well at the parking position. In this way, the required refueling vehicle can be used according to actual needs. Any vehicle that can complete the refueling of the aircraft to be refueled belongs to the protection scope of the embodiments of the present application and is not limited herein.

[0090] In some embodiments, the autonomous driving indication is used to indicate the starting point and the ending point of the refueling vehicle. For example, the starting point of the refueling vehicle is the current position of the refueling vehicle, and the ending point of the refueling vehicle is the parking position of the aircraft to be refueled, and / or, the starting point of the refueling vehicle is the parking position of the aircraft to be refueled, and the ending point of the refueling vehicle is the parking space of the refueling vehicle. In some embodiments, the autonomous driving indication includes an autonomous driving path and the parking space of the refueling vehicle. The autonomous driving path can be determined according to the current position of the refueling vehicle and the parking position of the aircraft to be refueled. This path can be the shortest path or the fastest path between the current position of the refueling vehicle and the parking position of the aircraft to be refueled. The autonomous driving path can include, but is not limited to, the current position of the refueling vehicle and the parking position of the aircraft to be refueled. In this way, the starting point and the ending point of the autonomous driving path can be grasped in a timely manner.

[0091] The above-mentioned parking position can refer to the position where the aircraft needs to be refueled when it is parked, and can also be called the refueling position. In this way, the situation that the aircraft needs to be refueled can be grasped in a timely manner, and at the same time, the specific refueling position assigned to the airport can also be grasped in a timely manner.

[0092] The above-mentioned aircraft to be refueled can refer to the aircraft that applies for refueling. The specific application method is not limited. In some embodiments, step 101 further includes obtaining the autonomous driving indication of the refueling vehicle sent by the dispatching system, and the parking position of the aircraft to be refueled therein can be received by the air traffic control system or other information systems. In this way, the autonomous driving indication can be obtained in real time through cooperation with other systems.

[0093] Step 102, in response to the autonomous driving indication, detect whether multiple vehicle interlock devices in the interlock mechanism are in a safe state.

[0094] The interlock mechanism in the present application can refer to the mechanism composed of various devices with a pre-established interlock relationship. In some embodiments, this interlock mechanism can include, but is not limited to, vehicle interlock devices and a vehicle braking system. The vehicle interlock device can refer to a device that can link the vehicle braking system through an interlock relationship. The vehicle braking system can refer to a system directly related to the vehicle braking components.

[0095] Among them, multiple vehicle interlock devices are used to realize the interlock between the devices on the vehicle and the braking of the vehicle. The multiple vehicle interlock devices can include, but are not limited to, a resetable interlock device and an interlock device with a safety threshold. Among them, the resetable interlock device includes a platform refueling joint, a reel refueling joint, a pit refueling joint, a pit hose lifting mechanism, a loading arm, a platform hose cantilever, an electrostatic grounding wire clamp, a platform aircraft fuel tank cover box, a reel aircraft fuel tank cover box, a power take-off, a lifting platform, and / or an interlock; the interlock device with a safety threshold includes a tire and / or a fuel tank. In this way, from various aspects such as the driving angle and the component angle, the interlock between a certain vehicle interlock component and the vehicle braking can be completed.

[0096] Among them, the resetable interlock device can refer to a detachable or displaceable device. Detect whether the detachable and resetable interlock device is in a reset state. For another example, detect whether the lifting platform is in a raised state. The interlock device with a safety threshold can refer to a device with threshold requirements. For example, the tire pressure of a vehicle is greater than a preset tire pressure value. For another example, the fuel quantity in the fuel tank is greater than a preset fuel quantity value. Both the preset tire pressure value and the preset fuel quantity value can be determined according to user requirements.

[0097] The safe state in this application can refer to the reset of the resetable interlock device and the interlock device reaching the safety threshold, which can enable the refueling vehicle to release the brake.

[0098] Step 103, if at least one of the multiple vehicle interlock devices is not in a safe state, control the refueling vehicle to brake.

[0099] In some embodiments, the braking interlock component in the interlock mechanism includes an electromagnetic valve and a cylinder, and the cylinder interlocks the electromagnetic valve; controlling the refueling vehicle to brake in step 103 includes controlling the power supply system to supply power to the electromagnetic valve to control the cylinder to complete the braking of the refueling vehicle. In this way, after the electromagnetic valve is powered on and opened, the electromagnetic valve controls the cylinder to eject. After the cylinder ejects, it presses the brake pedal to brake the refueling vehicle. In this way, through the cylinder interlocking the electromagnetic valve and the brake pedal, the brake pedal is used for braking, so as to realize the automatic braking of the vehicle when the vehicle interlock device is not in a safe state. In some embodiments, the cylinder is arranged on the brake pedal, and the brake pedal can be stepped on by the refueling operator. Among them, the interlock state between the cylinder and the electromagnetic valve can include: the interlock state where the electromagnetic valve is opened and the cylinder ejects; or, the interlock state where the electromagnetic valve is closed and the cylinder resets. The interlock state of the cylinder, the electromagnetic valve and the brake pedal can include: the interlock state where the electromagnetic valve is opened, the cylinder ejects, and the brake pedal brakes; or, the interlock state where the electromagnetic valve is closed, the cylinder resets, and the brake pedal resets.

[0100] In some embodiments, the refueling vehicle safety detection method further includes: if the image collected by the image acquisition component shows that there are dropped parts on the refueling vehicle, control the refueling vehicle to brake. In this way, through image detection, it can assist in detecting whether multiple vehicle interlock devices in the interlock mechanism are in a safe state, and can effectively detect the dropping of parts. Among them, the parts can be large and convenient for monitoring.

[0101] Step 104, if all the multiple vehicle interlock devices are in a safe state, release the brake of the refueling vehicle, and control the refueling vehicle to drive to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled according to the automatic driving path.

[0102] Autopilot in this application can be driverless. However, according to airport regulations, autopilot can also be assisted driving by personnel. This personnel does not have to be a professional driver, but can be a fueler who needs to refuel the aircraft. In this way, this refueling vehicle can pick up the fueler and take him / her to the parking position of the aircraft to be refueled for refueling.

[0103] In some embodiments, after step 104, the method further includes: if the emergency stop switch is operated, lock the hardware to lock the tires, where the emergency stop switch is mechanically connected to the locking hardware. The emergency stop switch is pre-set in the refueling vehicle. The locking hardware can be a device that can engage with the tire to forcibly brake the rotation of the tire.

[0104] In the embodiments of this application, it can be detected that at least one vehicle interlock device is not in a safe state, so that it is possible to know specifically which vehicle interlock device or devices are not in a safe state. Thus, after the fueler intervenes, the specific vehicle interlock device that is not in a safe state can be found in a timely manner, and the efficiency of safety detection is relatively high. At the same time, it is not necessary to check each vehicle interlock device one by one, reducing labor costs. And when it is detected that at least one vehicle interlock device is not in a safe state, control the refueling vehicle to brake. In this way, the refueling vehicle can be chained and braked through at least one vehicle interlock device that is not in a safe state, which can avoid accidents caused by unreturned vehicle interlock devices and also improve the intensity of the chained braking of the refueling vehicle. And if multiple vehicle interlock devices are all in a safe state, release the braking of the refueling vehicle. In this way, it can be ensured that all vehicle interlock devices return to a safe state, improving the safety of the refueling vehicle.

[0105] In some embodiments, that at least one vehicle interlock device is not in a safe state is indicated by an indicating device chained by each vehicle interlock device that is not in a safe state; through the safety indicating device chained by each vehicle interlock device, it is indicated that each vehicle interlock device is not in a safe state, which is convenient for indicating the specific fault point and improving the efficiency of safety inspection, so that inexperienced personnel can easily check the fault point in a timely manner. The indicating device is used to indicate any one or more vehicle interlock devices that are not in a safe state respectively. There are various indicating methods. For example, the central control console of the refueling vehicle can be used as the indicating device to indicate each vehicle interlock device that is not in a safe state by means of display. Another example is that the indicator light can be used as the indicating device to indicate each vehicle interlock device that is not in a safe state by means of the indicator light signal. Any device that can be used to indicate any one or more vehicle interlock devices falls within the protection scope of the embodiments of this application.

[0106] Figure 2The figure shows a flowchart of a vehicle interlock device indicating an unsafe state provided by an embodiment of the present application. In some embodiments, the fuel truck safety detection method further includes that at step 102, the vehicle's central console can indicate that at least one vehicle interlock device is in an unsafe state through the following steps 201 to 203:

[0107] Step 201, obtain the first position information and the first name information of the vehicle interlock device that is not in a safe state.

[0108] Among them, the first position information can reflect the position of the vehicle interlock device that is not in a safe state. The first position information can include, but is not limited to, the position of the vehicle interlock device that is not in a safe state. The first name information can indicate the name of the vehicle interlock device that is not in a safe state.

[0109] Step 202, determine the position display point of the vehicle interlock device that is not in a safe state among all vehicle interlock devices according to the first position information.

[0110] In some embodiments, the fuel truck safety detection method further includes: pre-storing a position display map of all vehicle interlock devices for subsequent display of each vehicle interlock device (fault point) that is not in a safe state.

[0111] In some embodiments, step 202 can further include: when there is a vehicle interlock device that is not in a safe state, according to the first position information, match the position display point of the vehicle interlock device that is not in a safe state in the position display map. In this way, the position of the vehicle interlock device that is not in a safe state in the position display map can be displayed, and based on this position, the vehicle interlock device can be quickly found and displayed.

[0112] Step 203, display the first position information, the first name information, and the position display point through the vehicle's central console. In this way, not only can the first position information be displayed, but also the position display point and the name information of the first position information among all vehicle interlock devices can be displayed, which can facilitate and quickly find the vehicle interlock device that is not in a safe state.

[0113] Figure 3 The figure shows a flowchart of determining whether a first vehicle interlock device is in a safe state provided by an embodiment of the present application. A plurality of vehicle interlock devices include the first vehicle interlock device. Detecting whether the plurality of vehicle interlock devices in the detection interlock mechanism in step 102 are in a safe state can include the following steps 111 to 112:

[0114] Step 111, obtain the indicator signal of the indicator lamp interlocked with the first vehicle interlock device. The first vehicle interlock device can be any specific vehicle interlock device for a fault. Among them, the indicator signal can be a sound signal, an optoelectronic signal, or a combined signal of a sound signal and an optoelectronic signal.

[0115] Step 112, determine whether the first vehicle interlock device is in a safe state according to the indicator signal. In this way, the indicator lamp arranged beside the first vehicle interlock device, which is interlocked with the first vehicle interlock device, can directly reflect the safe state of the first vehicle interlock device.

[0116] In some embodiments, this step 112 can further include: obtaining that the indicator signal is a signal to turn on the indicator lamp, and determining that the first vehicle interlock device is not in a safe state; obtaining that the indicator signal is a signal not to turn on the indicator lamp, and determining that the first vehicle interlock device is in a safe state.

[0117] Figure 4 The figure shows a flowchart for determining whether multiple vehicle interlock devices are in a safe state provided by an embodiment of the present application. In some embodiments, detecting whether multiple vehicle interlock devices in the interlocking mechanism are in a safe state according to the autonomous driving instruction in step 102 can include the following steps 121 to 122:

[0118] Step 121, in response to the autonomous driving instruction, collect the induction signal of the inductor set for the corresponding vehicle interlock device.

[0119] Step 122, determine whether multiple vehicle interlock devices are in a safe state according to the induction signal. Among them, the inductor includes an inductive proximity switch set for the corresponding resetable interlock device and a pressure sensor set for the interlock device with a safety threshold. In this way, it is possible to determine whether multiple vehicle interlock devices are in a safe state through the induction signals of the inductive proximity switch and the pressure sensor, improving the accuracy of detecting whether the vehicle interlock device is in a safe state.

[0120] Figure 5 The figure shows a flowchart for determining whether multiple vehicle interlock devices are in a safe state provided by an embodiment of the present application. In some embodiments, the safety detection method for the fuel truck further includes the following steps 105 to 107:

[0121] Step 105, if an operation instruction in the cab of the fuel truck is received, obtain an image in the cab; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel.

[0122] In some embodiments, step 105 may further include: obtaining an image inside the cab through a photographing device inside the cab. The photographing device may be, but is not limited to, a camera, or other devices capable of taking pictures.

[0123] In the embodiments of the present application, the refueling vehicle can automatically drive to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled according to the automatic driving path. Therefore, if the refueling operator is not in the driving state, such as falling asleep in the driver's seat, etc., at this time, the unconscious operation by the human can be called an incorrect operation. However, due to the complex driving conditions in the actual airport, the human can intervene in the driving. The driving behavior with conscious human intervention is called a correct operation. In this way, the correct human intervention and the cooperation of automatic driving can be realized, and the safety of airport automatic driving is improved.

[0124] Among them, the operation instruction may be issued by the refueling operator in the cab of the refueling vehicle. This operation instruction may be a correct operation by the refueling operator consciously or an incorrect operation by the refueling operator unconsciously. Specifically, the following method can be used for detailed judgment.

[0125] Step 106, if it is determined according to the image that the operation instruction is an incorrect operation instruction, control the refueling vehicle to maintain the current state.

[0126] Among them, determining that the operation instruction is an incorrect operation instruction indicates that the refueling operator does not have the intention to perform the operation, and the refueling vehicle can ignore this operation and does not need to execute it.

[0127] Figure 6 The figure shows a flowchart for determining that the operation instruction is an incorrect operation instruction provided by an embodiment of the present application. In some embodiments, step 106 above may further include the following steps 131 to 132:

[0128] Step 131, identify the posture of the refueling operator in the image.

[0129] In some embodiments, step 131 above further includes identifying the posture of the refueling operator in the image through an image recognition algorithm. In some embodiments, step 131 above further includes obtaining an image, inputting the image into a pre-constructed neural network model, and outputting the posture information of the refueling operator. The pre-constructed neural network model is: obtained by training an artificial neural network with sample data, and the sample data includes samples with various postures of the refueling operator and samples without the posture of the refueling operator. In this way, the recognition accuracy of the neural network model can be improved, and then the posture of the refueling operator can be accurately recognized. Other methods that can identify the posture of the refueling operator in the image are within the protection scope of the embodiments of the present application and will not be elaborated here.

[0130] Step 132: If it is determined based on the posture that the fuel dispenser is not in the driving posture, it is determined that the operation instruction is a misoperation; wherein, the driving posture includes holding the steering wheel, opening the eyes, and wearing a seat belt. In this way, the accuracy of misoperation recognition can be improved through image recognition.

[0131] Among them, opening the eyes can determine whether the fuel dispenser is in a resting state or a driving state. The driving posture may also but is not limited to include whether the head is raised, etc., and will not be exemplified one by one here.

[0132] In some embodiments, step 132 may further include: if it is determined based on the posture that the fuel dispenser is in the driving posture, obtaining the temperature signal of the temperature sensor provided on the steering wheel; if the temperature signal is less than the temperature threshold, determining that the operation instruction is an instruction of misoperation. In this way, on the basis of combining images, the temperature signal of the temperature sensor can be combined to accurately identify misoperations.

[0133] In other embodiments, step 132 may further include: if it is determined based on the posture that the fuel dispenser is in the driving posture, obtaining the first pressure signal of the pressure sensor provided on the steering wheel; if the first pressure signal is less than the first pressure threshold, determining that the operation instruction is an instruction of misoperation. In this way, on the basis of combining images, the pressure signal of the pressure sensor can be combined to accurately identify misoperations. In some embodiments, it may also be determined that the operation instruction is an instruction of misoperation according to the contact signal of the contact sensor provided on the steering wheel. Of course, it may also be a combination of the above two embodiments or three embodiments to determine that the operation instruction is an instruction of misoperation. As long as the method can determine that the operation instruction is an instruction of misoperation belongs to the protection scope of the embodiments of the present application, and will not be specifically limited here.

[0134] Among them, when an object touches the contact sensor, a contact signal will be emitted.

[0135] In other embodiments, obtain the first pressure signal of the pressure sensor provided on the steering wheel; obtain the second pressure signal of the pressure sensor provided on the accelerator pedal; obtain the third pressure signal of the pressure sensor provided on the brake pedal; if the first pressure signal is less than the first pressure threshold, the second pressure signal is less than the second pressure threshold or the third pressure signal is less than the third pressure threshold, determine that the operation instruction is a correct operation. In this way, the pressure sensors of the steering wheel, the accelerator pedal, and the brake pedal can also be combined to improve the accuracy of operation instruction recognition. In this way, even if it is determined based on the posture that the fuel dispenser is in the driving posture, it is still possible that the fuel dispenser does not perform a strong operation, and there may also be misoperations. In this way, it can be more accurately determined that the operation instruction is a misoperation.

[0136] Among them, the first pressure signal is less than the first pressure threshold, indicating that the refueling operator's grip on the steering wheel is relatively weak and not sufficient to operate the steering wheel. The second pressure signal is less than the second pressure threshold, indicating that the refueling operator's force on stepping on the accelerator pedal is relatively weak and not sufficient to operate the accelerator pedal. The third pressure signal is less than the third pressure threshold, indicating that the refueling operator's force on stepping on the brake pedal is relatively weak and not sufficient to operate the brake pedal. The numerical values of the first pressure threshold, the second pressure threshold, and the third pressure threshold in the embodiments of the present application may be the same or different, and the specific numerical values can be summarized according to actual measurements and will not be elaborated here.

[0137] Step 107, if it is determined according to the image that this operation instruction is an instruction for a correct operation, control the refueling vehicle to execute the operation instruction. In this way, when there is human intervention, it can be timely reflected whether to execute the operation instruction, improving the safety of the vehicle and the controllability for people.

[0138] In some embodiments, the above steps 105 to 107 may be executed when the refueling vehicle in step 104 automatically travels to the parking position of the aircraft to be refueled or drives away from the parking position of the aircraft to be refueled according to the automatic driving path. In some embodiments, the above steps 105 to 107 may be executed after releasing the brake on the refueling vehicle if multiple vehicle interlock devices are in a safe state in step 104, and the execution order is not limited. As long as the processes of the above steps 105 to 107 can be achieved, they all fall within the protection scope of the embodiments of the present application.

[0139] Figure 7 The figure shows a flowchart for determining that an operation instruction is a correct operation provided by an embodiment of the present application. The refueling vehicle safety detection method further includes the following steps 301 to 304:

[0140] Step 301, obtain a first pressure signal from a pressure sensor provided on the steering wheel.

[0141] Step 302, obtain a second pressure signal from a pressure sensor provided on the accelerator pedal.

[0142] Step 303, obtain a third pressure signal from a pressure sensor provided on the brake pedal.

[0143] Step 304, if the first pressure signal is not less than the first pressure threshold, the second pressure signal is not less than the second pressure threshold, and the third pressure signal is not less than the third pressure threshold, determine that the operation instruction is a correct operation. In this way, the pressure sensors on the steering wheel, the accelerator pedal, and the brake pedal can also be combined to improve the accuracy of identifying the operation instruction.

[0144] In some embodiments, the fuel truck safety detection method includes, if the obtained operation instruction is an instruction to increase the vehicle speed, controlling the vehicle to travel at a predetermined speed. In this way, the driving speed of the vehicle can be controlled to avoid the increased risk caused by the vehicle traveling too fast.

[0145] This predetermined speed can be a speed that is greater than the minimum speed of the fuel truck and less than the maximum speed of refueling. Before obtaining this operation instruction to increase the vehicle speed, the fuel truck safety detection method may further but is not limited to include controlling the vehicle to travel at a predetermined speed. In this way, the vehicle can move forward at a constant speed and avoid interference.

[0146] Figure 8 The figure shows a flowchart of the fuel truck safety detection method provided by an embodiment of the present application. After step 104, the fuel truck safety detection method further includes the following steps 401 to 403:

[0147] Step 401: Send the operation instruction in the cab of the fuel truck to the dispatching center so that the dispatching center can determine whether the operation instruction is an incorrect operation instruction and generate corresponding response information; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel.

[0148] Figure 9 As shown in Figure 8 A flowchart of an embodiment of step 401 in. Step 401 may further include the following steps 141 to 143:

[0149] Step 141: Obtain the operation instruction in the cab of the fuel truck. Step 142: According to the operation instruction, obtain the information sensed by the lidar of the fuel truck and / or the monitoring image. Step 143: Send the operation instruction, the information sensed by the lidar, and / or the monitoring image to the dispatching center so that the dispatching center can determine whether the operation instruction is an incorrect operation instruction. In this way, by sending the information of the fuel truck where the operation instruction occurs on the fuel truck to the dispatching center, the dispatching center can accurately determine whether the operation instruction is correct. Among them, the monitoring image can be a monitoring image obtained by the shooting device inside the vehicle.

[0150] The information interaction between the fuel truck and the dispatching center is realized by using a communication module. In some embodiments, the communication module can be a 5G communication module, so that the information is sent more timely and efficiently. For example, step 401 may further include sending the operation instruction to the dispatching center through the 5G communication module; through the 5G communication module, step 401 may further include receiving the response information. In other embodiments, the communication module can also be a 4G or 3G communication module. The higher the generation of the communication module, the more timely and efficient the communication message response is. The communication module can also be a wifi communication module. Examples are not given one by one here.

[0151] In other embodiments, in some embodiments, step 401 may further include: the refueling vehicle control system obtains a monitoring image according to the information sensed by the refueling vehicle lidar and / or the in-vehicle shooting device; determines whether the operation instruction is an instruction of misoperation to generate corresponding response information. Among them, the process of determining misoperation is the same as that of the dispatching center determining misoperation described above, and will not be elaborated here. Among them, the shooting device may include, but is not limited to, a monitor.

[0152] In some embodiments, the process by which the dispatching center determines whether the operation instruction is an instruction of misoperation is as follows: If it is determined that this operation instruction is the first operation instruction, it is determined that the operation instruction is a misoperation, and thus no response is made. If within a preset time, this operation instruction is received as the second operation instruction, it is determined that the operation instruction is a correct operation, and thus a response is made. The preset time can be set according to user requirements, such as within 5 seconds. In this way, the accuracy of the judgment of the operation instruction can be improved through multiple operation instructions, so as to better respond. Other processes for determining whether the operation instruction is an instruction of misoperation all fall within the protection scope of the embodiments of the present application, and will not be enumerated one by one here.

[0153] In some embodiments, the process by which the dispatching center determines the response information is as follows: Upon receiving the operation instruction, a call connection is established with the cab of the refueling vehicle, and direct interaction with the fueler can be carried out to obtain the response information. In this way, a call connection can be quickly established, improving the response efficiency.

[0154] Step 402, receive the response information.

[0155] Among them, the response information includes a response to whether to execute the operation instruction.

[0156] Step 403, perform corresponding operations according to the response information. In this way, through the cooperation of the dispatching center, it can be determined whether the operation of manual intervention is a misoperation.

[0157] In the embodiments of the present application, if the response information is a response to execute the operation instruction, the corresponding operation instruction is executed. In the embodiments of the present application, if the response information is a response not to execute the operation instruction, the current state of the refueling vehicle is maintained.

[0158] Figure 10 The following shows a flowchart of controlling a refueling vehicle to detour according to a detour route in an embodiment of the present application. The refueling vehicle safety detection method further includes the following steps 501 to 503:

[0159] Step 501, detect whether the roadblock of the refueling vehicle is a static object or a dynamic object.

[0160] Among them, the roadblock can refer to an object that may cause an obstacle to the driving of the refueling vehicle, which may but is not limited to including one or more of poles, signs, maintenance workers, wires, road bumps, etc.

[0161] In some embodiments, step 501 further includes capturing an image through a camera and identifying the roadblock in the image through an image recognition algorithm. In some embodiments, step 501 further includes obtaining an image, inputting the image into a pre-constructed neural network model, and outputting an obstacle. Among them, the pre-constructed neural network model is obtained by training an artificial neural network with sample data, and the sample data includes airport pictures with various obstacles and airport pictures without obstacles. In this way, the recognition accuracy of the neural network model can be improved, and then the obstacle can be accurately recognized. In other embodiments, step 501 further includes detecting the obstacles of the refueling vehicle through a lidar. Other methods for identifying obstacles in the image also fall within the protection scope of the embodiments of the present application and will not be specifically limited herein.

[0162] Step 502, if the roadblock is a static object and is within the automatic driving path, plan a detour route. Among them, the detour route can be determined according to the current position of the refueling vehicle and the destination.

[0163] In some embodiments, the refueling vehicle safety detection method further includes: if the roadblock is a dynamic object, estimate whether the refueling vehicle will meet the dynamic object; if it is estimated that the refueling vehicle will meet the dynamic object, plan a detour route; if it is estimated that the refueling vehicle will not meet the dynamic object, the current state of the refueling vehicle can be maintained. In some embodiments, the refueling vehicle safety detection method further includes: if the roadblock is a dynamic object, estimate whether the dynamic object is within the automatic driving path; if it is estimated that it is within the automatic driving path, plan a detour route; if it is estimated that it is not within the automatic driving path, the current state of the refueling vehicle can be maintained.

[0164] Step 503, control the refueling vehicle to detour according to the detour route. In this way, the roadblock can be effectively bypassed, which is beneficial to the timely passage of the refueling vehicle.

[0165] Figure 11 As shown Figure 10 is a flowchart for determining whether the roadblock is a static object or a dynamic object. In some embodiments, step 501 can further include the following steps 151 to 154:

[0166] Step 151, obtain the 3D information of the roadblock.

[0167] In some embodiments, step 151 may further but is not limited to include obtaining 3D information of the roadblock according to a positioning system, a lidar point cloud map, a camera, a lidar, and an inertial measurement unit (IMU). The positioning system may include but is not limited to one or more of global positioning system (GPS) positioning, global navigation satellite system (GNSS), and Beidou satellite positioning system.

[0168] Step 152: Determine the 3D position of the roadblock in a pre-established 3D map according to the 3D information.

[0169] In some embodiments, step 152 may further include comparing through the 3D information in the pre-established 3D map to determine the 3D position of the roadblock in the pre-established 3D map.

[0170] Step 153: Obtain the echo time of the roadblock multiple times through a lidar.

[0171] Step 154: Determine whether the roadblock is a static object or a dynamic object according to the 3D position and the echo time. In this way, the roadblock can be determined more accurately according to the 3D information.

[0172] In the embodiments of the present application, step 154 further includes: if it is determined that the 3D position of the roadblock in the pre-established 3D map does not change within the echo time, it is determined that the roadblock is a static object; if it is determined that the 3D position of the roadblock in the pre-established 3D map changes within the echo time, it is determined that the roadblock is a dynamic object.

[0173] Figure 12 As shown Figure 10 is a flowchart for determining whether the roadblock is a static object or a dynamic object. In some other embodiments, step 501 may further include the following steps 161 to 163:

[0174] Step 161: Measure the distance between the roadblock and the refueling vehicle through a lidar.

[0175] Step 162: Obtain an image of the roadblock through an imaging device.

[0176] Step 163: Determine whether the roadblock is a static object or a dynamic object according to the distance, the image of the roadblock, and the speed of the refueling vehicle. In this way, less information is obtained, and it is determined whether the roadblock is a static object or a dynamic object more quickly.

[0177] In the embodiment of the present application, step 163 further includes: based on the speed of the refueling vehicle, the lidar measures the distance between the roadblock and the refueling vehicle to determine the speed of the roadblock. If the speed of the roadblock is zero, it indicates that the roadblock is a static object; if the speed of the roadblock is not zero, it indicates that the roadblock is a dynamic object.

[0178] Figure 13 The flowchart of the refueling vehicle safety detection method provided by an embodiment of the present application is shown. In some embodiments, after Figure 1 step 103, the refueling vehicle safety detection method further includes the following steps 601 to 603:

[0179] Step 601, receive the control instruction for releasing the brake from the user when multiple vehicle interlock devices are in a safe state.

[0180] In some embodiments, the control instruction may be issued when the refueling vehicle fails to release the brake on the refueling vehicle after the fueler restores multiple vehicle interlock devices to a safe state. In this way, when the fueler finds that multiple vehicle interlock devices are in a safe state, it indicates that all faults have been eliminated, but the refueling vehicle still cannot release the brake, indicating that human intervention is required. In this way, human intervention can cooperate with the refueling vehicle to ensure the normal start of the refueling vehicle.

[0181] Step 602, send the control instruction to the dispatching center so that the dispatching center establishes a call connection with the cab of the refueling vehicle.

[0182] Step 603, if the permission to pass command issued by the dispatching center is received, release the brake of the refueling vehicle. In this way, the dispatching center establishes a call connection with the cab of the refueling vehicle, better timely handle the faults caused by the machine, so as to control the refueling vehicle to drive to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled according to the autopilot path.

[0183] Figure 14 The block diagram of the refueling vehicle safety detection system 700 provided by an embodiment of the present application is shown. The refueling vehicle safety detection system 700 includes one or more processors 701 for implementing the refueling vehicle safety detection method as described above.

[0184] In some embodiments, the refueling vehicle safety detection system 700 may include a computer-readable storage medium 709. The computer-readable storage medium 709 may store a program that can be called by the processor 701, and may include a non-volatile storage medium. In some embodiments, the refueling vehicle safety detection system 700 may include a memory 708 and an interface 707. In some embodiments, the refueling vehicle safety detection system 700 may also include other hardware according to actual applications.

[0185] The computer-readable storage medium 709 of the embodiment of the present application stores a program, which, when executed by the processor 701, is used to implement the refueling vehicle safety detection method described above.

[0186] The present application may take the form of a computer program product implemented on one or more computer-readable storage media 709 (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing program codes. The computer-readable storage medium 709 includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information may be computer-readable instructions, data structures, program modules, or other data. Examples of the computer-readable storage medium 709 include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0187] The above are only the preferred embodiments of this specification and are not intended to limit this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this specification shall be included within the scope of protection of this specification.

[0188] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, commodity or device including the said element.

Claims

1. A safety detection method for a refueling vehicle, characterized in that, it includes: Obtaining an automatic driving instruction for the refueling vehicle; wherein, the automatic driving instruction includes an automatic driving path and the parking position of the aircraft to be refueled; Responding to the automatic driving instruction, detecting whether a plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state; If at least one of the plurality of vehicle interlocking devices is not in a safe state, controlling the refueling vehicle to brake; If all of the plurality of vehicle interlocking devices are in a safe state, releasing the brake on the refueling vehicle, and controlling the refueling vehicle to drive to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled according to the automatic driving path; After releasing the brake on the refueling vehicle when all of the plurality of vehicle interlocking devices are in a safe state, the safety detection method for the refueling vehicle further includes: Sending an operation instruction in the cab of the refueling vehicle to a dispatching center, so that the dispatching center determines whether the operation instruction is an incorrect operation instruction and generates corresponding response information; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel; Receiving the response information; Performing corresponding operations according to the response information; Wherein, sending the operation instruction in the cab of the refueling vehicle to the dispatching center so that the dispatching center determines whether the operation instruction is an incorrect operation instruction includes: sending the operation instruction in the cab of the refueling vehicle to the dispatching center, so that the dispatching center identifies the posture of the fueler in the image according to the image collected by the acquired image acquisition component; if it is determined that the fueler is not in a driving posture according to the posture, it is determined that the operation instruction is an incorrect operation; wherein, the driving posture includes holding the steering wheel, opening the eyes, and wearing a seat belt.

2. The safety detection method for a refueling vehicle according to claim 1, characterized in that, The plurality of vehicle interlocking devices include a first vehicle interlocking device, and detecting whether the plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state includes: Obtaining an indicator signal of an indicator lamp interlocked with the first vehicle interlocking device; determining whether the first vehicle interlocking device is in a safe state according to the indicator signal; and / or, The safety detection method for the refueling vehicle includes: obtaining the first position information and the first name information of the vehicle interlocking device that is not in a safe state; determining a position display point of the vehicle interlocking device that is not in a safe state among all vehicle interlocking devices according to the first position information; displaying the first position information, the first name information, and the position display point through a console of the refueling vehicle; and / or, The braking interlocking component in the interlocking mechanism includes an electromagnetic valve and a cylinder, and the cylinder interlocks the electromagnetic valve; controlling the refueling vehicle to brake includes: controlling a power supply system to supply power to the electromagnetic valve to control the cylinder to brake the refueling vehicle; and / or, the safety detection method for the refueling vehicle further includes: If a dropped component of the refueling vehicle is shown in the image collected by the acquired image acquisition component, controlling the refueling vehicle to brake; And / or, the fuel truck safety detection method further includes: receiving a control instruction from the user to release the brake when the multiple vehicle interlock devices are in the safe state; sending the control instruction to the dispatching center so that the dispatching center establishes a call connection with the cab of the fuel truck; if a permission-to-pass command issued by the dispatching center is received, releasing the brake of the fuel truck; And / or, After releasing the brake of the fuel truck when the multiple vehicle interlock devices are all in the safe state, the method further includes: if the emergency stop switch is operated, locking the tires by a locking hardware, where the emergency stop switch is mechanically connected to the locking hardware.

3. The fuel truck safety detection method according to claim 1, characterized in that, the multiple vehicle interlock devices include a resetable interlock device and an interlock device with a safety threshold, where the resetable interlock device includes a platform fuel filling connector, a reel fuel filling connector, a pit fuel filling connector, a pit hose lifting mechanism, a loading arm, a platform hose boom, a static conductive grounding clamp, a platform aircraft fuel tank cover box, a reel aircraft fuel tank cover box, a power take-off, a lifting platform, and / or an interlock; the interlock device with a safety threshold includes a tire and / or a fuel tank.

4. The fuel truck safety detection method according to claim 3, characterized in that, responding to the autonomous driving instruction and detecting whether multiple vehicle interlock devices in the interlock mechanism are in the safe state includes: responding to the autonomous driving instruction and collecting the induction signals of the sensors set corresponding to the vehicle interlock devices; determining whether the multiple vehicle interlock devices are in the safe state according to the induction signals, where the sensors include inductive proximity switches set corresponding to the resetable interlock devices and pressure sensors set corresponding to the interlock devices with a safety threshold.

5. The fuel truck safety detection method according to claim 1, characterized in that, the fuel truck safety detection method includes: if the obtained operation instruction is an instruction to increase the vehicle speed, controlling the vehicle to travel at a predetermined speed.

6. The fuel truck safety detection method according to claim 1, characterized in that, sending the operation instruction in the cab of the fuel truck to the dispatching center includes: obtaining the operation instruction in the cab of the fuel truck; according to the operation instruction, obtaining the information sensed by the lidar of the fuel truck and / or the monitoring image; sending the operation instruction, the information sensed by the lidar, and / or the monitoring image to the dispatching center so that the dispatching center determines whether the operation instruction is an instruction of a misoperation.

7. The fuel truck safety detection method according to claim 1, characterized in that, sending the operation instruction in the cab of the fuel truck to the dispatching center includes: sending the operation instruction to the dispatching center through a 5G communication module; receiving the response information includes: receiving the response information through a 5G communication module.

8. The fuel truck safety detection method according to claim 1, characterized in that, receiving the response information includes: When a call connection is established between the dispatching center and the cab of the refueling vehicle, if an allow - passage command issued by the dispatching center is received, release the brake of the refueling vehicle.

9. The refueling vehicle safety detection method according to claim 1, characterized in that the refueling vehicle safety detection method further includes: detecting whether the roadblock of the refueling vehicle is a static object or a dynamic object; if the roadblock is a static object and is within the automatic driving path, planning a detour route; controlling the refueling vehicle to detour according to the detour route.

10. A refueling vehicle safety detection method, characterized in that it includes: obtaining an automatic driving instruction of the refueling vehicle; wherein, the automatic driving instruction includes an automatic driving path and the parking position of the aircraft to be refueled; responding to the automatic driving instruction, detecting whether a plurality of vehicle interlock devices in the interlock mechanism are in a safe state; if at least one of the plurality of vehicle interlock devices is not in a safe state, controlling the refueling vehicle to brake; if all of the plurality of vehicle interlock devices are in a safe state, releasing the brake of the refueling vehicle, and controlling the refueling vehicle to drive along the automatic driving path to the parking position of the aircraft to be refueled or drive away from the parking position of the aircraft to be refueled; after releasing the brake of the refueling vehicle when all of the plurality of vehicle interlock devices are in a safe state, the refueling vehicle safety detection method further includes: sending an operation instruction in the cab of the refueling vehicle to the dispatching center, so that the dispatching center determines whether the operation instruction is an instruction of misoperation and generates corresponding response information; the operation instruction is an instruction to increase the vehicle speed, an instruction to brake, and / or an instruction to turn the steering wheel; receiving the response information; performing corresponding operations according to the response information; wherein, sending the operation instruction in the cab of the refueling vehicle to the dispatching center so that the dispatching center determines whether the operation instruction is an instruction of misoperation includes: sending the operation instruction in the cab of the refueling vehicle to the dispatching center. If the dispatching center determines that the operation instruction is a first - time operation instruction, it determines that the operation instruction is an instruction of misoperation and does not generate corresponding response information; if the dispatching center receives the operation instruction as a second - time operation instruction within a preset time, it determines that the operation instruction is a correct operation and generates corresponding response information.

11. The refueling vehicle safety detection method according to claim 10, characterized in that the plurality of vehicle interlock devices include a first vehicle interlock device, and detecting whether a plurality of vehicle interlock devices in the interlock mechanism are in a safe state includes: obtaining an indicator signal of an indicator lamp interlocked with the first vehicle interlock device; and determining whether the first vehicle interlock device is in a safe state according to the indicator signal; and / or, The described refueling vehicle safety detection method includes: obtaining the first position information and the first name information of the vehicle interlocking device that is not in a safe state; determining the position display point of the vehicle interlocking device that is not in a safe state among all vehicle interlocking devices according to the first position information; and displaying the first position information, the first name information, and the position display point through the console of the refueling vehicle. and / or, The braking interlocking component in the interlocking mechanism includes an electromagnetic valve and a cylinder, and the cylinder interlocks the electromagnetic valve; controlling the braking of the refueling vehicle includes: controlling the power supply system to supply power to the electromagnetic valve to control the cylinder to brake the refueling vehicle. and / or, the described refueling vehicle safety detection method further includes: If a dropped component of the refueling vehicle is shown in the image collected by the acquired image acquisition component, controlling the refueling vehicle to brake. and / or, the described refueling vehicle safety detection method further includes: receiving a control instruction from the user to release the brake when the multiple vehicle interlocking devices are in the safe state; sending the control instruction to the dispatching center so that the dispatching center establishes a call connection with the cab of the refueling vehicle; and releasing the brake of the refueling vehicle if an allowed passage command is received from the dispatching center. and / or, After releasing the brake on the refueling vehicle when the multiple vehicle interlocking devices are all in the safe state, the method further includes: if the emergency stop switch is operated, locking the tires by locking the hardware, where the emergency stop switch is mechanically connected to the locking hardware.

12. The refueling vehicle safety detection method according to claim 10, characterized in that, The multiple vehicle interlocking devices include a resetable interlocking device and an interlocking device with a safety threshold, where the resetable interlocking device includes a platform refueling connector, a reel refueling connector, a pit refueling connector, a pit hose lifting mechanism, a loading arm, a platform hose cantilever, an electrostatic grounding clamp, a platform aircraft fuel tank cover box, a reel aircraft fuel tank cover box, a power take-off, a lifting platform, and / or an interlock; The interlocking device with a safety threshold includes a tire and / or a fuel tank.

13. The refueling vehicle safety detection method according to claim 12, characterized in that, Responding to the automatic driving instruction and detecting whether multiple vehicle interlocking devices in the interlocking mechanism are in a safe state includes: Responding to the automatic driving instruction and collecting the induction signals of the sensors set corresponding to the vehicle interlocking devices; Determining whether the multiple vehicle interlocking devices are in a safe state according to the induction signals, where the sensors include an inductive proximity switch set corresponding to the resetable interlocking device and a pressure sensor set corresponding to the interlocking device with a safety threshold.

14. The refueling vehicle safety detection method according to claim 10, characterized in that, The described refueling vehicle safety detection method includes: if the obtained operation instruction is an instruction to increase the vehicle speed, controlling the vehicle to travel at a predetermined speed.

15. The refueling vehicle safety detection method according to claim 10, characterized in that, Sending the operation instructions in the cab of the fuel truck to the dispatching center includes: obtaining the operation instructions in the cab of the fuel truck; obtaining the information sensed by the lidar of the fuel truck and / or the monitoring image according to the operation instructions; sending the operation instructions, the information sensed by the lidar and / or the monitoring image to the dispatching center, so that the dispatching center can determine whether the operation instructions are misoperation instructions.

16. The fuel truck safety detection method according to claim 10, characterized in that sending the operation instructions in the cab of the fuel truck to the dispatching center includes: sending the operation instructions to the dispatching center through a 5G communication module; receiving the response information includes: receiving the response information through a 5G communication module.

17. The fuel truck safety detection method according to claim 10, characterized in that receiving the response information includes: when a call connection is established between the dispatching center and the cab of the fuel truck, if an allowable passage command issued by the dispatching center is received, the braking of the fuel truck is released.

18. The fuel truck safety detection method according to claim 10, characterized in that the fuel truck safety detection method further includes: detecting whether the roadblock of the fuel truck is a static object or a dynamic object; if the roadblock is a static object and is within the automatic driving path, planning a detour route; controlling the fuel truck to detour according to the detour route.

19. A fuel truck safety detection system, characterized in that it includes one or more processors for implementing the fuel truck safety detection method according to any one of claims 1-18.

Images