Shunting propulsion safety protection method, device, main control unit, system and medium

Abstract

The invention provides a shunting propulsion safety protection method and device, a main control unit, a system and a medium, and is applied to the main control unit. When it is determined that the horizontal test angle does not meet the preset angle, the offset is determined through the horizontal test angle; wherein the preset angle is a preset reference angle; adjusting the laser radar to a horizontal state according to the offset; obtaining a target distance through a laser radar; and carrying out shunting propulsion safety protection on the tested carriage according to the target distance. According to the technical scheme, the horizontal test angle is obtained, the influence of the setting environment of the laser radar on the target distance obtained by the laser radar in the measurement process is measured, and the horizontal direction and the vertical direction of the laser radar are flexibly adjusted based on the determined offset and the target distance. Therefore, shunting propulsion safety protection and testing flexibility of the tested compartment are realized, and manual participation is not needed in the whole process.

Description

Technical Field

[0001] The present invention relates to the field of railway wireless communication technology, and in particular to a shunting propulsion safety protection method, device, main control unit, system and medium. Background Art

[0002] In the plane shunting operation, the distance information between the first vehicle in the advancing direction and the vehicle parked on the track is particularly important.

[0003] At present, in the existing technology, the distance between the parked vehicle and the first vehicle in the advancing direction is usually dynamically acquired using the Global Positioning System (GPS) or the Beidou high-precision positioning system. The above acquisition method is based on the high-precision positioning solution of the station field, which requires the installation of a ground reference station in the shunting operation site in advance. Before each advancement operation, an operator is required to carry a positioning device and walk to the parked vehicle to obtain the location information of the parked vehicle. The leader then installs a positioning device on the first vehicle in the advancing direction to realize the dynamic distance measurement during the advancement operation. The participation of special personnel is required, which makes the measurement inflexible and reduces the user experience. At the same time, the influence of the environment on the measured distance during the determination process has not been considered. Summary of the invention

[0004] The present invention provides a shunting and advancing safety protection method, device, main control unit, system and medium, which are used to solve the defects in the prior art that special personnel need to participate, resulting in inflexible measurement and failure to consider the influence of the environment on the measurement distance during the determination process. The present invention can achieve the goal of measuring the influence of the setting environment of the laser radar on the target distance obtained by the laser radar during the measurement process by obtaining the horizontal test angle, and flexibly adjust the horizontal and vertical directions of the laser radar based on the determined offset and target distance, thereby achieving the flexibility of shunting and advancing safety protection and testing of the tested carriage, and no human participation is required throughout the process, thereby improving the user experience.

[0005] The present invention provides a shunting propulsion safety protection method, which is applied to a main control unit and includes the following steps.

[0006] Obtain the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, and is used to determine the horizontal angle of the laser radar.

[0007] When it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a pre-set reference angle.

[0008] Adjust the LiDAR to a horizontal state according to the offset.

[0009] The target distance is obtained by using a laser radar, wherein the target distance is a collection of measured distances from the measured vehicle compartment obtained by the laser radar.

[0010] The shunting and advancement safety protection of the tested carriage is carried out according to the target distance.

[0011] According to a shunting propulsion safety protection method provided by the present invention, a laser radar is adjusted to a horizontal state according to an offset, including: controlling a first motor to adjust the laser radar according to the offset; wherein the first motor is a motor for controlling the vertical direction of the laser radar.

[0012] According to a shunting and propulsion safety protection method provided by the present invention, shunting and propulsion safety protection of the measured carriage is performed according to the target distance, including: determining whether the target distance meets the preset conditions; wherein the preset conditions are pre-set conditions for determining the target distance; if it is determined that the target distance meets the preset conditions, then determining that the laser radar is locked, and performing shunting and propulsion safety protection of the measured carriage; if it is determined that the target distance does not meet the preset conditions, then determining that the laser radar loses lock, and adjusting the direction of the laser radar until the target distance meets the preset conditions.

[0013] According to a shunting propulsion safety protection method provided by the present invention, it is determined that the laser radar has lost lock, and the direction of the laser radar is adjusted until the target distance meets the preset conditions, including: when it is determined that the laser radar has lost lock, determining whether there is a measured distance in the target distance that has not changed; when it is determined that there is a measured distance in the target distance that has not changed, controlling the second motor to rotate in the direction of the corresponding laser radar whose measured distance has not changed until the target distance meets the preset conditions, and determining that the laser radar is locked again; wherein the second motor is a motor for controlling the horizontal direction of the laser radar.

[0014] A shunting propulsion safety protection method provided by the present invention also includes: when it is determined that the horizontal test angle meets the preset angle, determining that the laser radar is in a horizontal state.

[0015] The present invention also provides a shunting propulsion safety protection device, which is applied to a main control unit and includes the following modules: An angle acquisition module, used to acquire the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle acquired by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; An offset determination module, used to determine an offset amount by the horizontal test angle when it is determined that the horizontal test angle does not meet a preset angle; wherein the preset angle is a preset reference angle; A state determination module, used for adjusting the laser radar to a horizontal state according to the offset; A distance determination module, used to obtain a target distance through a laser radar; wherein the target distance is a set of at least two measured distances from the measured compartment obtained by at least two laser radars; The safety protection module is used to carry out shunting and advancement safety protection of the tested carriage according to the target distance.

[0016] The present invention also provides a main control unit, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, any of the above-mentioned shunting propulsion safety protection methods is implemented.

[0017] The present invention also provides a shunting propulsion safety protection system, comprising: a level tester, a first motor, a second motor, at least two laser radars and a main control unit in this embodiment, wherein the level tester is horizontally arranged on the laser radar, and the main control unit is respectively connected to a level tester, the first motor, the second motor and the at least two laser radars; wherein, A horizontal tester, used to obtain horizontal test angles corresponding to at least two laser radars; A main control unit, used to determine whether at least two laser radars are in a horizontal state according to a horizontal test angle; At least two laser radars, used to obtain the target distance between the laser radar and the measured vehicle compartment; The main control unit is also used to control the first motor to adjust the vertical direction of the laser radar according to the horizontal test angle, and control the second motor to adjust the horizontal direction of the laser radar according to the target distance; The main control unit is also used to provide shunting and advancement safety protection for the tested carriage according to the target distance.

[0018] A shunting and propulsion safety protection system provided according to the present invention also includes: a power supply unit, an audible and visual alarm unit and a wireless communication unit, wherein the power supply unit, the audible and visual alarm unit and the wireless communication unit are all connected to the main control unit; wherein the power supply unit is used to supply power to the main control unit; the audible and visual alarm unit is used to issue an alarm message, wherein the alarm message is used to remind the personnel in front of the vehicle to pay attention to the passing of the vehicle and to avoid it; the wireless communication unit is used to send the target distance to a user device, wherein the user device is placed in the driver's cab, so that the driver can grasp the shunting and propulsion safety protection status of the tested carriage in real time through the user device.

[0019] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any of the above-mentioned shunting propulsion safety protection methods is implemented.

[0020] The present invention also provides a computer program product, including a computer program, which implements any of the above-mentioned shunting propulsion safety protection methods when executed by a processor.

[0021] The shunting and propulsion safety protection method, device, main control unit, system and medium provided by the present invention are applied to the main control unit, by obtaining the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; when it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a pre-set reference angle; the laser radar is adjusted to a horizontal state according to the offset; the target distance is obtained by the laser radar; wherein the target distance is a collection of measured distances from the measured car obtained by the laser radar; and the shunting and propulsion safety protection of the measured car is performed according to the target distance. The technical solution of the present invention obtains the horizontal test angle to measure the influence of the setting environment of the laser radar on the target distance obtained by the laser radar during the measurement process, and flexibly adjusts the horizontal and vertical directions of the laser radar based on the determined offset and target distance, thereby achieving the flexibility of shunting and advancing safety protection and testing of the tested carriage. At the same time, no human participation is required throughout the process, which improves the user experience. It is used to solve the defects of the prior art that special personnel participation is required, resulting in inflexible measurement, and the influence of the environment on the measurement distance during the determination process is not considered. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is one of the flow charts of the shunting propulsion safety protection method provided by the present invention.

[0024] Figure 2 This is the second flow chart of the shunting propulsion safety protection method provided by the present invention.

[0025] Figure 3 It is a structural schematic diagram of the shunting propulsion safety protection device provided by the present invention.

[0026] Figure 4 It is a structural schematic diagram of the main control unit provided by the present invention.

[0027] Figure 5 It is one of the structural schematic diagrams of the shunting propulsion safety protection system provided by the present invention.

[0028] Figure 6 This is the second structural schematic diagram of the shunting propulsion safety protection system provided by the present invention.

[0029] Reference numerals: 501: level tester; 502: first motor; 503: second motor; 504: at least two laser radars; 505: main control unit; 506: power supply unit; 507: sound and light alarm unit; 508: wireless communication unit. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Combine the following Figure 1-Figure 2 The shunting and propulsion safety protection method provided by the present invention is described. The shunting and propulsion safety protection method provided by the present invention can be applicable to the situation of shunting and propulsion safety protection. The executor of the method can be a main control unit or a shunting and propulsion safety protection device arranged in the main control unit. The shunting and propulsion safety protection device can be implemented by software, hardware or a combination of both. Figure 1 It is one of the flow charts of the shunting propulsion safety protection method provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 101: Obtain the horizontal test angle of the laser radar.

[0032] In this step, the horizontal test angle is a test angle obtained by a horizontal tester, which is used to determine the horizontal angle of the laser radar. The horizontal tester is set on the laser radar, and the horizontal tester and the laser radar are set horizontally. The laser radar is set inside the shunting propulsion safety protection device. The entire shunting propulsion safety protection device is a whole. Before the propulsion operation starts, the laser radar is placed on the first car in the propulsion direction, and the laser radar and the horizontal tester are both connected to the main control unit.

[0033] The horizontal test angle is a horizontal plane based on the laser radar and the sea level, which is not limited in this embodiment.

[0034] Specifically, the main control unit obtains the horizontal test angle of the laser radar by controlling the horizontal tester set on the laser radar, and determines whether there is an angle between the laser radar and the sea level through the horizontal test angle.

[0035] Step 102: When it is determined that the horizontal test angle does not meet the preset angle, determine the offset according to the horizontal test angle.

[0036] In this step, the preset angle is a preset reference angle; for example, the reference angle is 0 degrees, which is not limited in this embodiment. The offset is the negative number of the horizontal test angle.

[0037] Specifically, determine whether the horizontal test angle meets the preset angle. If it is determined that the horizontal test angle is equal to the preset angle, then it is determined that the horizontal test angle meets the preset angle; if it is determined that the horizontal test angle does not meet the preset angle, then it is determined that the horizontal test angle does not meet the preset angle. At this time, the main control unit determines the offset based on the obtained horizontal test angle.

[0038] Exemplarily, if the preset angle is determined to be 0 degrees and the horizontal test angle is 5 degrees, then it is determined that the horizontal test angle of 5 degrees is greater than the preset angle of 0 degrees, and it is further determined that the horizontal test angle of 5 degrees does not meet the preset angle of 0 degrees. The main control unit then determines the offset based on the obtained horizontal test angle of 5 degrees, and the offset is the negative of the horizontal test angle of 5 degrees, that is, the offset is determined to be -5 degrees.

[0039] Step 103: adjust the laser radar to a horizontal state according to the offset.

[0040] Specifically, after determining the offset, the main control unit adjusts the laser radar according to the offset to adjust the laser radar to a horizontal state.

[0041] Step 104: Obtain the target distance through the laser radar.

[0042] In this step, the target distance is a set of measured distances from the measured compartment obtained by the laser radar; the measured compartment is a compartment of the measured vehicle moving in the working environment.

[0043] Specifically, when it is determined that the laser radar is in a horizontal state, the laser radar is used to obtain the measured distance between the measured vehicle moving in the working environment and the parked vehicle. At this time, there are at least two laser radars arranged inside the shunting propulsion safety protection device, so the measured distances between the measured vehicle moving in the working environment and the parked vehicle are obtained at least two, and then the set of the at least two measured distances obtained is the target distance.

[0044] Exemplarily, if it is determined that two laser radars are set up, namely, a first laser radar and a second laser radar, a first measurement distance between a vehicle under test moving in an operating environment and a stationary vehicle is obtained through the first laser radar, and a second measurement distance between a vehicle under test moving in an operating environment and a stationary vehicle is obtained through the second laser radar, and then the target distance is determined by the combination of the first test distance and the second test distance.

[0045] Step 105: Perform shunting and advancing safety protection for the tested carriage according to the target distance.

[0046] Specifically, after determining the target distance, the laser radar is adjusted in real time according to the target distance, thereby achieving shunting and advancing safety protection for the vehicle under test.

[0047] In a specific embodiment, when the target distance is determined to be a preset distance, the main control unit controls the wireless communication unit to transmit the target distance to the shunting machine controller, so that the shunting machine controller can grasp the distance between the parked vehicle and the measured vehicle in real time, thereby improving the user's adaptation experience.

[0048] In this step, when the preset distance is, for example, 110 meters ("10-car" distance), 55 meters ("five-car" distance) and 30 meters ("three-car" distance), the main control unit controls the wireless communication unit to transmit the target distance to the shunting machine controller, so that the shunting machine controller can grasp the distance between the parked vehicle and the measured vehicle in real time, thereby improving the user's adaptation experience.

[0049] The "10-car" distance means that the preset distance is equal to 10 times the vehicle under test, the "5-car" distance means that the preset distance is equal to 5 times the vehicle under test, and the "3-car" distance means that the preset distance is equal to 3 times the vehicle under test. This embodiment does not limit this.

[0050] The shunting and advancing safety protection method provided by the present invention is applied to the main control unit, by obtaining the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, which is used to determine the angle of the horizontal degree of the laser radar; when it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a preset reference angle; the laser radar is adjusted to a horizontal state according to the offset; the target distance is obtained by the laser radar; wherein the target distance is a set of measured distances of the measured carriage obtained by the laser radar; and the shunting and advancing safety protection of the measured carriage is performed according to the target distance. On the basis of the above embodiments, the technical scheme of the present invention, by obtaining the horizontal test angle, measures the influence of the setting environment of the laser radar on the target distance obtained by the laser radar during the measurement process, and flexibly adjusts the horizontal direction and vertical direction of the laser radar based on the determined offset and target distance, thereby realizing the flexibility of shunting and advancing safety protection and testing of the measured carriage, and at the same time, no manual participation is required throughout the process, which improves the user experience, and solves the defects of the prior art that special personnel are required to participate, resulting in inflexible measurement, and the influence of the environment on the measured distance during the determination process is not considered.

[0051] Figure 2This is the second flow chart of the shunting propulsion safety protection method provided by the present invention. The shunting propulsion safety protection method provided by the present invention can be applicable to the situation of shunting propulsion safety protection. The execution subject of this method can be the main control unit, or the shunting propulsion safety protection device set in the main control unit. The shunting propulsion safety protection device can be implemented by software, hardware or a combination of the two. Figure 2 As shown, further optimizing the safety protection of shunting and advancing the measured carriage according to the target distance by adjusting the laser radar to a horizontal state according to the offset, the method includes the following: Step 201: Obtain the horizontal test angle of the laser radar.

[0052] In this step, the horizontal test angle is a test angle obtained by a horizontal tester, which is used to determine the horizontal angle of the laser radar.

[0053] Specifically, the main control unit obtains the horizontal test angle of the laser radar by controlling the horizontal tester set on the laser radar, and determines whether there is an angle between the laser radar and the sea level through the horizontal test angle.

[0054] Step 202: Determine whether the horizontal test angle meets the preset angle.

[0055] In this step, the preset angle is a pre-set reference angle; for example, the reference angle is 0 degrees, which is not limited in this embodiment.

[0056] Specifically, determine whether the horizontal test angle meets the preset angle. If it is determined that the horizontal test angle does not meet the preset angle, then determine that the horizontal test angle does not meet the preset angle, and continue to execute step 203; if it is determined that the horizontal test angle is equal to the preset angle, then determine that the horizontal test angle meets the preset angle, determine that the laser radar is in a horizontal state, and continue to execute step 205.

[0057] Step 203: Determine the offset by horizontal test angle.

[0058] In this step, the preset angle is a preset reference angle, and the offset is the negative of the horizontal test angle.

[0059] Specifically, when it is determined that the horizontal test angle does not meet the preset angle, the main control unit determines the offset according to the acquired horizontal test angle.

[0060] Step 204: Control the first motor to adjust the laser radar to a horizontal state according to the offset.

[0061] In this step, the first motor is a motor that controls the vertical direction of the laser radar.

[0062] Specifically, after determining the offset, the main controller of the device controls the first motor to adjust the vertical direction of the laser radar through the offset, thereby adjusting the laser radar to a horizontal state.

[0063] Step 205: Obtain the target distance through the laser radar.

[0064] In this step, the target distance is the set of measured distances from the measured compartment obtained by the laser radar; Specifically, when it is determined that the laser radar is in a horizontal state, the laser radar is used to obtain the measured distance between the measured vehicle moving in the working environment and the parked vehicle. At this time, there are at least two laser radars arranged inside the shunting propulsion safety protection device, so the measured distances between the measured vehicle moving in the working environment and the parked vehicle are obtained at least two, and then the set of the at least two measured distances obtained is the target distance.

[0065] Exemplarily, if it is determined that two laser radars are set up, namely, a first laser radar and a second laser radar, a first measurement distance between a vehicle under test moving in an operating environment and a stationary vehicle is obtained through the first laser radar, and a second measurement distance between a vehicle under test moving in an operating environment and a stationary vehicle is obtained through the second laser radar, and then the target distance is determined by the combination of the first test distance and the second test distance.

[0066] Step 206: Determine whether the target distance meets a preset condition.

[0067] In this step, the preset condition is a pre-set condition for determining the target distance. For example, the preset condition is that the measured distances in the set of measured distances in the target distance are all equal, which is not limited in this embodiment.

[0068] Specifically, when it is determined that the acquired target distance includes the first measured distance and the second measured distance, it is determined whether the first measured distance is equal to the second measured distance. If it is determined that the first measured distance is equal to the second measured distance, it is determined that the target distance meets the preset condition, and step 207 is continued; if it is determined that the first measured distance is not equal to the second measured distance, the target distance does not meet the preset condition, and step 208 is continued.

[0069] The advantage of this setting is that it avoids the volatility and uncertainty of a laser radar during the test process and improves the accuracy of the distance test.

[0070] Step 207: confirm that the laser radar is locked, and perform shunting and advancing safety protection for the tested carriage.

[0071] Specifically, if it is determined that the target distance meets the preset conditions, the laser radar is determined to be in a locked state at this time, and the target distance continues to be monitored in real time, and the shunting and advancement safety protection of the measured carriage is performed based on the target distance.

[0072] Step 208: Determine whether the laser radar has lost lock, and adjust the direction of the laser radar until the target distance meets the preset conditions.

[0073] Specifically, if it is determined that the target distance does not meet the preset conditions, it is determined that the laser radar has lost lock, and the direction of the laser radar is adjusted until the target distance meets the preset conditions.

[0074] In a specific embodiment, it is determined that the laser radar has lost lock, and the direction of the laser radar is adjusted until the target distance meets the preset conditions. The specific implementation method is as follows: when it is determined that the laser radar has lost lock, it is determined whether there is a measured distance in the target distance that has not changed; when it is determined that there is a measured distance in the target distance that has not changed, the second motor is controlled to rotate in the direction of the corresponding laser radar where the measured distance has not changed until the target distance meets the preset conditions, and it is determined that the laser radar is locked again; wherein the second motor is a motor for controlling the horizontal direction of the laser radar.

[0075] In this step, the second motor is a motor that controls the horizontal direction of the laser radar.

[0076] Specifically, when it is determined that the laser radar has lost lock, it is determined whether there is a measured distance in the target distance that has not changed; when it is determined that there is a measured distance in the target distance that has not changed, the horizontal direction of the radar is adjusted in real time by controlling the second motor to rotate in the direction of the corresponding laser radar where the measured distance has not changed until the target distance meets the preset conditions, and it is determined that the laser radar is locked again.

[0077] The advantage of this setting is that it can monitor in real time whether the target distance meets the preset conditions, realize the safety protection of shunting advancement, and no manual monitoring is required in this process, thus improving the user experience.

[0078] The shunting and advancing safety protection method provided by the present invention is applied to a main control unit, by obtaining the horizontal test angle of a laser radar; determining whether the horizontal test angle meets a preset angle; when it is determined that the horizontal test angle does not meet the preset angle, the main control unit determines an offset according to the obtained horizontal test angle; according to the offset, the first motor is controlled to adjust the laser radar to a horizontal state; when it is determined that the laser radar is in a horizontal state, the measured distance between the measured vehicle moving in the working environment and the parked vehicle is obtained by the laser radar; determining whether the target distance meets a preset condition; if it is determined that the target distance meets the preset condition, the laser radar is determined to be in a locked state at this time, and the target distance is continuously monitored in real time, and the shunting and advancing safety protection of the measured carriage is performed based on the target distance; if it is determined that the target distance does not meet the preset condition, the laser radar is determined to lose the lock, and the direction of the laser radar is adjusted until the target distance meets the preset condition. . On the basis of the above embodiments, the technical solution of the present invention measures the influence of the setting environment of the laser radar on the target distance obtained by the laser radar during the measurement process by obtaining the horizontal test angle, and flexibly adjusts the horizontal and vertical directions of the laser radar based on the determined offset and target distance, thereby achieving the flexibility of shunting and advancing safety protection and testing of the tested carriage. At the same time, no manual participation is required throughout the process, thereby improving the user experience, so as to solve the defects of the prior art that special personnel participation is required, resulting in inflexible measurement, and the influence of the environment on the measurement distance during the determination process is not considered.

[0079] The shunting and propulsion safety protection device provided by the present invention is described below. The shunting and propulsion safety protection device described below and the shunting and propulsion safety protection method described above can be referred to each other.

[0080] Figure 3 This is a schematic diagram of the structure of the shunting propulsion safety protection device provided by the present invention, which is applied to the main control unit. Figure 3 As shown, the shunting and propulsion safety protection device 300 includes: an angle acquisition module 301, an offset determination module 302, a state determination module 303, a distance determination module 304 and a safety protection module 305; wherein, Angle acquisition module 301, used to acquire the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle acquired by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; The offset determination module 302 is used to determine the offset amount by the horizontal test angle when it is determined that the horizontal test angle does not meet the preset angle; wherein the preset angle is a preset reference angle; A state determination module 303 is used to adjust the laser radar to a horizontal state according to the offset; The distance determination module 304 is used to obtain the target distance through the laser radar; wherein the target distance is a set of at least two measured distances from the measured vehicle compartment obtained by at least two laser radars; The safety protection module 305 is used to perform shunting and advancing safety protection of the tested carriage according to the target distance.

[0081] In an exemplary embodiment, the state determination module 303 is specifically used to: control the first motor to adjust the laser radar according to the offset; wherein the first motor is a motor for controlling the vertical direction of the laser radar.

[0082] In an exemplary embodiment, the safety protection module 305 is specifically used to: determine whether the target distance meets the preset conditions; wherein the preset conditions are pre-set conditions for determining the target distance; if it is determined that the target distance meets the preset conditions, then the laser radar is locked, and the shunting and advancement safety protection of the measured carriage is performed; if it is determined that the target distance does not meet the preset conditions, then the laser radar is lost, and the direction of the laser radar is adjusted until the target distance meets the preset conditions.

[0083] In an exemplary embodiment, the safety protection module 305 determines that the laser radar has lost lock and adjusts the direction of the laser radar until the target distance meets the preset conditions, and is specifically used for: when it is determined that the laser radar has lost lock, determining whether there is a measured distance in the target distance that has not changed; when it is determined that there is a measured distance in the target distance that has not changed, controlling the second motor to rotate in the direction of the corresponding laser radar where the measured distance has not changed until the target distance meets the preset conditions, and determining that the laser radar is locked again; wherein the second motor is a motor for controlling the horizontal direction of the laser radar.

[0084] In an exemplary embodiment, the device further includes: a horizontal state determination module, configured to: determine that the laser radar is in a horizontal state when it is determined that the horizontal test angle satisfies a preset angle.

[0085] The device of this embodiment can be used to execute the method of any embodiment in the embodiment of the shunting and advancing safety protection method side. Its specific implementation process and technical effects are similar to those in the embodiment of the shunting and advancing safety protection method side. For details, please refer to the detailed description in the embodiment of the shunting and advancing safety protection method side, which will not be repeated here.

[0086] Figure 4 An example of a physical structure diagram of a main control unit is shown in FIG. Figure 4As shown, the main control unit may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the shunting and advancing safety protection method, which includes: obtaining the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; when it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a preset reference angle; according to the offset, the laser radar is adjusted to a horizontal state; the target distance is obtained by the laser radar; wherein the target distance is a set of measured distances of the measured carriage obtained by the laser radar; and the shunting and advancing safety protection of the measured carriage is performed according to the target distance.

[0087] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0088] Combine the following Figure 5-Figure 6 The shunting and propulsion safety protection system provided by the present invention is described. The shunting and propulsion safety protection system provided by the present invention can be applied to the situation of shunting and propulsion safety protection. Figure 5 This is one of the structural schematic diagrams of the shunting propulsion safety protection system provided by the present invention, such as Figure 5 As shown, the shunting propulsion safety protection system 500 includes the following: a level tester 501, a first motor 502, a second motor 503, at least two laser radars 504 and a main control unit 505 in this embodiment. The level tester is horizontally arranged on the laser radar, and the main control unit is connected to the level tester, the first motor, the second motor and the at least two laser radars respectively; wherein, A horizontal tester, used to obtain horizontal test angles corresponding to at least two laser radars; A main control unit, used to determine whether at least two laser radars are in a horizontal state according to a horizontal test angle; At least two laser radars, used to obtain the target distance between the laser radar and the measured vehicle compartment; The main control unit is also used to control the first motor to adjust the vertical direction of the laser radar according to the horizontal test angle, and control the second motor to adjust the horizontal direction of the laser radar according to the target distance; The main control unit is also used to provide shunting and advancement safety protection for the tested carriage according to the target distance.

[0089] In this step, the protective device is set on the first vehicle in the forward direction. The parked vehicle is a vehicle that stays in the working environment and does not move. Among them, the horizontal test angle is a test angle obtained by a horizontal tester, which is used to determine the angle of the horizontal degree of the laser radar. The horizontal tester is set on the laser radar, and the horizontal tester and the laser radar are set horizontally. The laser radar is set inside the shunting and propulsion safety protection device. The entire shunting and propulsion safety protection device is a whole. Before the propulsion operation starts, the laser radar is placed on the first vehicle in the propulsion direction, and the laser radar and the horizontal tester are both connected to the main control unit. The horizontal test angle is a horizontal plane with the laser radar and the sea level as the reference, which is not limited in this embodiment.

[0090] In this step, at least two laser radars are installed on a bracket of the shunting propulsion safety protection system, and the level tester can simultaneously detect the horizontal status of the at least two laser radars.

[0091] Specifically, the main control unit obtains the horizontal test angle of the laser radar through the horizontal tester set on the laser radar inside the shunting propulsion safety protection device, and then determines whether at least two laser radars are in a horizontal state according to the horizontal test angle; when the laser radar is not in a horizontal state, the offset is determined by the horizontal test angle, and the first motor is controlled to adjust the vertical direction of the laser radar according to the offset, so that the laser radar is in a horizontal state. Then, the target distance is obtained according to the laser radar, and it is determined whether the target distance meets the preset conditions. When it is determined that the target distance does not meet the preset conditions, the second motor is controlled to adjust the horizontal direction of the laser radar according to the target distance to achieve shunting propulsion safety protection of the tested carriage.

[0092] In a specific embodiment, Figure 6 This is the second structural diagram of the shunting propulsion safety protection system provided by the present invention, such as Figure 6As shown, the shunting propulsion safety protection system also includes a power supply unit 506, an audible and visual alarm unit 507 and a wireless communication unit 508, and the power supply unit, the audible and visual alarm unit and the wireless communication unit are all connected to the main control unit; wherein, A power supply unit, used to supply power to the main control unit; The sound and light alarm unit is used to send out alarm information, which is used to remind people in front of the vehicle to pay attention to the passing of vehicles and avoid them; The wireless communication unit is used to send the horizontal test angle, the horizontal status of at least two laser radars and the target distance received by the main control unit to the user device. The user device is placed in the driver's cab so that the driver can grasp the shunting and advancement safety protection status of the tested carriage in real time through the user device.

[0093] In this step, the alarm information is used to remind the person in front of the vehicle to pay attention to the passing of the vehicle and to avoid it. The user device may be, for example, a shunting machine controller, which is not limited in this embodiment.

[0094] Specifically, when it is determined that the laser radar is not in a horizontal state, the main control unit sends out an alarm message by controlling the sound and light alarm unit to remind people in front of the vehicle to pay attention to passing vehicles and to avoid them; and when the main control unit receives the horizontal test angle, the horizontal state of at least two laser radars and the target distance, it will send the horizontal test angle, the horizontal state of at least two laser radars and the target distance to the user device in real time through the wireless communication unit.

[0095] The advantage of this setting is that the user's device can grasp the status of shunting and advancement safety protection in real time, thereby improving the user's experience.

[0096] The shunting and propulsion safety protection system provided by the present invention includes a level tester, a first motor, a second motor, at least two laser radars and a main control unit in this embodiment, wherein the level tester is horizontally arranged on the laser radar, and the main control unit is respectively connected to the level tester, the first motor, the second motor and the at least two laser radars; wherein the level tester is used to obtain the horizontal test angles corresponding to the at least two laser radars; the main control unit is used to determine whether the at least two laser radars are in a horizontal state according to the horizontal test angles; the at least two laser radars are used to obtain the target distance between the laser radar and the measured car; the main control unit is also used to control the first motor to adjust the vertical direction of the laser radar according to the horizontal test angle, and control the second motor to adjust the horizontal direction of the laser radar according to the target distance; the main control unit is also used to perform shunting and propulsion safety protection of the measured car according to the target distance. On the basis of the above-mentioned embodiments, the technical solution of the present invention is that the main control unit obtains the horizontal test angle of the laser radar through the horizontal tester set on the laser radar inside the shunting propulsion safety protection device, and then determines whether at least two laser radars are in a horizontal state according to the horizontal test angle; when the laser radar is not in a horizontal state, the offset is determined by the horizontal test angle, and the first motor is controlled to adjust the vertical direction of the laser radar according to the offset, so that the laser radar is in a horizontal state. Then, the target distance is obtained according to the laser radar, and it is determined whether the target distance meets the preset conditions. When it is determined that the target distance does not meet the preset conditions, the second motor is controlled to adjust the horizontal direction of the laser radar according to the target distance to realize the shunting propulsion safety protection of the tested carriage.

[0097] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the shunting and advancement safety protection methods provided by the above methods, which include: obtaining a horizontal test angle of a laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; when it is determined that the horizontal test angle does not meet a preset angle, determining an offset through the horizontal test angle; wherein the preset angle is a pre-set reference angle; adjusting the laser radar to a horizontal state according to the offset; obtaining a target distance through the laser radar; wherein the target distance is a collection of measured distances of the measured car obtained by the laser radar; and performing shunting and advancement safety protection of the measured car according to the target distance.

[0098] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the above-mentioned methods for obtaining the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, which is used to determine the angle of the horizontal degree of the laser radar; when it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a pre-set reference angle; the laser radar is adjusted to a horizontal state according to the offset; the target distance is obtained by the laser radar; wherein the target distance is a collection of measured distances from the measured car obtained by the laser radar; and shunting and advancement safety protection of the measured car is performed according to the target distance.

[0099] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0100] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shunting propulsion safety protection method, characterized in that: Applicable to the main control unit, including: Obtaining a horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle obtained by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; When it is determined that the horizontal test angle does not meet the preset angle, the offset is determined by the horizontal test angle; wherein the preset angle is a pre-set reference angle; Adjust the laser radar to a horizontal state according to the offset; Obtaining a target distance by means of the laser radar; wherein the target distance is a set of measured distances from the measured compartment obtained by the laser radar; The shunting and advancing safety protection of the measured carriage is performed according to the target distance.

2. The shunting and advancing safety protection method according to claim 1 is characterized in that: The step of adjusting the laser radar to a horizontal state according to the offset includes: The laser radar is adjusted by controlling the first motor according to the offset; wherein the first motor is a motor for controlling the vertical direction of the laser radar.

3. The shunting and advancing safety protection method according to claim 1 is characterized in that: The step of performing shunting and advancing safety protection of the tested carriage according to the target distance includes: Determining whether the target distance satisfies a preset condition; wherein the preset condition is a pre-set condition for determining the target distance; If it is determined that the target distance meets the preset condition, the laser radar is locked, and the shunting and advancing safety protection of the measured carriage is performed; If it is determined that the target distance does not meet the preset condition, it is determined that the laser radar has lost lock, and the direction of the laser radar is adjusted until the target distance meets the preset condition.

4. The shunting and advancing safety protection method according to claim 3 is characterized in that: The step of determining that the laser radar loses lock and adjusting the direction of the laser radar until the target distance meets the preset condition includes: When it is determined that the laser radar has lost lock, determining whether there is a measurement distance in the target distance that has not changed; When it is determined that there is a measured distance that has not changed in the target distance, the second motor is controlled to rotate in the direction of the corresponding laser radar where the measured distance has not changed until the target distance meets the preset condition and it is determined that the laser radar is locked again; wherein, the second motor is a motor for controlling the horizontal direction of the laser radar.

5. The shunting and propulsion safety protection method according to any one of claims 1 to 4, characterized in that: Also includes: When it is determined that the horizontal test angle satisfies the preset angle, it is determined that the laser radar is in the horizontal state.

6. A shunting propulsion safety protection device, characterized in that: Applicable to the main control unit, including: An angle acquisition module, used to acquire the horizontal test angle of the laser radar; wherein the horizontal test angle is a test angle acquired by a horizontal tester, and is used to determine the angle of the horizontal degree of the laser radar; An offset determination module, configured to determine an offset amount by using the horizontal test angle when it is determined that the horizontal test angle does not meet a preset angle; wherein the preset angle is a preset reference angle; A state determination module, used for adjusting the laser radar to a horizontal state according to the offset; A distance determination module, used for obtaining a target distance through the laser radar; wherein the target distance is a set of at least two measured distances of the measured compartment obtained by at least two laser radars; A safety protection module is used to perform shunting and advancing safety protection of the tested carriage according to the target distance.

7. A main control unit, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the shunting propulsion safety protection method as described in any one of claims 1 to 5 is implemented.

8. A shunting propulsion safety protection system, characterized in that: include: A level tester, a first motor, a second motor, at least two laser radars and a main control unit as claimed in claim 7, wherein the level tester is horizontally arranged on the laser radar, and the main control unit is respectively connected to the level tester, the first motor, the second motor and at least two laser radars; wherein, The horizontal tester is used to obtain the horizontal test angles corresponding to the at least two laser radars; The main control unit is used to determine whether at least two laser radars are in a horizontal state according to the horizontal test angle; At least two of the laser radars are used to obtain a target distance between the laser radar and the measured vehicle compartment; The main control unit is further used to control the first motor to adjust the vertical direction of the laser radar according to the horizontal test angle, and control the second motor to adjust the horizontal direction of the laser radar according to the target distance; The main control unit is also used to perform shunting and advancing safety protection of the tested carriage according to the target distance.

9. The shunting propulsion safety protection system according to claim 8 is characterized in that: Also includes: A power supply unit, an audible and visual alarm unit and a wireless communication unit, wherein the power supply unit, the audible and visual alarm unit and the wireless communication unit are all connected to the main control unit; wherein, The power supply unit is used to supply power to the main control unit; The sound and light alarm unit is used to send out an alarm message, and the alarm message is used to remind people in front of the vehicle to pay attention to the passing of the vehicle and to avoid it. The wireless communication unit is used to send the target distance to a user device, and the user device is placed in the driver's cab, so that the driver can grasp the shunting and advancement safety protection status of the measured carriage in real time through the user device.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the shunting propulsion safety protection method as claimed in any one of claims 1 to 5 is implemented.

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