A sanitation vehicle functional safety control method and device, a terminal and a storage medium

Abstract

The application discloses a kind of sanitation vehicle function safety control method, device, terminal and storage medium in the technical field of sanitation vehicle, to solve the problem that sanitation vehicle is usually lack of safety control method in prior art, when operator works, the reminding behavior to operator is not enough, and there is prone to safety problem.It includes according to the pedal working state, the vehicle working state and the vehicle speed, obtain function safety device state category, based on the function safety device state category executes the control strategy corresponding to the function safety device state category;The application can obtain function safety device state category according to pedal working state and vehicle working state, and execute corresponding control strategy, warn operator, and limit unsafe behavior of operator, to facilitate sufficient warning to operator, promote safe and standard vehicle, ensure the safety when sanitation vehicle works.

Description

Technical Field

[0001] This invention relates to a method, device, terminal, and storage medium for functional safety control of sanitation vehicles, belonging to the field of sanitation vehicle technology. Background Technology

[0002] With the advancement of technology, mechanical automation and intelligence have been continuously improved, and the functions of sanitation vehicles have become increasingly rich and stable.

[0003] Sanitation vehicle control systems generally include relay systems, PLC systems, and motion control systems. With increasingly fierce competition in the sanitation vehicle industry, relay systems have been gradually phased out due to their lack of flexibility. PLC and motion controller systems are developing towards richer functionality, higher cost-effectiveness, and greater market applicability, each with its own hardware and software logic language. Consequently, developers rack their brains to reduce system costs, developing high-performance PLCs and controllers for specific types or even models of sanitation vehicles to just meet their functional requirements. Sanitation vehicle manufacturers using this type of control system, driven by market competition and hardware limitations, generally no longer proactively consider product system expansion and upgrades, leading to stagnation in the quality development of sanitation vehicle control systems and even a series of safety hazards due to excessive cost reduction. When the working mechanism of a sanitation vehicle is in operation, to facilitate work, it is usually equipped with an extendable and retractable pedal mechanism on one side for the operator to stand on, facilitating operation and assisting the working mechanism.

[0004] Sanitation vehicle operators often have low levels of education and lack awareness of regulations and safety. They are often unable to proactively identify the safety hazards of the sanitation vehicles they operate. When sanitation vehicles are moved short distances between work operations under the control of the driver, operators, in order to save energy and time and avoid frequent trips to the cab, will choose to stand on the footplate and cling to the sanitation vehicle to move with it. Despite repeated emphasis in product manuals and on-vehicle training, such dangerous behaviors cannot be avoided. If the relevant reminders from sanitation vehicle manufacturers are not in place, a single safety accident often requires the manufacturer to pay huge sums of money in compensation.

[0005] Existing sanitation vehicles often lack safety control methods, and the reminders given to operators are insufficient when they are working, which can easily lead to safety problems and affect the safety of sanitation vehicles during operation. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a functional safety control method, device, terminal and storage medium for sanitation vehicles. This addresses the problem that existing sanitation vehicles typically lack safety control methods, and the reminders given to operators during operation are inadequate, which can easily lead to safety issues and affect the safety of sanitation vehicles during operation.

[0007] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution: This invention provides a functional safety control method for sanitation vehicles, comprising the following steps: The pedal operating status is obtained in response to the received pedal position information; The vehicle's operating status and speed are obtained in response to the received vehicle driving information. Based on the pedal operating state, the vehicle operating state, and the vehicle speed, the functional safety device state category is obtained, and the control strategy corresponding to the functional safety device state category is executed.

[0008] Furthermore, the acquisition of functional safety device status categories specifically includes: When the pedal is in the retracted state, the functional safety device is in a safe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is less than a first preset value, the functional safety device is classified as a first-class unsafe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is not less than the first preset value, the functional safety device is classified as a second type of unsafe state. When the pedal is in the deployed state and the vehicle is in the parked state, the functional safety device is classified as a third-class unsafe state. When the pedal is in the deployed state and the vehicle is in reverse gear, the functional safety device is classified as a Class I hazardous state. When the pedal is in the deployed state and the vehicle is in the rearward position, the functional safety device is classified as a Class II hazardous state.

[0009] Furthermore, the execution of the control strategy corresponding to the functional safety device state category based on the functional safety device state category specifically includes: When the functional safety device is in a safe state, no control operation is performed; When the functional safety device is in the first unsafe state, the control alarm will issue a pedal deployment audible and visual warning and send a speed limit command to the vehicle chassis VCU to control the vehicle speed to not exceed a second preset value; wherein the second preset value is less than the first preset value. When the functional safety device is in a Class II unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class III unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class I hazardous state, the control alarm will issue an audible and visual warning for pedal deployment and initiate a reverse prohibition procedure. When the functional safety device is in a Class II hazardous state, the control alarm will issue a unique audible and visual warning, and it will determine whether the operator will actively brake within a first preset time after the unique audible and visual warning is issued; if yes, the control operation will end; if no, the control functional safety device will enter a locked state.

[0010] Furthermore, the control function safety device entering the locked state also includes: after the vehicle has been stationary for at least a second preset time, the control function safety device exits the locked state.

[0011] Furthermore, the control function safety device exiting the locked state after the vehicle has been stationary for at least a second preset time also includes: If the vehicle moves within the second preset time, the second preset time will restart after the vehicle comes to a complete stop.

[0012] Furthermore, the pedal's operating states also include an unloaded state and a passenger-carrying state.

[0013] Furthermore, the method also includes a self-test step, specifically including: In response to the received deployment status, manned status, and unloaded status, determine whether the detection accuracy of the functional safety device is correct; if yes, the operation ends; if no, control the functional safety device to enter the locked state.

[0014] Secondly, the present invention provides a functional safety control device for sanitation vehicles, comprising: Detection module: acquires pedal position information and vehicle driving information; acquires pedal working status based on pedal position information; acquires vehicle working status and vehicle speed based on vehicle driving information. Control module: Based on the pedal operating state, the vehicle operating state, and the vehicle speed, obtain the functional safety device state category, and execute the control strategy corresponding to the functional safety device state category.

[0015] Thirdly, the present invention provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to the first aspect.

[0016] Fourthly, a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in the first aspect.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This functional safety control method for sanitation vehicles can obtain the status category of functional safety devices based on the working status of the pedals and the vehicle, and execute the corresponding control strategy to warn the operator and restrict unsafe behaviors of the operator. This provides sufficient reminders to the operator, prompts them to use the vehicle safely and in accordance with regulations, and ensures the safety of sanitation vehicles during operation. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating a functional safety control method for sanitation vehicles according to an embodiment of the present invention. Detailed Implementation

[0019] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0020] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example 1

[0021] like Figure 1 As shown, the present invention provides a functional safety control method for sanitation vehicles, comprising the following steps: The pedal operating status is obtained in response to the received pedal position information; The vehicle's operating status and speed are obtained in response to the received vehicle driving information. Based on the pedal operating state, the vehicle operating state, and the vehicle speed, the functional safety device state category is obtained, and the control strategy corresponding to the functional safety device state category is executed.

[0022] Specifically, the first sensor detects the pedal position information and transmits it to the controller, which then obtains the pedal's operating status based on the pedal position information. The second sensor detects vehicle driving information and transmits it to the controller, which then obtains the vehicle's operating status and speed based on the vehicle driving information. The functional safety device is the pedal.

[0023] Optionally, the pedal operating states include a retracted state and an extended state; the vehicle operating states include a driving state, a parked state, a reverse gear state, and a rearward state.

[0024] In one embodiment, obtaining the functional safety device status category specifically includes: When the pedal is in the retracted state, the functional safety device is in a safe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is less than a first preset value, the functional safety device is classified as a first-class unsafe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is not less than the first preset value, the functional safety device is classified as a second type of unsafe state. When the pedal is in the deployed state and the vehicle is in the parked state, the functional safety device is classified as a third-class unsafe state. When the pedal is in the deployed state and the vehicle is in reverse gear, the functional safety device is classified as a Class I hazardous state; wherein, the vehicle is in reverse gear at this time. When the pedal is in the deployed state and the vehicle is in the reverse movement state, the functional safety device is classified as a Class II dangerous state; wherein, at this time, the vehicle is not in reverse gear, but the vehicle is moving backward.

[0025] In one embodiment, executing the control strategy corresponding to the functional safety device state category based on the functional safety device state category specifically includes: When the functional safety device is in a safe state, no control operation is performed; When the functional safety device is in the first unsafe state, the control alarm will issue a pedal deployment audible and visual warning and send a speed limit command to the vehicle chassis VCU to control the vehicle speed to not exceed a second preset value; wherein the second preset value is less than the first preset value. When the functional safety device is in a Class II unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class III unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class I hazardous state, the control alarm will issue an audible and visual warning for pedal deployment and initiate a reverse prohibition procedure. When the functional safety device is in a Class II hazardous state, the control alarm will issue a unique audible and visual warning, and it will determine whether the operator will actively brake within a first preset time after the unique audible and visual warning is issued; if yes, the control operation will end; if no, the control functional safety device will enter a locked state.

[0026] In one embodiment, the control function safety device entering the locked state further includes: after the vehicle has been stationary for at least a second preset time, the control function safety device exits the locked state; if the vehicle moves within the second preset time, the second preset time is restarted after the vehicle comes to a stop again.

[0027] Specifically, let the vehicle speed be v, the first preset value be v1, the second preset value be v2, and v2 < v1; when the functional safety device is in a safe state, no control is performed; when the functional safety device is in a first unsafe state, the alarm is controlled to issue a pedal deployment audible and visual warning, and a speed limit command is sent to the vehicle chassis VCU to control the vehicle speed v to not exceed the second preset value v2; when the functional safety device is in a second unsafe state, the alarm is controlled to issue a pedal deployment audible and visual warning, indicating that the vehicle speed v is too high and controlling it would be dangerous, therefore the alarm is controlled to issue a pedal deployment audible and visual warning but the vehicle speed v is not controlled; when the functional safety device is in a third unsafe state, the alarm is controlled to issue a pedal deployment audible and visual warning, this... The system only performs warning functions, allowing the operator to work normally. When the functional safety device is in a Class 1 hazardous state, the alarm will issue a pedal deployment audible and visual warning and initiate a reverse-prevention procedure. When the functional safety device is in a Class 2 hazardous state, the alarm will issue a unique audible and visual warning and determine whether the operator actively brakes within a first preset time t1 after the unique audible and visual warning is issued. If yes, the control operation ends; if no, the functional safety device will enter a locked state, and the device can only be unlocked and reactivated after the vehicle has been stationary for at least a second preset time t2. If the vehicle is moved again within t2, t2 will be reset after the vehicle stops. When the pedal is in the retracted state, the functional safety device is determined to be in a safe state, and reverse-prevention can be performed.

[0028] In one embodiment, the method further includes a self-test step, specifically comprising: The pedal's operating states also include an unloaded state and a passenger-carrying state; In response to the received deployment status, manned status, and unloaded status, determine whether the detection accuracy of the functional safety device is correct; if yes, the operation ends; if no, control the functional safety device to enter the locked state.

[0029] In use, each time the controller is activated, the operator unfolds the pedal, puts it in the unfolded state, stands on it to put it in the loaded state, and then leaves the pedal to put it in the unloaded state. The sensors corresponding to each state transmit the sequence of state changes to the controller. The controller confirms the accuracy of the functional safety device's detection. If the self-test signal is correct, the functional safety device can work normally; otherwise, the controller locks the functional safety device, making it unusable.

[0030] This invention can obtain the status category of the functional safety device based on the pedal working status and the vehicle working status, and execute the corresponding control strategy to warn the operator and restrict the operator's unsafe behavior, so as to provide sufficient reminders to the operator, prompt them to use the vehicle safely and in accordance with regulations, and ensure the safety of the sanitation vehicle during operation. This invention can overcome the shortcomings of existing safety control methods for sanitation vehicles, can realize the functional requirements of sanitation vehicles, and at the same time, construct a safety loop of the control system between the vehicle, operator, driver, and working parts (i.e., functional safety devices) to ensure the safety of the sanitation vehicle's functional realization.

[0031] This invention can perform self-testing on functional safety devices, prevent safety control methods from failing, and ensure the reliability of sanitation vehicles during operation. Example 2

[0032] This invention provides a functional safety control device for sanitation vehicles, comprising: Detection module: acquires pedal position information and vehicle driving information; acquires pedal working status based on pedal position information; acquires vehicle working status and vehicle speed based on vehicle driving information. Control module: Based on the pedal operating state, the vehicle operating state, and the vehicle speed, obtain the functional safety device state category, and execute the control strategy corresponding to the functional safety device state category.

[0033] Specifically, the functional safety device is a pedal; the safety of the functional safety device is judged, including: when it is judged to be safe, the relevant safety functions of the functional safety device are enabled; when it is judged to be unsafe, a certain degree of safety functions are restricted and an alarm is issued; when it is judged to be dangerous, the relevant safety functions are further restricted or even prohibited and an alarm is issued; in an unsafe or dangerous state, if the operator does not stop the abnormal operation after the alarm is issued, the controller will lock the functional safety device until the unlocking conditions are met; if the operator disconnects the power and exits the controller during the process of locking the functional safety device, the locked state will not be exited, and it will continue to execute after power is restored; and the controller must perform a self-check on the accuracy of the functional safety device every time it is started to ensure that the functional safety device executes effectively and safely. Example 3

[0034] This invention also provides a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method described in Embodiment 1. Example 4

[0035] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method described in Embodiment 1.

[0036] Since the storage medium provided in this embodiment of the invention can execute the method provided in Embodiment 1 of the invention, it has the corresponding functional modules and beneficial effects for executing the method.

[0037] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0039] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0040] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0041] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for functional safety control of sanitation vehicles, characterized in that, Includes the following steps: The pedal operating status is obtained in response to the received pedal position information; The vehicle's operating status and speed are obtained in response to the received vehicle driving information. Based on the pedal working state, the vehicle working state, and the vehicle speed, the functional safety device state category is obtained, and the control strategy corresponding to the functional safety device state category is executed based on the functional safety device state category. Specifically, the category of obtaining the functional safety device status includes: When the pedal is in the retracted state, the functional safety device is in a safe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is less than a first preset value, the functional safety device is classified as a first-class unsafe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is not less than the first preset value, the functional safety device is classified as a second type of unsafe state. When the pedal is in the deployed state and the vehicle is in the parked state, the functional safety device is classified as a third-class unsafe state. When the pedal is in the deployed state and the vehicle is in reverse gear, the functional safety device is classified as a Class I hazardous state. When the pedal is in the deployed state and the vehicle is in the rearward position, the functional safety device is classified as a Class II hazardous state.

2. The functional safety control method for a sanitation vehicle according to claim 1, characterized in that, The execution of the control strategy corresponding to the functional safety device state category based on the functional safety device state category specifically includes: When the functional safety device is in a safe state, no control operation is performed; When the functional safety device is in the first unsafe state, the control alarm will issue a pedal deployment audible and visual warning and send a speed limit command to the vehicle chassis VCU to control the vehicle speed to not exceed a second preset value; wherein the second preset value is less than the first preset value. When the functional safety device is in a Class II unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class III unsafe state, the control alarm will issue an audible and visual warning signal indicating that the pedal should be deployed. When the functional safety device is in a Class I hazardous state, the control alarm will issue an audible and visual warning for pedal deployment and initiate a reverse prohibition procedure. When the functional safety device is in a Class II hazardous state, the control alarm will issue a unique audible and visual warning, and it will determine whether the operator will actively brake within a first preset time after the unique audible and visual warning is issued; if yes, the control operation will end; if no, the control functional safety device will enter a locked state.

3. The functional safety control method for a sanitation vehicle according to claim 2, characterized in that, The control function safety device entering the locked state also includes: after the vehicle has been stationary for at least a second preset time, the control function safety device exits the locked state.

4. The functional safety control method for a sanitation vehicle according to claim 3, characterized in that, After the vehicle has been stationary for at least a second preset time, the control function safety device also exits the locked state, including: If the vehicle moves within the second preset time, the second preset time will restart after the vehicle comes to a complete stop.

5. The functional safety control method for a sanitation vehicle according to claim 1, characterized in that, The pedal's operating states also include an unloaded state and a passenger-carrying state.

6. The functional safety control method for a sanitation vehicle according to claim 5, characterized in that, The method also includes a self-test step, specifically including: In response to the received deployment status, manned status, and unloaded status, determine whether the detection accuracy of the functional safety device is correct; if yes, the operation ends; if no, control the functional safety device to enter the locked state.

7. A functional safety control device for sanitation vehicles, characterized in that, include: Detection module: acquires pedal position information and vehicle driving information; acquires pedal working status based on pedal position information; acquires vehicle working status and vehicle speed based on vehicle driving information. Control module: Based on the pedal working state, the vehicle working state and the vehicle speed, obtain the functional safety device state category, and execute the control strategy corresponding to the functional safety device state category; Specifically, the category of obtaining the functional safety device status includes: When the pedal is in the retracted state, the functional safety device is in a safe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is less than a first preset value, the functional safety device is classified as a first-class unsafe state. When the pedal is in the deployed state, the vehicle is in the driving state, and the vehicle speed is not less than the first preset value, the functional safety device is classified as a second type of unsafe state. When the pedal is in the deployed state and the vehicle is in the parked state, the functional safety device is classified as a third-class unsafe state. When the pedal is in the deployed state and the vehicle is in reverse gear, the functional safety device is classified as a Class I hazardous state. When the pedal is in the deployed state and the vehicle is in the rearward position, the functional safety device is classified as a Class II hazardous state.

8. A terminal, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1 to 6.

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