A pin position detection method, device and computer equipment

Abstract

The application relates to a pin position detection method. The method comprises the following steps: acquiring the time of a pin from an open position to a closed position, the time of the pin from the closed position to the open position, the response time of an open position sensor, and the response time of a closed position sensor; obtaining the response time of a sensor according to the average of the response time of the open position sensor and the response time of the closed position sensor; obtaining the expected output data of the pin from the open position to the closed position according to the response time of the sensor and the time from the open position to the closed position, and obtaining the expected output data of the pin from the closed position to the open position according to the response time of the sensor and the time from the closed position to the open position; acquiring the actual output data of the pin from the open position to the closed position or from the closed position to the open position; comparing the actual output data with the expected output data, and outputting the position of the pin according to the comparison result. The method can avoid the failure of detecting the position of the pin due to the sensor failure.

Description

Technical Field

[0001] This application relates to the field of position detection, and in particular to a method, apparatus, and computer equipment for detecting the position of a locking pin. Background Technology

[0002] Electronic manhole covers generally have a two-stage locking structure consisting of a locking rod and a locking pin. The locking pin can be used as a positioning part to accurately determine the relative positions between components. The position of the locking pin can be detected using a micro switch or a limit switch.

[0003] In related technologies, a microswitch is a contact mechanism with tiny contact intervals that performs switching actions with a specified stroke and force. Different microswitches, limit switches, and sensors have certain stroke errors during the detection process, making it difficult to obtain a precise locking pin position. Summary of the Invention

[0004] Therefore, it is necessary to provide a locking pin position detection method to address the above-mentioned technical problems. This method can determine whether the actual output data is correct based on the expected output data and can also obtain the position of the locking pin.

[0005] Firstly, this application provides a method for detecting the position of a locking pin. The method includes:

[0006] The time taken for the locking pin to move from the open position to the closed position, the time taken to move from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor are obtained.

[0007] The response time of the sensor is obtained by averaging the response time of the open position sensor and the response time of the closed position sensor.

[0008] The expected output data of the locking pin from the open position to the closed position is obtained based on the response time of the sensor and the time from the open position to the closed position.

[0009] Obtain the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position;

[0010] The actual output data is compared with the expected output data, and the position of the locking pin is output based on the comparison result.

[0011] In one embodiment, the method includes:

[0012] The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

[0013] In one embodiment, the method further includes:

[0014] The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

[0015] In one embodiment, comparing the actual output data with the expected output data and outputting the position of the locking pin based on the comparison result includes:

[0016] If the actual output data is the same as the expected output data, then the actual output data includes the current position of the locking pin;

[0017] If the actual output data differs from the expected output data, the actual position of the locking pin is determined based on the current locking pin position contained in the expected output data and the actual output data.

[0018] In one embodiment, the state of the sensor includes a detected state or an undetected state, and the type of the sensor includes a contact type or a non-contact type.

[0019] Secondly, this application also provides a locking pin position detection device, the device comprising:

[0020] The detection module is used to obtain the time from the open position to the closed position of the locking pin, the time from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor.

[0021] The first calculation module is used to obtain the response time of the sensor based on the average of the response time of the open position sensor and the response time of the closed position sensor.

[0022] The second calculation module is used to obtain the expected output data of the locking pin from the open position to the closed position based on the response time of the sensor and the time from the open position to the closed position.

[0023] The data acquisition module is used to acquire the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position;

[0024] The comparison module is used to compare the actual output data with the expected output data, and output the position of the locking pin based on the comparison result.

[0025] In one embodiment, the device includes:

[0026] The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

[0027] In one embodiment, the device further includes:

[0028] The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

[0029] In one embodiment, comparing the actual output data with the expected output data and outputting the position of the locking pin based on the comparison result includes:

[0030] If the actual output data is the same as the expected output data, then the actual output data includes the current position of the locking pin;

[0031] If the actual output data differs from the expected output data, the actual position of the locking pin is determined based on the current locking pin position contained in the expected output data and the actual output data.

[0032] In one embodiment, the state of the sensor includes a detected state or an undetected state, and the type of the sensor includes a contact type or a non-contact type.

[0033] Thirdly, this disclosure also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the lock pin position detection method.

[0034] Fourthly, this disclosure also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of a locking pin position detection method.

[0035] Fifthly, this disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the locking pin position detection method.

[0036] The above-mentioned locking pin position detection method has at least the following beneficial effects:

[0037] The embodiments provided in this disclosure can calculate the movement time of the locking pin by controlling the periodic movement of the locking pin, obtaining the time from the open position to the closed position, the time from the closed position to the open position, the detection time of the open position sensor, and the detection time of the closed position sensor.

[0038] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments or conventional technologies of this disclosure, the accompanying drawings used in the description of the embodiments or conventional technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is an application environment diagram of the locking pin position detection method in one embodiment;

[0041] Figure 2 This is a flowchart illustrating a locking pin position detection method in one embodiment;

[0042] Figure 3 This is a schematic diagram of the detection time in one embodiment;

[0043] Figure 4 This is a flowchart illustrating a locking pin position detection method in one embodiment;

[0044] Figure 5 This is a structural block diagram of a locking pin position detection device in one embodiment;

[0045] Figure 6 This is an internal structural diagram of a computer device in one embodiment;

[0046] Figure 7 This is an internal structure diagram of a server in one embodiment. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims. The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitation, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. For example, the use of terms such as "first," "second," etc., is to denote names and does not indicate any specific order.

[0049] This disclosure provides a method for detecting the position of a locking pin, which can be applied to, for example... Figure 1 In the application environment shown, the electronic manhole cover may include a two-stage locking structure of locking rod 102 and locking pin 104. Generally, the locking pin is more delicate and has a smaller range of motion; its position can be detected using sensor 106. When the locking rod moves, it can drive the locking pin to move, causing the pin to reach the sensor's position. The sensor can be placed in both the open and closed positions to detect the locking pin's position.

[0050] Generally, limit switches or micro switches used for detection have a certain stroke. During use, the switch may age, causing changes in the effective stroke, which may lead to incorrect judgment of the position of the locking pin.

[0051] In some embodiments of this disclosure, such as Figure 2 As shown, a method for detecting the position of a locking pin is provided. In one specific embodiment, the method may include the following steps:

[0052] S202: Obtain the time from the open position to the closed position of the locking pin, the time from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor.

[0053] A switch, such as a micro switch or limit switch, can be installed at both the open and closed positions of the locking pin. The micro switch is triggered by a small force; it is a switch where external mechanical force acts on an actuating spring through a transmission element, causing the fixed and moving contacts at the end to quickly connect or disconnect. In some embodiments of this disclosure, a motor or external mechanical force can be controlled to drive the locking pin to cycle through the open and closed positions multiple times, recording the time t1 from the open position to the closed position and the time t2 from the closed position to the open position. When the locking pin leaves the open position, the state of the open position sensor changes from effective detection state 1 to free state 0. When the locking pin reaches the closed position, the state of the closed position sensor changes from free state 0 to effective detection state 1. The time t1 from the open position to the closed position can be expressed as the difference between the time of the open position sensor's free state 0 and the time of the closed position sensor's effective detection state 1. The time t2 from the closed position to the open position can be expressed as the difference between the time of the closed position sensor's free state 0 and the time of the open position sensor's effective detection state 1.

[0054] A sensor can be placed in both the open and closed positions to detect the movement of the locking pin. When the sensor detects the locking pin, a value of 1 indicates that the locking pin is in an active detection state; when the locking pin is outside the sensor's detection range, a value of 0 indicates that the sensor is in a free state.

[0055] S204: The response time of the sensor is obtained by averaging the response time of the open position sensor and the response time of the closed position sensor.

[0056] When a sensor switches from an active detection state to a free state, there may be a response time. An active detection state indicates that the sensor has detected the passing of the locking pin, while a free state indicates that the sensor has not detected the pin's position. The response time of the open position sensor can be the time from free state 0 to active detection state 1, and then back to free state 0. Record the open position sensor's response time as t3. The sensor's detection state from 0 to 1 indicates that the locking pin has reached the open position, and from 1 to 0 indicates that the locking pin has left the open position. The response time t3 of the open position sensor from reaching the open position to leaving the open position can be considered the duration of active detection state 1. Similarly, the time of the close position sensor switching from free state 0 to active detection state 1, and then back to free state 0, can be recorded as t4. The sensor's detection state from 0 to 1 indicates that the locking pin has reached the close position, and from 1 to 0 indicates that the locking pin has left the close position. The response time t4 of the close position sensor from reaching the close position to leaving the close position can be considered the duration of active detection state 1. The response time of the sensor can be obtained from the average of the response time t3 of the open position sensor and the response time t4 of the closed position sensor, and can be expressed as (t3+t4) / 2. Figure 3 This is a schematic diagram of the detection time in one embodiment.

[0057] S206: Based on the response time of the sensor and the time from the open position to the closed position, the expected output data of the locking pin from the open position to the closed position is obtained.

[0058] The expected output data can be the time it takes for the locking pin to move from the open position to the closed position and from the closed position to the open position after automatic calibration. Automatic calibration can be performed periodically according to the usage of the sensor to avoid the aging effects caused by the use of the sensor.

[0059] The expected output data T1 = t1 + (t3 + t4) / 2 of the locking pin from the open position to the closed position can be obtained based on the sensor's detection time (t3 + t4) / 2 and the time t1 from the open position to the closed position. The expected output data T2 = t2 + (t3 + t4) / 2 of the locking pin from the closed position to the open position can be obtained based on the sensor's detection time (t3 + t4) / 2 and the time t2 from the closed position to the open position.

[0060] S208: Obtain the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position.

[0061] It can control the motor or external mechanical force to drive the locking pin to move in the open and closed positions, and can obtain the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position.

[0062] S210: Compare the actual output data with the expected output data, and output the position of the locking pin based on the comparison result.

[0063] When the sensor is working normally, the difference between the actual output data and the expected output data is small. However, when the sensor is aging or damaged, the difference between the actual output data and the expected output data is large.

[0064] The actual output data can be compared with the expected output data. If the difference between the actual and expected output data is small, it indicates that the sensor is working properly, and the position of the locking pin can be directly obtained from the actual output data. If the difference between the actual and expected output data is large, it can be determined that the sensor is damaged or aging. Data should be reacquired based on the sensor's condition to detect its position.

[0065] In the above-mentioned locking pin position detection method, the expected output data can be calculated by obtaining the time from the lock pin to the open position, the time from the closed position to the open position, the detection time of the open position sensor, and the detection time of the closed position sensor. The position of the locking pin can be obtained by comparing the expected output data with the actual output data.

[0066] In some embodiments of this disclosure, the method includes:

[0067] The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

[0068] In practical use, sensors may be accidentally damaged. Placing one sensor in each of the open and closed positions allows the locking pin to move at least once from the open to the closed or vice versa, detecting sensor damage. If the sensor's state does not change, it indicates damage. Alternatively, the locking pin can be controlled to move cyclically, detecting changes in the sensor's state. Periodic changes in the sensor's state indicate normal operation; no change indicates damage.

[0069] In some embodiments of this disclosure, the method further includes:

[0070] The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

[0071] If the state of one of the sensors does not change, it indicates that the sensor is damaged, and it can be determined whether the faulty sensor is in the open or closed position. For example, if the closed position sensor is faulty and the locking pin is currently in the closed position, and you want to control the locking pin to move to the open position, you can control the rotation time T2 of the locking pin according to the expected output time to reach the open position, which can avoid the locking pin being unable to open or close due to sensor failure.

[0072] In some embodiments of this disclosure, comparing the actual output data with the expected output data and outputting the position of the locking pin based on the comparison result includes:

[0073] If the actual output data is the same as the expected output data, then the actual output data includes the current position of the locking pin; if the actual output data is different from the expected output data, then the actual position of the locking pin is determined based on the current position of the locking pin included in the expected output data and the actual output data.

[0074] Figure 4 This is a flowchart illustrating a locking pin position detection method in one embodiment of this disclosure. If the actual output data is the same as the expected output data, the current locking pin position can be obtained from the actual output data. If the actual output data differs from the expected output data, a status judgment is made. If the current sensor is damaged, the locking pin position can be obtained based on the expected output time; if the current sensor is aged, the expected output data can be recalculated to obtain the locking pin position. After a period of use, the sensor may age, which will affect the detection performance. The sensor has high sensitivity. In practical applications, a difference of 20% between the actual output data and the expected output data indicates sensor aging. In some embodiments of this disclosure, if the difference between the actual output data and the expected output data exceeds 20%, it indicates sensor damage; if the difference is between 10% and 20%, it indicates sensor aging; if the difference is less than 10%, it can be considered that the actual output data and the expected output data are the same.

[0075] In some embodiments of this disclosure, the state of the sensor includes a detected state or an undetected state, and the type of the sensor includes a contact type or a non-contact type.

[0076] The sensor's state can include a detected state or an undetected state, which can be used to determine the position of the locking pin. The sensor can be a contact type or a non-contact type, such as a magnetic induction switch or a photoelectric switch.

[0077] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0078] Based on the same inventive concept, this disclosure also provides a locking pin position detection device for implementing the locking pin position detection method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in the embodiments of the locking pin position detection device provided below can be found in the limitations of the locking pin position detection method described above, and will not be repeated here.

[0079] The apparatus may include a system (including a distributed system), software (application), module, component, server, client, etc., that uses the methods described in the embodiments of this specification, combined with necessary hardware implementation. Based on the same innovative concept, the apparatuses in one or more embodiments provided in this disclosure are as described in the following embodiments. Since the implementation schemes and methods for solving the problem by the apparatus are similar, the implementation of the specific apparatus in the embodiments of this specification can refer to the implementation of the foregoing methods, and repeated details will not be repeated. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the apparatuses described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0080] In one embodiment, such as Figure 5 As shown, a locking pin position detection device 500 is provided. The device can be the aforementioned server, or a module, component, device, unit, etc. integrated into the server.

[0081] The device 500 may include:

[0082] The detection module 502 is used to acquire the time it takes for the locking pin to move from the open position to the closed position, the time it takes to move from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor.

[0083] The first calculation module 504 is used to obtain the response time of the sensor based on the average of the response time of the open position sensor and the response time of the closed position sensor.

[0084] The second calculation module 506 is used to obtain the expected output data of the locking pin from the open position to the closed position based on the response time of the sensor and the time from the open position to the closed position.

[0085] Data acquisition module 508 is used to acquire the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position;

[0086] The comparison module 510 is used to compare the actual output data with the expected output data and output the position of the locking pin according to the comparison result.

[0087] In one embodiment, the apparatus includes:

[0088] The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

[0089] In one embodiment, the apparatus further includes:

[0090] The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

[0091] In one embodiment, comparing the actual output data with the expected output data and outputting the position of the locking pin based on the comparison result includes:

[0092] If the actual output data is the same as the expected output data, then the actual output data includes the current position of the locking pin;

[0093] If the actual output data differs from the expected output data, the actual position of the locking pin is determined based on the current locking pin position contained in the expected output data and the actual output data.

[0094] In one embodiment, the state of the sensor includes a detected state or an undetected state, and the type of the sensor includes a contact type or a non-contact type.

[0095] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0096] The modules in the aforementioned locking pin position detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0097] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores latch positions. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer program implements a latch position detection method.

[0098] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a lock position detection method. The display screen can be an LCD screen or an e-ink display screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0099] Those skilled in the art will understand that Figure 6 , Figure 7The structure shown is merely a block diagram of a portion of the structure related to the present disclosure and does not constitute a limitation on the computer device to which the present disclosure is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0100] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the methods described in any embodiment of this disclosure.

[0101] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the methods described in any embodiment of this disclosure.

[0102] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this disclosure may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this disclosure may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0104] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent disclosure. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the appended claims.

Claims

1. A method for detecting the position of a locking pin, characterized in that, The method includes: The system acquires the time it takes for the locking pin to move from the open position to the closed position, the time it takes for the locking pin to move from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor. The response time of the open position sensor is the time it takes to move from the free state to the effective detection state and then back to the free state. The response time of the closed position sensor is the time it takes to move from the free state to the effective detection state and then back to the free state. The effective detection state indicates that the sensor has detected the locking pin passing by, and the free state indicates that the sensor has not detected the position of the locking pin. The response time of the sensor is obtained by averaging the response time of the open position sensor and the response time of the closed position sensor. The response time of the sensor is summed with the time from the open position to the closed position to obtain the expected output data of the locking pin from the open position to the closed position. Obtain the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position; If the actual output data is the same as the expected output data, then the actual output data includes the current position of the locking pin; If the actual output data differs from the expected output data, the sensor status is used to determine the position of the locking pin. If the sensor is currently damaged, the position of the locking pin is obtained based on the expected output time. If the sensor is currently aged, the expected output data is recalculated to obtain the position of the locking pin.

2. The method according to claim 1, characterized in that, The method includes: The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

3. The method according to claim 2, characterized in that, The method further includes: The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

4. The method according to claim 1, characterized in that, The state of the sensor includes a detected state or a non-detected state, and the type of the sensor includes a contact type or a non-contact type.

5. A locking pin position detection device, characterized in that, The device includes: The detection module is used to acquire the time it takes for the locking pin to move from the open position to the closed position, the time it takes to move from the closed position to the open position, the response time of the open position sensor, and the response time of the closed position sensor. The response time of the open position sensor is the time from the free state to the effective detection state and then back to the free state. The response time of the closed position sensor is the time from the free state to the effective detection state and then back to the free state. The effective detection state indicates that the sensor has detected the passing of the locking pin, and the free state indicates that the sensor has not detected the position of the locking pin. The first calculation module is used to obtain the response time of the sensor based on the average of the response time of the open position sensor and the response time of the closed position sensor. The second calculation module is used to sum the response time of the sensor and the time from the open position to the closed position to obtain the expected output data of the locking pin from the open position to the closed position, and to sum the response time of the sensor and the time from the closed position to the open position to obtain the expected output data of the locking pin from the closed position to the open position. The data acquisition module is used to acquire the actual output data of the locking pin from the open position to the closed position or from the closed position to the open position; The comparison module is configured to include the current position of the locking pin in the actual output data if the actual output data is the same as the expected output data. If the actual output data differs from the expected output data, the sensor status is used to determine the position of the locking pin. If the sensor is currently damaged, the position of the locking pin is obtained based on the expected output time. If the sensor is currently aged, the expected output data is recalculated to obtain the position of the locking pin.

6. The apparatus according to claim 5, characterized in that, The device includes: The locking pin is controlled to move from the open position to the closed position or from the closed position to the open position at least once, and the location of the faulty sensor is determined based on the state of the sensor.

7. The apparatus according to claim 6, characterized in that, The device further includes: The position of the locking pin is determined based on the position of the fault sensor. The locking pin is then moved to the closed or open position based on its position and the expected output data from the open to the closed position or from the closed to the open position.

8. The apparatus according to claim 5, characterized in that, The state of the sensor includes a detected state or a non-detected state, and the type of the sensor includes a contact type or a non-contact type.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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