Transport vehicle and control method thereof

Abstract

The invention relates to a transport vehicle and a control method thereof. The transport vehicle comprises a power chamber; the at least two axis vehicles are sequentially arranged in a row, each axis vehicle is provided with a connecting position, the axis vehicle located at the head end and the power chamber are connected through connecting pieces installed at the connecting positions, and every two adjacent axis vehicles are connected through connecting pieces installed at the connecting positions; a proximity switch is arranged on one side of the connecting position of each axis vehicle, and the sensing area of each proximity switch is located at the connecting position. The proximity switch is arranged on each axis vehicle, the proximity switch can detect whether the connecting piece exists on the connecting position or not, if the proximity switch detects that the connecting piece exists in the sensing area, the trigger signal is sent out, and if the connecting piece is not detected, the trigger signal is not sent out, so that the axis vehicle at the tail end can be automatically judged based on the proximity switch; the terminal vehicle does not need to be confirmed manually, the efficiency can be greatly improved, and the technical problems that in the related technology, the manual operation time is increased and the efficiency is low due to the fact that the terminal vehicle is confirmed manually are solved.

Description

Technical Field

[0001] The present application relates to the technical field of module transport vehicle detection, and in particular to a transport vehicle and a control method thereof. Background Art

[0002] At present, modular vehicles have unique advantages in transporting oversized and overweight loads. They are flexible to use and easy to load and unload. Multiple vehicles can be mechanically assembled or freely combined. They are not only suitable for equipment manufacturing, petroleum, chemical industry and other fields, but also show their unique advantages in projects such as bridge construction.

[0003] In the related art, multiple modular vehicles are usually connected in a row. In order to ensure the communication quality of the modular vehicles, it is necessary to find out which modular vehicle is the end vehicle and retain the terminal resistance of the end vehicle. Currently, it is generally necessary to manually confirm which modular vehicle is the end vehicle, which increases the manual operation time and has low efficiency.

[0004] Therefore, it is necessary to design a new transporter to overcome the problems mentioned above. Summary of the invention

[0005] The present application provides a transport vehicle and a control method thereof, which can solve the technical problems in the related art of relying on manual confirmation of the terminal vehicle, increasing manual operation time and having low efficiency.

[0006] In the first aspect, an embodiment of the present application provides a transport vehicle, which includes: a power room; at least two axle vehicles, at least two of the axle vehicles are arranged in a row in sequence, each of the axle vehicles has a connecting position, and the axle vehicle located at the head end and the power room and two adjacent axle vehicles are connected by a connecting piece installed at the connecting position; each of the axle vehicles is provided with a proximity switch on one side of the connecting position, and the sensing area of ​​the proximity switch is located at the connecting position.

[0007] In combination with the first aspect, in one embodiment, each of the axle vehicles has the connection position at both ends, and each of the axle vehicles is provided with the proximity switch on one side of the connection position at both ends.

[0008] In combination with the first aspect, in one embodiment, a first controller is configured in each of the axis vehicles, and the first controller is connected to the proximity switch signal on the axis vehicle; a second controller is configured in the power room, and the second controller is connected to the first controller signal in each of the axis vehicles, and the second controller is used to receive the trigger signal of the proximity switch transmitted by the first controller, and determine the axis vehicle located at the end based on the trigger signal.

[0009] In combination with the first aspect, in one embodiment, each of the axis cars is provided with a first terminal resistor and a control switch electrically connected to the first terminal resistor in the axis car, and the control switch is electrically connected to the first controller in the axis car; a second terminal resistor is provided in the power room, and the second terminal resistor is electrically connected to the first terminal resistor through the control switch in each of the axis cars; the second controller is also used to control the control switch in the axis car at the end to close when it is determined that the axis car is at the end, and to control the control switches in other axis cars to open.

[0010] In combination with the first aspect, in one embodiment, the connecting member has a first side surface and a second side surface located on opposite sides thereof, the first side surface faces the proximity switch, the distance between the first side surface and the proximity switch is recorded as a first distance, and the distance between the second side surface and the proximity switch is recorded as a second distance; the area where the distance between the connecting position and the proximity switch is between the first distance and the second distance is the sensing area.

[0011] In a second aspect, an embodiment of the present application provides a control method for the above-mentioned transport vehicle, which comprises the following steps:

[0012] Receive the trigger signal of the proximity switch sent by each axle vehicle;

[0013] Based on the trigger signal of the proximity switch, it is determined which axle vehicle is the axle vehicle located at the end.

[0014] In combination with the second aspect, in one implementation, each axle vehicle is provided with a first terminal resistor and a control switch electrically connected to the first terminal resistor; after determining the axle vehicle at the end, the method further includes:

[0015] The control switch in the axis vehicle at the end is controlled to be closed, and the control switches in the other axis vehicles are controlled to be opened.

[0016] In combination with the second aspect, in one implementation, the determining which axle vehicle is the axle vehicle located at the end based on the trigger signal of the proximity switch includes:

[0017] Determining whether the proximity switch located at the rear end of the axis vehicle sends a trigger signal;

[0018] If the proximity switch located at the rear end of the axle vehicle does not send a trigger signal, the axle vehicle is an axle vehicle located at the end.

[0019] In combination with the second aspect, in one embodiment, each axle vehicle is provided with a proximity switch at both ends; and judging which axle vehicle is the axle vehicle at the end based on the trigger signal of the proximity switch includes:

[0020] If it is determined that at least two of the axle vehicles have only one trigger signal from a proximity switch, a prompt indicating abnormal connection of the connector is issued.

[0021] In combination with the second aspect, in one implementation, the determining which axle vehicle is the axle vehicle located at the end based on the trigger signal of the proximity switch includes:

[0022] If it is determined that at least one of the axle vehicles does not have any trigger signal from the proximity switch, a prompt indicating abnormal connection of the connector is issued.

[0023] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0024] By setting a proximity switch on one side of the connection position of each axle vehicle, the proximity switch can detect whether there is a connector on the connection position. If the proximity switch detects a connector in the sensing area, it will send out a trigger signal. If the connector is not detected, no trigger signal will be sent out. The axle vehicle at the end can be automatically judged based on the proximity switch. There is no need for manual confirmation of the end vehicle, which can greatly improve efficiency and solve the technical problems in related technologies that rely on manual confirmation of the end vehicle, increase manual operation time, and have low efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A front view of a transport vehicle provided in an embodiment of the present application;

[0027] Figure 2 Provided for the embodiments of this application Figure 1 a top view of the transport vehicle shown;

[0028] Figure 3 A schematic diagram of the structure of another transport vehicle provided in an embodiment of the present application;

[0029] Figure 4 A schematic diagram of the structure of another transport vehicle provided in an embodiment of the present application.

[0030] In the figure:

[0031] 1. Power room; 2. Axis car; 3. Connector; 31. First side; 32. Second side; 4. Proximity switch;

[0032] 5. First terminal resistor; 6. Control switch; 7. Second terminal resistor. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] The embodiment of the present application provides a transport vehicle and a control method thereof, which can solve the technical problems in the related art of relying on manual confirmation of the terminal vehicle, increasing manual operation time and having low efficiency.

[0035] See also Figure 3 As shown, a transport vehicle provided in an embodiment of the present application comprises: a power room 1; at least two axle vehicles 2, at least two of the axle vehicles 2 are arranged in a row in sequence, each of the axle vehicles 2 has a connecting position, the axle vehicle 2 located at the head end and the power room 1 as well as two adjacent axle vehicles 2 are connected by a connecting piece 3 installed at the connecting position; each of the axle vehicles 2 is provided with a proximity switch 4 on one side of the connecting position, and the sensing area of ​​the proximity switch 4 is located at the connecting position.

[0036] In this embodiment, see Figure 1 and Figure 2 As shown, a transport vehicle is shown, which has two axle vehicles 2, one of which is a 6-axle vehicle 2, and the other is a 4-axle vehicle 2. The front end is a power room 1, which provides power and power supply for the entire vehicle, and the load is transported by connecting the 6-axle vehicle 2 or the 4-axle vehicle 2 at the back. Figure 3As shown, another transport vehicle is shown, which is provided with three axis vehicles 2, and the three axis vehicles 2 are arranged in a row, and the frontmost axis vehicle 2 is connected to the power room 1. In this embodiment, the connection position on the axis vehicle 2 is used to install the connecting member 3, and the connecting member 3 can be, for example, a connecting bolt, and the connecting position can be, for example, a mounting hole. The connecting bolt is inserted into the mounting hole of the two axis vehicles 2 to connect the two axis vehicles 2; of course, in other embodiments, the connecting member 3 and the connecting position can also be other structures, which are not limited here. In this embodiment, the power room 1 and the axis vehicle 2 are preferably connected by two connecting members 3, and the two adjacent axis vehicles 2 are also connected by two connecting members 3. When the proximity switch 4 is set, the proximity switch 4 can be set only at one of the side-by-side connecting members 3. The proximity switch 4 in this embodiment is a metal proximity switch 4, and the currently available proximity switch 4 can be used. When the metal detection object (here, the connecting piece 3) is located in the sensing area of ​​the proximity switch 4, the proximity switch 4 can be contactless, pressure-free, spark-free and quickly send out a trigger signal. If there is no metal detection object located in the sensing area of ​​the proximity switch 4, the proximity switch 4 will not be triggered by mistake.

[0037] In this embodiment, a proximity switch 4 is set on one side of the connection position of each axle vehicle 2. The proximity switch 4 can detect whether there is a connector 3 on the connection position. If the proximity switch 4 detects that there is a connector 3 in the sensing area, it will send a trigger signal. If the connector 3 is not detected, no trigger signal will be sent. The presence of a connector 3 at the connection position indicates that the axle vehicle 2 or the power room 1 will be connected at this position. The absence of a connector 3 indicates that the axle vehicle 2 will not be connected at this position. If the rear of an axle vehicle 2 is not connected to the connector 3, there is no axle vehicle 2 behind the axle vehicle 2, and the axle vehicle 2 is the terminal axle vehicle 2. Based on the trigger signal of the proximity switch 4, it can be automatically determined which axle vehicle 2 is the axle vehicle 2 at the terminal. There is no need for manual confirmation of the terminal vehicle, which can greatly improve efficiency. This solves the technical problems of relying on manual confirmation of the terminal vehicle in the related technology, increasing manual operation time, and low efficiency.

[0038] Preferably, see Figure 3 As shown, each of the axle vehicles 2 has the connection position at both ends, and the proximity switch 4 is provided on one side of the connection position at both ends. In this embodiment, two connection positions are provided at the head and tail ends of each axle vehicle 2, each connection position can be used to install the connector 3, and a proximity switch 4 is provided at the head and tail ends of the axle vehicle 2. The proximity switch 4 at the head end is located between the two connection positions at the head end, and the proximity switch 4 at the tail end is located between the two connection positions at the tail end. The metal proximity switch 4 in this embodiment is preferably a flush type. Figure 3The direction indicated by the middle arrow is the detection direction of the proximity switch 4. In this embodiment, proximity switches 4 are arranged at the head and tail ends of each axle vehicle 2. When the proximity switch 4 at the head has a trigger signal and the proximity switch 4 at the tail has no trigger signal, the axle vehicle 2 is the axle vehicle 2 located at the end.

[0039] In other embodiments, the proximity switch 4 may be provided only at the rear end of the axle vehicle 2 , and not at the front end of the axle vehicle 2 . The proximity switch 4 at the rear end can also be used to detect which is the terminal axle vehicle 2 .

[0040] Furthermore, in one embodiment, each of the axle vehicles 2 is provided with a first controller, and the first controller is connected to the signal of the proximity switch 4 on the axle vehicle 2; a second controller is provided in the power room 1, and the second controller is connected to the signal of the first controller in each of the axle vehicles 2, and the second controller is used to receive the trigger signal of the proximity switch 4 transmitted by the first controller, and determine the axle vehicle 2 located at the end based on the trigger signal.

[0041] In this embodiment, the first controller configured on each axle vehicle 2 is capable of receiving the trigger signals of all proximity switches 4 on the axle vehicle 2, and the first controller is also capable of receiving control information from the second controller, and feeding back the data information of its own axle vehicle 2 (including the trigger signals of all proximity switches 4) to the second controller. The second controller comprehensively determines whether the proximity switch 4 on each axle vehicle 2 sends a trigger signal, and then determines the terminal axle vehicle 2.

[0042] See also Figure 3 As shown, in one embodiment, the connecting member 3 has a first side surface 31 and a second side surface 32 located on opposite sides thereof, the first side surface 31 faces the proximity switch 4, the distance between the first side surface 31 and the proximity switch 4 is recorded as a first distance, and the distance between the second side surface 32 and the proximity switch 4 is recorded as a second distance; the area where the distance between the connecting position and the proximity switch 4 is between the first distance and the second distance is the sensing area. In this embodiment, the sensing area of ​​the proximity switch 4 is limited between the left and right sides of the connecting member 3, so that the closest distance that the proximity switch 4 can detect is the position where the first side surface 31 is located, and the farthest distance that can be detected is the position where the second side surface 32 is located, so that it can be ensured that the proximity switch 4 is triggered after the connecting member 3 is connected, and will not be triggered by mistake when the connecting member 3 is not present.

[0043] See also Figure 4As shown, in some embodiments, each of the axis vehicles 2 is provided with a first terminal resistor 5 and a control switch 6 electrically connected to the first terminal resistor 5 in the axis vehicle 2, and the control switch 6 is electrically connected to the first controller in the axis vehicle 2; a second terminal resistor 7 is provided in the power room 1, and the second terminal resistor 7 is electrically connected to the first terminal resistor 5 through the control switch 6 in each of the axis vehicles 2; the second controller is also used to control the control switch 6 in the axis vehicle 2 at the end to close when it is determined that the axis vehicle 2 is at the end, and to control the control switches 6 in other axis vehicles 2 to open.

[0044] In this embodiment, see Figure 4 As shown, three axle vehicles 2 are connected behind the power room 1, and each axle vehicle 2 is provided with a first terminal resistor 5 and a control switch 6. The first terminal resistor 5 and the control switch 6 are electrically connected to the second terminal resistor 7 of the power room 1 through the CAN network. The power room 1 serves as the head end, and the second terminal resistor 7 therein always exists. To ensure that the first terminal resistor 5 in the axle vehicle 2 can be automatically disconnected and connected, a first terminal resistor 5 is provided in the control cabinet of each axle vehicle 2, and a first controller in the control cabinet controls the opening and closing of the control switch 6 (such as a relay). Figure 4 For example, if it is detected that the third axis vehicle 2 is the terminal vehicle, the second controller will control the first controller in the third axis vehicle 2, so that the first controller controls the control switch 6 in the third axis vehicle 2 to be closed, and the control switches 6 in the other axis vehicles 2 remain disconnected. As a result, only the terminal resistances at the head and tail ends of the CAN network exist, ensuring the communication quality of the network.

[0045] In the related technology, CAN network has great advantages in vehicle control communication due to its network stability, efficiency and reliability. However, due to the communication mechanism of CAN network terminal resistance and the free combination characteristics of modular vehicles, the terminal resistance needs to be manually added and removed, otherwise the communication quality will be seriously affected. However, this application can automatically identify the terminal axis vehicle 2 and automatically connect, and automatically disconnect other terminal resistances, which is more intelligent, reduces communication failures caused by human errors, and is more conducive to vehicle control and operation.

[0046] The embodiment of the present application also provides a control method for the above-mentioned transport vehicle, which comprises the following steps:

[0047] Step 1: Receive the trigger signal of the proximity switch 4 sent by each axle vehicle 2.

[0048] Step 2: Based on the trigger signal of the proximity switch 4, determine which axle vehicle 2 is the axle vehicle 2 located at the end.

[0049] In this embodiment, the second controller in the power room 1 can receive the trigger signal of the proximity switch 4 sent by the first controller in each axle vehicle 2, and determine which vehicle is the terminal axle vehicle 2 based on whether each axle vehicle 2 has a trigger signal of the proximity switch 4.

[0050] For example, in some embodiments, only one proximity switch 4 may be provided at the rear end of each axle vehicle 2, and the second controller determines whether it has received a trigger signal from the proximity switch 4 at the rear end of each axle vehicle 2. If it does not receive a trigger signal from the proximity switch 4 at the rear end of a certain axle vehicle 2, it indicates that the axle vehicle 2 is the axle vehicle 2 at the end.

[0051] In some other embodiments, a proximity switch 4 may be set at both ends of each axle vehicle 2, and the second controller determines whether it has received the trigger signal of the proximity switch 4 at the head and tail ends of each axle vehicle 2. If it only receives the trigger signal of the proximity switch 4 at the head end of an axle vehicle 2, and does not receive the trigger signal of the proximity switch 4 at the tail end of the axle vehicle 2, then this axle vehicle 2 is the axle vehicle 2 located at the end.

[0052] Furthermore, in one embodiment, when each axle vehicle 2 is provided with a proximity switch 4 at both ends; the determination of which axle vehicle 2 is the axle vehicle 2 located at the end based on the trigger signal of the proximity switch 4 may also include: if it is determined that at least two of the axle vehicles 2 have only one trigger signal of a proximity switch 4, a prompt is issued that the connection of the connector 3 is abnormal.

[0053] In this embodiment, since there is only one terminal vehicle, if the second controller detects that two or more axle vehicles 2 have only one trigger signal, it means that multiple axle vehicles 2 have not detected the connector 3, which means that the connector 3 of some axle vehicles 2 is not installed or the connector 3 is loose, and it is necessary to stop and check.

[0054] In some optional embodiments, the determination of which axle vehicle 2 is the axle vehicle 2 located at the end based on the trigger signal of the proximity switch 4 may also include: if it is determined that at least one of the axle vehicles 2 does not have any trigger signal of the proximity switch 4, a prompt of abnormal connection of the connector 3 is issued.

[0055] In this embodiment, since proximity switches 4 are provided at both the head and tail ends of the axle vehicle 2, if the proximity switches 4 at both the head and tail ends of the axle vehicle 2 do not send out a trigger signal, it means that both the head and tail ends have not detected the connector 3, indicating that the connector 3 of the axle vehicle 2 is not installed or the connector 3 is loose, and the vehicle needs to be stopped for inspection.

[0056] On the basis of the above technical solution, each axle car 2 is provided with a first terminal resistor 5 and a control switch 6 electrically connected to the first terminal resistor 5; after determining the axle car 2 located at the end, it may also include: controlling the control switch 6 in the axle car 2 located at the end to close, and controlling the control switches 6 in other axle cars 2 to open. In this embodiment, the power room 1 serves as the head end, in which a second terminal resistor 7 is provided, and it always exists. To ensure that the first terminal resistor 5 in the axle car 2 can be automatically disconnected and connected, a first terminal resistor 5 is provided in the control cabinet of each axle car 2, and a first controller in the control cabinet controls the opening and closing of the control switch 6 (such as a relay). Figure 4 For example, if it is detected that the third axis vehicle 2 is the terminal vehicle, the second controller will control the first controller in the third axis vehicle 2, so that the first controller controls the control switch 6 in the third axis vehicle 2 to be closed, and the control switches 6 in the other axis vehicles 2 remain disconnected. As a result, only the terminal resistances at the head and tail ends of the CAN network exist, ensuring the communication quality of the network.

[0057] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0058] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0059] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A transport vehicle, characterized in that include: Power room (1); At least two axle vehicles (2), at least two of the axle vehicles (2) are arranged in a row, each of the axle vehicles (2) has a connection position, and the axle vehicle (2) at the head end and the power room (1) as well as two adjacent axle vehicles (2) are connected via a connecting piece (3) installed at the connection position; Each of the axle vehicles (2) is provided with a proximity switch (4) on one side of the connection position, and the sensing area of ​​the proximity switch (4) is located at the connection position.

2. The transport vehicle according to claim 1, characterized in that: Each of the axle vehicles (2) has the connection position at both ends, and each of the axle vehicles (2) is provided with the proximity switch (4) on one side of the connection position at both ends.

3. The transport vehicle according to claim 1 or 2, characterized in that: Each of the axle vehicles (2) is equipped with a first controller, and the first controller is connected to a proximity switch (4) on the axle vehicle (2) by signal; A second controller is disposed in the power room (1), and the second controller is signal-connected to the first controller in each of the axle vehicles (2). The second controller is used to receive a trigger signal of the proximity switch (4) transmitted by the first controller, and to determine the axle vehicle (2) located at the end based on the trigger signal.

4. The transport vehicle according to claim 3, characterized in that: Each of the axis vehicles (2) is provided with a first terminal resistor (5) and a control switch (6) electrically connected to the first terminal resistor (5) in the axis vehicle (2), and the control switch (6) is electrically connected to a first controller in the axis vehicle (2); A second terminal resistor (7) is arranged in the power room (1), and the second terminal resistor (7) is electrically connected to the first terminal resistor (5) through a control switch (6) in each of the axle vehicles (2); The second controller is also used to control the control switch (6) in the axis vehicle (2) located at the end to close, and to control the control switches (6) in other axis vehicles (2) to open, when it is determined that the axis vehicle (2) is located at the end.

5. The transport vehicle according to claim 1, characterized in that: The connecting member (3) has a first side surface (31) and a second side surface (32) located on opposite sides thereof, the first side surface (31) faces the proximity switch (4), the distance between the first side surface (31) and the proximity switch (4) is recorded as a first distance, and the distance between the second side surface (32) and the proximity switch (4) is recorded as a second distance; The area where the distance between the connection position and the proximity switch (4) is between the first distance and the second distance is the sensing area.

6. A method for controlling a transport vehicle as claimed in claim 1, characterized in that: It includes the following steps: Receiving a trigger signal of a proximity switch (4) sent by each axle vehicle (2); Based on the trigger signal of the proximity switch (4), it is determined which axle vehicle (2) is the axle vehicle (2) located at the end.

7. The control method according to claim 6, characterized in that: Each axle vehicle (2) is provided with a first terminal resistor (5) and a control switch (6) electrically connected to the first terminal resistor (5); after determining the axle vehicle (2) located at the end, the method further comprises: The control switch (6) in the axle vehicle (2) at the end is controlled to be closed, and the control switches (6) in the other axle vehicles (2) are controlled to be opened.

8. The control method according to claim 6, characterized in that: The method of determining which axle vehicle (2) is the axle vehicle (2) located at the end based on the trigger signal of the proximity switch (4) comprises: Determining whether the proximity switch (4) located at the rear end of the axle vehicle (2) sends a trigger signal; If the proximity switch (4) located at the rear end of the axle vehicle (2) does not send a trigger signal, the axle vehicle (2) is an axle vehicle (2) located at the end.

9. The control method according to claim 6, characterized in that: Each axle vehicle (2) is provided with a proximity switch (4) at both ends; the method of determining which axle vehicle (2) is the axle vehicle (2) located at the end based on the trigger signal of the proximity switch (4) comprises: If it is determined that at least two of the axle vehicles (2) have only one trigger signal from a proximity switch (4), a prompt indicating abnormal connection of the connecting piece (3) is issued.

10. The control method according to claim 9, characterized in that: The method of determining which axle vehicle (2) is the axle vehicle (2) located at the end based on the trigger signal of the proximity switch (4) comprises: If it is determined that at least one of the axle vehicles (2) does not have any trigger signal from the proximity switch (4), a prompt indicating that the connection of the connecting piece (3) is abnormal is issued.

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