Transport vehicle unhooking detection method and device, electronic equipment and storage medium

Abstract

The invention provides a transport vehicle unhooking detection method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining ranging distance information, radar ranging information and coupler knuckle opening limit switch information, and setting a first unhooking detection condition, a second unhooking detection condition and a third unhooking detection condition based on a preset threshold value, if any two or three of the three unhooking detection conditions are met, stopping and unhooking abnormity alarming are carried out, if any one of the three unhooking detection conditions is met, sensor abnormity alarming is carried out, and the technical problem that misinformation and missing information are likely to occur in unhooking detection in the related technology is solved through the method.

Description

Technical Field

[0001] The present application relates to the technical field of transport vehicle equipment maintenance, and in particular to a transport vehicle uncoupling detection method, device, electronic equipment and storage medium. Background Art

[0002] In the current molten iron transportation system, the connection between locomotives and molten iron tank cars and tank cars relies on the James coupler. This connection mechanism, while ensuring the continuity of transportation, also faces the risk of decoupling. The James coupler, as a key component widely used in railway vehicle connections, has greatly promoted the safety and efficiency of railway transportation since its birth. The coupler is cleverly designed to achieve a quick and stable connection between vehicles through an automatic locking and unlocking mechanism, while facilitating separation when needed. However, although the James coupler performs well in most cases, it may also suffer from wear and deformation under extreme working conditions or long-term use, thereby increasing the risk of decoupling, which poses a potential safety threat to railway transportation, especially in heavy-load, high-risk areas such as molten iron transportation.

[0003] In the related art, the means of detecting the uncoupling of transport vehicles mainly rely on manual inspections. This method is limited by human observation ability and reaction speed, and it is difficult to ensure timeliness and accuracy. On the other hand, although there have been attempts to use displacement sensors for automated monitoring, the use of a single sensor is susceptible to environmental interference or its own failure, resulting in a high false alarm rate, which cannot meet the strict requirements of transport vehicles for high stability and reliability. Therefore, the existing uncoupling detection methods have obvious deficiencies in ensuring the safety of transport vehicles. Summary of the invention

[0004] In view of the shortcomings of the related technologies mentioned above, the present application provides a transport vehicle uncoupling detection method, device, electronic device and storage medium to solve the technical problem that uncoupling detection in the related technologies is prone to false alarms and missed alarms.

[0005] The present application provides a method for detecting uncoupling of a transport vehicle, the method comprising: obtaining distance information between the two transport vehicles, the distance information comprising ranging distance information and radar distance information, and obtaining a hook tongue opening limit switch signal of a coupler between the two transport vehicles; taking the ranging distance information being greater than a preset first distance threshold as a first uncoupling detection condition, taking the radar distance information being greater than a preset second distance threshold as a second uncoupling detection condition, and taking the hook tongue opening limit switch information signal being opened as a third uncoupling detection condition; if it is detected that any two of the first uncoupling detection condition, the second uncoupling detection condition, and the third uncoupling detection condition are satisfied between the two transport vehicles, or all three conditions are satisfied at the same time, it is determined that the two transport vehicles are uncoupling abnormal, and the transport vehicle control system controls the vehicle to stop and issues an uncoupling abnormal alarm; if it is detected that any one of the first uncoupling detection condition, the second uncoupling detection condition, and the third uncoupling detection condition is satisfied between the two transport vehicles, it is determined that the two transport vehicles are sensor abnormal, and the transport vehicle control system issues a sensor abnormal alarm.

[0006] In one embodiment of the present application, obtaining the ranging distance information includes: the ranging sensor emitting a laser signal and receiving a reflected laser signal; and calculating the ranging distance information between the two transport vehicles based on the emission time and reception time of the laser signal.

[0007] In one embodiment of the present application, obtaining the radar distance information includes: obtaining radar point cloud data, and obtaining a radar characteristic map based on the radar point cloud data; performing target detection on the radar characteristic map to obtain the center coordinates of the target transport vehicle; and obtaining the radar distance information based on the center coordinates of the target transport vehicle and preset radar center coordinates.

[0008] In one embodiment of the present application, before the transport vehicle control system controls the parking, it also includes: if it is determined that the two transport vehicles are uncoupled abnormally, and it is detected that the duration of the uncoupling abnormality exceeds the preset parking waiting time, the transport vehicle control system controls the parking and issues a uncoupling abnormality alarm; if it is determined that the two transport vehicles are uncoupled abnormally, but it is detected that the duration of the uncoupling abnormality does not exceed the preset parking waiting time and then returns to normal, the control system issues a sensor abnormality alarm.

[0009] In one embodiment of the present application, if it is detected that any one of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition is satisfied between the two transport vehicles, it is determined that the sensors of the two transport vehicles are abnormal, and the transport vehicle control system performs a sensor abnormality alarm, including: if it is detected that the first decoupling detection condition is satisfied between the two transport vehicles, but the second decoupling detection condition and the third decoupling detection condition are not satisfied between the two transport vehicles, and the duration exceeds a preset alarm waiting time, then the distance measuring sensor is abnormal, and the transport vehicle control system performs a distance measuring sensor abnormality alarm; if it is detected that the two transport vehicles meet the first decoupling detection condition, but the two transport vehicles do not meet the second decoupling detection condition and the third decoupling detection condition, and the duration exceeds a preset alarm waiting time, then the distance measuring sensor is abnormal, and the transport vehicle control system performs a distance measuring sensor abnormality alarm; If the second uncoupling detection condition is satisfied between the two transport vehicles, but the first uncoupling detection condition and the third uncoupling detection condition are not satisfied between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the radar sensor is abnormal, and the transport vehicle control system issues a radar sensor abnormality alarm; if it is detected that the third uncoupling detection condition is satisfied between the two transport vehicles, but the first uncoupling detection condition and the second uncoupling detection condition are not satisfied between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the hook tongue opening limit switch is abnormal, and the transport vehicle control system issues a hook tongue opening limit switch abnormality alarm.

[0010] In one embodiment of the present application, the transport vehicle uncoupling detection method also includes: installing a laser rangefinder and a reflector as a ranging sensor between multiple transport vehicles, and installing a laser radar as a radar sensor between the multiple transport vehicles; and setting the hook tongue opening limit switch on the coupler between the multiple transport vehicles.

[0011] In one embodiment of the present application, the transport vehicle uncoupling detection method also includes: if a uncoupling abnormal alarm is detected between any two transport vehicles, the transport vehicle control system controls the vehicle to stop and issues a uncoupling abnormal alarm; if a sensor abnormality is detected between any two transport vehicles, the transport vehicle control system issues a sensor abnormality alarm, and obtains abnormal sensor information and abnormal transport vehicle information of the sensor abnormality, and uploads the abnormal sensor information and the abnormal transport vehicle information to the maintenance system to dispatch maintenance personnel for maintenance.

[0012] The embodiment of the present application further provides a transport vehicle uncoupling detection device, the transport vehicle uncoupling detection device comprising: an information acquisition module, used to obtain the distance information between the two transport vehicles, the distance information comprising ranging distance information and radar distance information, and obtain the hook tongue opening limit switch signal of the coupler between the two transport vehicles; a condition preset module, used to take the ranging distance information greater than a preset first distance threshold as a first uncoupling detection condition, take the radar distance information greater than a preset second distance threshold as a second uncoupling detection condition, and take the hook tongue opening limit switch information number as opened as a third uncoupling detection condition; The uncoupling alarm module is used to determine that the two transport vehicles are uncoupling abnormal if it is detected that any two of the first uncoupling detection condition, the second uncoupling detection condition and the third uncoupling detection condition are met, or all three conditions are met at the same time, and the transport vehicle control system controls the vehicle to stop and issues an uncoupling abnormal alarm; the abnormal alarm module is used to determine that the two transport vehicles are sensor abnormal if it is detected that any one of the first uncoupling detection condition, the second uncoupling detection condition and the third uncoupling detection condition is met between the two transport vehicles, and the transport vehicle control system issues a sensor abnormality alarm.

[0013] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the transport vehicle uncoupling detection method as described in any of the above embodiments.

[0014] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute a transport vehicle uncoupling detection method as described in any one of the above embodiments.

[0015] Beneficial effects of the present application: The embodiments of the present application provide a method, device, electronic device and storage medium for detecting uncoupling of a transport vehicle. The method includes obtaining ranging distance information, radar ranging information and hook tongue opening limit switch information, and setting the first uncoupling detection condition, the second uncoupling detection condition and the third uncoupling detection condition based on a preset threshold value. If any two of the three uncoupling detection conditions are met or all three are met at the same time, a parking and uncoupling abnormality alarm is performed. If any one of the three uncoupling detection conditions is met, a sensor abnormality alarm is performed. This method solves the technical problem that uncoupling detection is prone to false alarms and missed alarms in related technologies. This multi-sensor fusion uncoupling detection method not only solves the uncertainty of the original manual monitoring and the false alarm problem of a single sensor, greatly improves the operating stability of the unmanned molten iron transport vehicle, but also can alarm abnormal sensors, greatly improving the convenience of system operation and maintenance.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of an implementation environment of a transport vehicle decoupling detection method shown in an exemplary embodiment of the present application;

[0018] Figure 2 is a flow chart of a method for detecting a transport vehicle uncoupling, shown in an exemplary embodiment of the present application;

[0019] Figure 3 is a flow chart of a transport vehicle uncoupling detection implementation shown in an exemplary embodiment of the present application;

[0020] Figure 4 is a block diagram of a transport vehicle uncoupling detection device shown in an exemplary embodiment of the present application;

[0021] Figure 5 It is a structural schematic diagram of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0022] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0024] It should be noted that in this application, "first", "second", etc. are only used to distinguish similar objects, and are not used to limit the order or precedence of similar objects. The variations of "including", "having", etc. described above indicate that the scope covered by the subject of the word is not exclusive except for the examples shown by the word.

[0025] It is understood that the various numbers, step numbers, and other reference numerals recorded in this application are distinguished for the convenience of description and are not intended to limit the scope of this application. The size of the reference numerals in this application does not mean the order of execution. The execution order of each process should be determined by its function and internal logic.

[0026] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0027] The embodiments of the present application respectively propose a transport vehicle uncoupling detection method, a transport vehicle uncoupling detection device, an electronic device, a computer-readable storage medium and a computer program product, which will be described in detail below.

[0028] See also Figure 1 , Figure 1 It is a schematic diagram of an implementation environment of a transport vehicle uncoupling detection method shown as an exemplary embodiment of the present application.

[0029] like Figure 1 As shown, the implementation environment may include multiple transport vehicles, wherein the multiple transport vehicles include a transport locomotive and multiple transport tank cars, wherein the transport locomotive is Figure 1 The first transport vehicle in the transport tanker is Figure 1 The second and third transport vehicles shown in Figure 1 The number of transport vehicles is shown for illustration only and does not limit the scope of this application.

[0030] In one embodiment of the present application, Figure 1 As shown, a laser rangefinder 101 and a reflector 104 are installed as distance measuring sensors between the transport locomotive and the transport tanker, and between the transport tanker and the transport tanker. A laser radar 102 is set as a radar sensor between the transport locomotive and the transport tanker, and between the transport tanker and the transport tanker. A hook tongue opening limit switch is set on the coupler between the transport locomotive and the transport tanker, and between the transport tanker and the transport tanker.

[0031] See also Figure 2 , Figure 2 is a flow chart of a method for detecting a vehicle uncoupling according to an exemplary embodiment of the present application. The method can be applied to Figure 1 The implementation environment shown is as follows. The method may also be applicable to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which the method is applicable.

[0032] like Figure 2 As shown, in an exemplary embodiment, the transport vehicle decoupling detection method includes at least steps S210 to S240, which are described in detail as follows:

[0033] Step S210, obtaining the distance information between the two transport vehicles, the distance information including the ranging distance information and the radar distance information, and obtaining the tongue opening limit switch signal of the coupler between the two transport vehicles.

[0034] In one embodiment of the present application, obtaining the ranging distance information includes: a ranging sensor emitting a laser signal and receiving a reflected laser signal; and calculating the ranging distance information between two transport vehicles based on the emission time and the reception time of the laser signal.

[0035] In one embodiment of the present application, obtaining radar distance information includes: obtaining radar point cloud data, and obtaining a radar characteristic map based on the radar point cloud data; performing target detection on the radar characteristic map to obtain the center coordinates of the target transport vehicle; and obtaining the radar distance information based on the center coordinates of the target transport vehicle and preset radar center coordinates.

[0036] In one embodiment of the present application, the VoxelNet algorithm is used to process the laser radar point cloud data. For the point cloud data, the three-dimensional point cloud is first converted into a Voxel structure, and then the subsequent processing is performed in the form of a bird's-eye view. Among them, the Voxel structure divides the three-dimensional space with cubes of the same size, and each cube is called a Voxel, i.e., a voxel. Starting from the radar point cloud data, data processing is performed in the feature recognition deep network, the convolutional intermediate layer, and the regional learning layer respectively to obtain the point cloud recognition result. Among them, the feature recognition deep network mainly includes segmentation (Voxelized), grouping (Grouping), random sampling (Random Sampling), stack feature extraction (Stacked Voxel Feature Encoding) and sparse array tensor (Sparse 4D Tensor). Among them, segmentation and grouping are to divide the radar point cloud data for later block processing. Set the size of Voxel to (1, 1, 1), and divide the space into 200*200*4=160000 Voxels. The subsequent random sampling and stack feature extraction process is used to classify and regress the target. All voxels share the same set of parameters, which are used to describe the method of generating voxel features to reduce the amount of calculation. The result is then processed into a sparse array tensor, and each voxel obtains features of the same length. These features are stacked together according to the spatial arrangement of the voxel to form a 4-dimensional feature map. The size of the iron ladle car feature map is initially set to (120, 120, 3, l), where l is the feature length of the voxel, which can be adjusted during the debugging process. The voxel features are compressed into a 3D form (120, 120, l) through the convolution intermediate layer and the regional learning layer through three-dimensional convolution. Then, the obtained radar feature map is used for target detection, and the center coordinates of the target transport vehicle can be obtained. Then, using the known radar center coordinates, the radar distance information L2 can be obtained.

[0037] In one embodiment of the present application, the decoupling detection method based on multi-sensor fusion not only solves the uncertainty of the original manual detection and the false alarm problem of a single sensor, but also greatly improves the operation stability of the unmanned molten iron transport vehicle. At the same time, it can also alarm abnormal sensors, greatly improving the convenience of system operation and maintenance.

[0038] Step S220, taking the ranging distance information greater than the preset first distance threshold as the first unhooking detection condition, taking the radar distance information greater than the preset second distance threshold as the second unhooking detection condition, and taking the hook tongue opening limit switch information as opened as the third unhooking detection condition.

[0039] Step S230, if it is detected that the two transport vehicles meet the first uncoupling detection condition, the second uncoupling detection condition and the third uncoupling detection condition, or meet all three conditions at the same time, it is determined that the two transport vehicles are uncoupled abnormally, and the transport vehicle control system controls the vehicle to stop and issues an abnormal uncoupling alarm.

[0040] In one embodiment of the present application, before the transport vehicle control system controls the stop, it also includes: if it is determined that the two transport vehicles are uncoupled abnormally, and it is detected that the duration of the uncoupling abnormality exceeds the preset stop waiting time, the transport vehicle control system controls the stop and issues a uncoupling abnormality alarm; if it is determined that the two transport vehicles are uncoupled abnormally, but it is detected that the duration of the uncoupling abnormality does not exceed the preset stop waiting time and then returns to normal, the control system issues a sensor abnormality alarm.

[0041] In one embodiment of the present application, the transport vehicle control system determines in real time whether the distance information L1 between the two transport vehicles is greater than the preset first distance threshold L_stop, whether the radar distance information L2 between the two transport vehicles is greater than the preset second distance threshold D_stop, or whether the hook tongue opening limit switch signal is triggered. If it satisfies greater than or equal to two of the conditions, the transport vehicle control system starts timing. When the duration T exceeds T_stop (preset parking waiting time), it is determined that there is an abnormal uncoupling between the two transport vehicles, and the control is to stop and an abnormal uncoupling alarm is issued. L_stop, D_stop and T_stop in this embodiment can be preset in advance and determined based on on-site debugging, wherein L_stop and D_stop can be set to the same value, or can be set to different values ​​according to the accuracy of the sensor.

[0042] Step S240: If it is detected that any one of the first unhooking detection condition, the second unhooking detection condition and the third unhooking detection condition is met between the two transport vehicles, it is determined that the sensors of the two transport vehicles are abnormal, and the transport vehicle control system issues a sensor abnormality alarm.

[0043] In one embodiment of the present application, if it is detected that any one of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition is met between the two transport vehicles, it is determined that the sensors of the two transport vehicles are abnormal, and the transport vehicle control system performs a sensor abnormality alarm, including: if it is detected that the first decoupling detection condition is met between the two transport vehicles, but the second decoupling detection condition and the third decoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the distance measuring sensor is abnormal, and the transport vehicle control system performs a distance measuring sensor abnormality alarm; if it is detected that the second decoupling detection condition is met between the two transport vehicles, but the first decoupling detection condition and the third decoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the radar sensor is abnormal, and the transport vehicle control system performs a radar sensor abnormality alarm; if it is detected that the third decoupling detection condition is met between the two transport vehicles, but the first decoupling detection condition and the second decoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the hook tongue opening limit switch is abnormal, and the transport vehicle control system performs a hook tongue opening limit switch abnormality alarm.

[0044] In one embodiment of the present application, the transport vehicle control system determines in real time whether the distance information L1 between the two transport vehicles is greater than the preset first distance threshold L_stop, whether the radar distance information L2 between the two transport vehicles is greater than the preset second distance threshold D_stop, or whether the hook tongue opening limit switch signal is triggered. If only any one of the conditions is met, the transport vehicle control system starts timing. When the duration T exceeds T_alarm (preset alarm waiting time), it is determined that a sensor abnormality occurs between the two transport vehicles. The corresponding abnormal sensor is determined by the abnormal sensor, and the transport machine control system alarms to prompt maintenance personnel to repair the abnormal sensor without affecting the unmanned operation of the transport vehicle. If all conditions are not met, the transport vehicle works normally. L_stop, D_stop and T_alarm in this embodiment can be preset in advance and determined based on on-site debugging, wherein L_stop and D_stop can be set to the same value, or can be set to different values ​​according to the accuracy of the sensor.

[0045] In one embodiment of the present application, the method for detecting the uncoupling of a transport vehicle further includes: installing a laser rangefinder and a reflector as a range sensor between multiple transport vehicles, installing a laser radar as a radar sensor between multiple transport vehicles; and setting a hook tongue opening limit switch on the coupler between the multiple transport vehicles.

[0046] In one embodiment of the present application, the transport vehicle uncoupling detection method also includes: if a uncoupling abnormal alarm is detected between any two transport vehicles, the transport vehicle control system controls the vehicle to stop and issues a uncoupling abnormal alarm; if a sensor abnormality is detected between any two transport vehicles, the transport vehicle control system issues a sensor abnormality alarm, and obtains abnormal sensor information and abnormal transport vehicle information of the sensor abnormality, and uploads the abnormal sensor information and abnormal transport vehicle information to the maintenance system to dispatch maintenance personnel for maintenance.

[0047] See also Figure 3 , Figure 3 It is a flow chart of a transport vehicle uncoupling detection implementation shown by an exemplary embodiment of the present application. In one embodiment of the present application, the laser rangefinder data on the transport locomotive or transport tank truck (transport vehicle) and the laser radar are read to scan the transport vehicle contour in real time, and the transport vehicle point cloud data is obtained. The shape of the transport vehicle is fitted according to the point cloud data, and the hook tongue opening limit switch signal on the transport vehicle coupler is monitored in real time. The distance L1 (ranging distance information) between the transport locomotive and the transport tank truck or the transport tank truck and the transport tank truck is calculated based on the laser rangefinder data, and the distance L2 (radar distance information) between the transport locomotive and the transport tank truck or the transport tank truck and the transport tank truck is calculated based on the transport vehicle shape. If L1>L_stop or L2>D_stop or the hook tongue opening limit switch signal is triggered, and any two or three of the conditions are met and the duration is T>T_stop, the transport vehicle control system controls the vehicle to stop. If L1>L_stop or L2>D_stop or the hook tongue opening limit switch signal is triggered, and only any one of the conditions is met and the duration is T>T_alarm, the sensor abnormal alarm is triggered. If L1>L_stop or L2>D_stop or the hook tongue opening limit switch signal is triggered and any one of the conditions is not met, the transport vehicle control system controls the transport vehicle to operate normally.

[0048] See also Figure 4 , Figure 4 is a block diagram of a transport vehicle uncoupling detection device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown is as follows. The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0049] like Figure 4 As shown, the exemplary transport vehicle uncoupling detection device includes:

[0050] The information acquisition module 401 is used to obtain the distance information between the two transport vehicles, the distance information includes the ranging distance information and the radar distance information, and obtain the tongue opening limit switch signal of the coupler between the two transport vehicles;

[0051] The condition preset module 402 is used to set the ranging distance information greater than the preset first distance threshold as the first decoupling detection condition, set the radar distance information greater than the preset second distance threshold as the second decoupling detection condition, and set the hook tongue opening limit switch information number as opened as the third decoupling detection condition;

[0052] The decoupling alarm module 403 is used to determine that the two transport vehicles are decoupled abnormally if it is detected that any two of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition are met, or all three conditions are met at the same time, and the transport vehicle control system controls the vehicle to stop and issues a decoupling abnormality alarm;

[0053] The abnormal alarm module 404 is used to determine that the sensors of the two transport vehicles are abnormal if it is detected that any one of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition is met between the two transport vehicles, and the transport vehicle control system issues a sensor abnormality alarm.

[0054] Figure 5 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 5 The computer system 500 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0055] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method described in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0056] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0057] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 509, and / or installed from a removable medium 511. When the computer program is executed by a central processing unit (CPU) 501, various functions defined in the system of the present application are executed.

[0058] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0059] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0060] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0061] Another aspect of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to execute the above-described transport vehicle unhooking detection method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

[0062] Another aspect of the present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the transport vehicle decoupling detection method provided in each of the above embodiments.

[0063] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for detecting uncoupling of a transport vehicle, characterized in that: The transport vehicle uncoupling detection method comprises: Acquire the distance information between the two transport vehicles, the distance information including the ranging distance information and the radar distance information, and acquire the tongue opening limit switch signal of the coupler between the two transport vehicles; The distance information of the range measurement is greater than the preset first distance threshold as the first decoupling detection condition, the radar distance information is greater than the preset second distance threshold as the second decoupling detection condition, and the hook tongue opening limit switch information number is opened as the third decoupling detection condition; If it is detected that the two transport vehicles meet any two of the first uncoupling detection condition, the second uncoupling detection condition and the third uncoupling detection condition, or meet all three conditions at the same time, it is determined that the two transport vehicles are uncoupling abnormally, and the transport vehicle control system controls the vehicle to stop and issues an uncoupling abnormality alarm; If it is detected that any one of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition is met between the two transport vehicles, it is determined that the sensors of the two transport vehicles are abnormal, and the transport vehicle control system issues a sensor abnormality alarm.

2. The method for detecting uncoupling of a transport vehicle according to claim 1, characterized in that: Acquiring the ranging distance information includes: The distance measuring sensor emits a laser signal and receives a reflected laser signal; The distance information between the two transport vehicles is calculated based on the emission time and the reception time of the laser signal.

3. The method for detecting uncoupling of a transport vehicle according to claim 1, characterized in that: Acquiring the radar distance information includes: Acquire radar point cloud data, and obtain a radar feature map based on the radar point cloud data; Performing target detection on the radar characteristic image to obtain the center coordinates of the target transport vehicle; The radar distance information is obtained according to the center coordinates of the target transport vehicle and the preset radar center coordinates.

4. The method for detecting uncoupling of a transport vehicle according to any one of claims 1 to 3, characterized in that: Before the transport vehicle control system controls the parking, it also includes: If it is determined that the two transport vehicles are uncoupled abnormally, and it is detected that the duration of the uncoupling abnormality exceeds the preset parking waiting time, the transport vehicle control system controls the vehicle to stop and issues an uncoupling abnormality alarm; If it is determined that the two transport vehicles are decoupled abnormally, but it is detected that the decoupling abnormality lasts for less than the preset parking waiting time before returning to normal, the control system will issue a sensor abnormality alarm.

5. The method for detecting uncoupling of a transport vehicle according to any one of claims 1 to 3, characterized in that: If it is detected that any one of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition is satisfied between the two transport vehicles, it is determined that the sensors of the two transport vehicles are abnormal, and the transport vehicle control system performs a sensor abnormality alarm including: If it is detected that the first decoupling detection condition is met between the two transport vehicles, but the second decoupling detection condition and the third decoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the distance measuring sensor is abnormal, and the transport vehicle control system issues a distance measuring sensor abnormality alarm; If it is detected that the second decoupling detection condition is met between the two transport vehicles, but the first decoupling detection condition and the third decoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the radar sensor is abnormal, and the transport vehicle control system issues a radar sensor abnormality alarm; If it is detected that the third uncoupling detection condition is met between the two transport vehicles, but the first uncoupling detection condition and the second uncoupling detection condition are not met between the two transport vehicles, and the duration exceeds the preset alarm waiting time, then the hook tongue opening limit switch is abnormal, and the transport vehicle control system issues a hook tongue opening limit switch abnormal alarm.

6. The method for detecting uncoupling of a transport vehicle according to any one of claims 1 to 3, characterized in that: The transport vehicle uncoupling detection method further comprises: A laser rangefinder and a reflector are installed between the multiple transport vehicles as distance measuring sensors, and a laser radar is installed between the multiple transport vehicles as a radar sensor; The hook tongue opening limit switch is arranged on the hook between the multi-section transport vehicles.

7. The method for detecting uncoupling of a transport vehicle according to any one of claim 6, characterized in that: The transport vehicle uncoupling detection method further comprises: If a decoupling abnormal alarm is detected between any two transport vehicles, the transport vehicle control system controls the vehicle to stop and issues a decoupling abnormal alarm; If a sensor abnormality is detected between any two transport vehicles, the transport vehicle control system will issue a sensor abnormality alarm, and obtain abnormal sensor information and abnormal transport vehicle information of the sensor abnormality, and upload the abnormal sensor information and the abnormal transport vehicle information to the maintenance system to dispatch maintenance personnel for maintenance.

8. A transport vehicle unhooking detection device, characterized in that: The transport vehicle uncoupling detection device comprises: An information acquisition module is used to obtain the distance information between the two transport vehicles, the distance information includes ranging distance information and radar distance information, and obtain the tongue opening limit switch signal of the coupler between the two transport vehicles; A condition preset module, used for taking the distance information of the ranging being greater than a preset first distance threshold as a first decoupling detection condition, taking the radar distance information being greater than a preset second distance threshold as a second decoupling detection condition, and taking the information number of the hook tongue opening limit switch being opened as a third decoupling detection condition; A decoupling alarm module is used to determine that the two transport vehicles are decoupled abnormally if it is detected that any two of the first decoupling detection condition, the second decoupling detection condition and the third decoupling detection condition are met, or all three conditions are met at the same time, and the transport vehicle control system controls the vehicle to stop and issues a decoupling abnormality alarm; The abnormal alarm module is used to determine that the sensors of the two transport vehicles are abnormal if it is detected that any one of the first unhooking detection condition, the second unhooking detection condition and the third unhooking detection condition is met between the two transport vehicles, and the transport vehicle control system issues a sensor abnormality alarm.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the transport vehicle uncoupling detection method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the transport vehicle uncoupling detection method as described in any one of claims 1-7.

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