Anti-limit-invasion control method and system for folding conveying belt for whole vehicle railway

Abstract

The invention provides an anti-limit-invasion control method and system for a folding conveying belt for a whole vehicle railway. The method comprises the steps that three-axis acceleration information of the folding conveying belt in the transportation process is collected; determining an invasion limit weight corresponding to each axis in the three-axis acceleration information based on the anti-invasion limit direction, and performing peak feature extraction on the three-axis acceleration information based on the invasion limit weight corresponding to each axis to obtain a transportation invasion limit feature of the folding conveyor belt; carrying out transportation deviation trend extraction on the three-axis acceleration information based on the transportation weight corresponding to each axis to obtain the transportation deviation trend of the folding conveying belt; according to the method, a railway ground vibration signal is obtained, anti-invasion limit judgment is carried out on the folded conveying belt according to the transportation deviation trend and the transportation invasion limit characteristics, an anti-invasion limit result is sent to a conveying belt control center, anti-invasion limit judgment can be carried out based on the deviation trend and the invasion limit characteristics in the conveying process of the conveying belt, and active anti-invasion limit in the conveying process is achieved.

Description

Technical Field

[0001] This application relates to the technical field of folding conveyor belts, and more specifically, to an anti-infringement control method and system for a folding conveyor belt used in whole-vehicle railway transportation. Background Art

[0002] With the rapid development of the railway transportation industry, the automation and intelligence levels of railway equipment have been continuously improved. Especially during the whole-vehicle railway transportation process, the requirements for cargo transfer efficiency and equipment operation safety are increasing day by day. As a key auxiliary equipment in railway cargo transfer, the folding conveyor belt is widely used in the railway transportation system due to its compact structure, convenient installation, and flexible operation. However, during the actual operation process, the folding conveyor belt often experiences phenomena such as deviation or side slip due to factors such as uneven stress, uneven terrain, and loose mechanical structures. Once the conveyor belt deviates into the railway clearance area, it not only affects the transportation efficiency but also may pose a serious threat to the safety of train operation.

[0003] Existing anti-infringement systems mainly include planar perimeter fences set by laser or infrared pair-beam methods, which alarm when an object passes through or blocks the laser or infrared perimeter. By modeling the video features of large machinery and making judgments and alarms through video recognition. However, the method using laser or infrared pair-beam has a large floor area and realizes passive anti-infringement, and can only complete the infringement recognition after the infringement phenomenon occurs. Therefore, how to achieve active anti-infringement of the folding conveyor belt during the transportation process has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides an anti-infringement control method and system for a folding conveyor belt used in whole-vehicle railway transportation, which can perform anti-infringement judgment based on the deviation trend and infringement characteristics during the transportation of the conveyor belt, and realize active anti-infringement during the transportation process.

[0005] In a first aspect, this application provides an anti-infringement control method for a folding conveyor belt used in whole-vehicle railway transportation. This method can be executed by a network device, or alternatively, by a chip configured in the network device. This application does not make any limitations in this regard.

[0006] Specifically, the method includes: Collect the three-axis acceleration information of the folding conveyor belt during transportation; Based on the anti-infringement direction, determine the infringement weights corresponding to each axis in the three-axis acceleration information, and extract the peak characteristics of the three-axis acceleration information according to the infringement weights corresponding to each axis to obtain the transportation infringement characteristics of the folding conveyor belt; Determine the transportation weights corresponding to each axis in the three-axis acceleration information based on the transportation direction of the folding conveyor belt, and extract the transportation offset trend of the folding conveyor belt from the three-axis acceleration information according to the transportation weights corresponding to each axis; Obtain the railway ground vibration signal, and perform an anti-invasion limit judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation invasion limit characteristics, and send the anti-invasion limit result to the conveyor belt control center.

[0007] Combined with the first aspect, in some implementation manners of the first aspect, collect the three-axis acceleration information of the folding conveyor belt during transportation through a three-axis acceleration sensor.

[0008] Combined with the first aspect, in some implementation manners of the first aspect, the anti-invasion limit direction is the vertical direction between the middle support position of the folding conveyor belt and the railway.

[0009] Combined with the first aspect, in some implementation manners of the first aspect, determining the invasion limit weights corresponding to each axis in the three-axis acceleration information based on the anti-invasion limit direction specifically includes: establishing a three-dimensional space coordinate system according to the three-axis acceleration information; obtaining the unit vector of the anti-invasion limit direction in the three-dimensional space coordinate system, and respectively taking the coordinate values corresponding to the unit vector on each axis as the invasion limit weights corresponding to each axis in the three-axis acceleration information.

[0010] Combined with the first aspect, in some implementation manners of the first aspect, extracting the transportation invasion limit characteristics of the folding conveyor belt from the three-axis acceleration information according to the invasion limit weights corresponding to each axis specifically includes: Perform weighted fusion on the three-axis acceleration information based on the invasion limit weights corresponding to each axis to obtain an invasion acceleration sequence; Define multiple time windows, determine the invasion acceleration peaks in each time window according to each invasion acceleration value and the corresponding time tag in the invasion acceleration sequence, and form the transportation invasion limit characteristics according to the time sequence.

[0011] Combined with the first aspect, in some implementation manners of the first aspect, performing an anti-invasion limit judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation invasion limit characteristics specifically includes: Obtain the preset transportation invasion limit weight and the initial transportation offset weight; Extract the vibration energy trend from the railway ground vibration signal, determine the trend correlation index between the vibration energy trend and the transportation offset trend, and perform weight correction on the initial transportation offset weight based on the trend correlation index to obtain the corrected transportation offset weight; Based on the transportation intrusion weight and the transportation offset correction weight respectively, the transportation offset trend of the folding conveyor belt and the transportation intrusion characteristics are fused with risk weighting to obtain an anti-intrusion risk coefficient; According to the anti-intrusion risk coefficient and a preset risk threshold, an anti-intrusion determination is made on the folding conveyor belt.

[0012] Combined with the first aspect, in some implementation manners of the first aspect, railway ground vibration signals are collected by a ground vibration sensor disposed at the bottom of the conveyor belt support.

[0013] In a second aspect, the present application provides an anti-intrusion control system for a folding conveyor belt for a whole vehicle on railway, which includes a transportation intrusion control unit, and the transportation intrusion control unit includes: A transportation information acquisition module, configured to acquire triaxial acceleration information of the folding conveyor belt during transportation; A transportation information processing module, configured to determine intrusion weights corresponding to each axis in the triaxial acceleration information, and perform peak feature extraction on the triaxial acceleration information according to the intrusion weights corresponding to each axis to obtain transportation intrusion characteristics of the folding conveyor belt; The transportation information processing module is further configured to determine transportation weights corresponding to each axis in the triaxial acceleration information based on the transportation direction of the folding conveyor belt, and perform transportation offset trend extraction on the triaxial acceleration information according to the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; A transportation intrusion determination module, configured to acquire railway ground vibration signals, perform anti-intrusion determination on the folding conveyor belt according to the railway ground vibration signals, the transportation offset trend of the folding conveyor belt, and the transportation intrusion characteristics, and send an anti-intrusion result to a conveyor belt control center.

[0014] In a third aspect, the present application provides a computer terminal device, which includes a memory and a processor, the memory stores code, and the processor is configured to acquire the code and execute an anti-intrusion control method for a folding conveyor belt for a whole vehicle on railway as described above.

[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which stores at least one computer program, and the computer program is loaded and executed by a processor to implement the operations performed by the above-mentioned anti-intrusion control method for a folding conveyor belt for a whole vehicle on railway.

[0016] The technical solutions provided by the disclosed embodiments of the present application have the following beneficial effects: In a folding conveyor belt anti-infringement control method and system for a whole vehicle railway provided by this application, first, the triaxial acceleration information of the folding conveyor belt during transportation is collected; based on the anti-infringement direction, the infringement weights corresponding to each axis in the triaxial acceleration information are determined, and peak feature extraction is performed on the triaxial acceleration information based on the infringement weights corresponding to each axis to obtain the transportation infringement feature of the folding conveyor belt; based on the transportation direction of the folding conveyor belt, the transportation weights corresponding to each axis in the triaxial acceleration information are determined, and the transportation offset trend is extracted from the triaxial acceleration information based on the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; the railway ground vibration signal is acquired, and anti-infringement judgment is performed on the folding conveyor belt according to the transportation offset trend and the transportation infringement feature, and the anti-infringement result is sent to the conveyor belt control center.

[0017] Therefore, it can be seen that by collecting the triaxial acceleration information of the folding conveyor belt during operation in real time, compared with the traditional passive detection means that only rely on external intrusion detection (such as laser pair shooting), this application can sense the change of the transportation state from the inside of the folding conveyor belt, realize the active anti-infringement detection of the folding conveyor belt, and then extract the transportation infringement feature according to the triaxial acceleration information for identifying sudden abnormal behaviors during transportation, extract the transportation offset trend for identifying the chronic drift hidden danger of the conveyor belt during transportation, and introduce the railway ground vibration signal to identify the part caused by background disturbance in the transportation offset trend, avoid anti-infringement false alarms, enhance the system's ability to identify real risks, and improve the accuracy and robustness of anti-infringement judgment.

[0018] In summary, this application can perform anti-infringement judgment based on the offset trend and infringement feature during the transportation of the conveyor belt, and realize active anti-infringement during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is an exemplary flowchart of a folding conveyor belt anti-infringement control method for a whole vehicle railway according to some embodiments of this application; Figure 2 is a schematic structural diagram of a transportation infringement control unit according to some embodiments of this application; Figure 3 is a schematic structural diagram of a computer terminal device for implementing a folding conveyor belt anti-infringement control method for a whole vehicle railway according to some embodiments of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] This application collects the triaxial acceleration information of the folding conveyor belt during transportation; determines the intrusion weights corresponding to each axis in the triaxial acceleration information based on the anti-intrusion direction, and extracts the peak characteristics of the triaxial acceleration information based on the intrusion weights corresponding to each axis to obtain the transportation intrusion characteristics of the folding conveyor belt; determines the transportation weights corresponding to each axis in the triaxial acceleration information based on the transportation direction of the folding conveyor belt, and extracts the transportation offset trend of the triaxial acceleration information based on the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; obtains the railway ground vibration signal, judges the anti-intrusion of the folding conveyor belt according to the transportation offset trend and the transportation intrusion characteristics, and sends the anti-intrusion result to the conveyor belt control center, which can judge the anti-intrusion based on the offset trend and intrusion characteristics during the conveyor belt transportation, and realizes the active anti-intrusion during the transportation process.

[0021] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the specification drawings and specific embodiments. Refer to Figure 1 , which is an exemplary flowchart of a method for controlling anti-intrusion of a folding conveyor belt for a whole vehicle used on railways according to some embodiments of the present application. The method 100 for controlling anti-intrusion of a folding conveyor belt for a whole vehicle used on railways mainly includes the following steps: In step S101, collect the triaxial acceleration information of the folding conveyor belt during transportation.

[0022] Preferably, in some embodiments, the triaxial acceleration information of the folding conveyor belt during transportation is collected by a triaxial acceleration sensor; specifically, the triaxial acceleration sensor is arranged on the middle bracket of the folding conveyor belt. In some other embodiments, it can also be arranged on the tail roller of the folding conveyor belt. The present application does not make any limitations in this regard.

[0023] Preferably, in some embodiments, the present application sets the sampling frequency of the triaxial acceleration sensor to 500 Hz through the STM32 single-chip microcomputer controller and stores the collected triaxial acceleration information in the form of matrix data.

[0024] In step S102, determine the intrusion weights corresponding to each axis in the triaxial acceleration information based on the anti-intrusion direction, and extract the peak characteristics of the triaxial acceleration information according to the intrusion weights corresponding to each axis to obtain the transportation intrusion characteristics of the folding conveyor belt.

[0025] It should be noted that the anti-invasion direction described in this application is the vertical direction between the middle support position of the folding conveyor belt and the railway, specifically the lateral direction perpendicular to the railway operation direction and pointing to the center of the track, which is used to judge whether the conveyor belt deviates towards the railway direction and there is a risk of invasion. Further, in an embodiment of the present invention, based on the anti-invasion direction between the folding conveyor belt and the railway, the main invasion direction in the three acceleration axes is determined, and the invasion direction vector is determined accordingly; the acceleration information of each axis is weighted and fused according to this direction vector to form a fusion acceleration signal reflecting the invasion risk; then the peak characteristics in the fusion signal are extracted based on the sliding time window to obtain the transportation invasion characteristics for anti-invasion judgment.

[0026] Preferably, in some embodiments, determining the invasion weights corresponding to each axis in the three-axis acceleration information based on the anti-invasion direction specifically includes: establishing a three-dimensional space coordinate system according to the three-axis acceleration information; obtaining the unit vector of the anti-invasion direction in the three-dimensional space coordinate system, and respectively taking the coordinate values corresponding to the unit vector on each axis as the invasion weights corresponding to each axis in the three-axis acceleration information.

[0027] It should be noted that the transportation invasion characteristics described in this application are instantaneous dynamic characteristic indexes extracted in the anti-invasion direction based on the three-axis acceleration signal of the conveyor belt, which are used to identify the risk characteristics of sudden overstep behavior. Preferably, in some embodiments, extracting the peak characteristics of the three-axis acceleration information according to the invasion weights corresponding to each axis to obtain the transportation invasion characteristics of the folding conveyor belt specifically includes: Performing weighted fusion on the three-axis acceleration information according to the invasion weights corresponding to each axis to obtain an invasion acceleration sequence; Defining a plurality of time windows, determining the invasion acceleration peaks in each time window according to each invasion acceleration value and the corresponding time tag in the invasion acceleration sequence, and forming the transportation invasion characteristics according to the time sequence.

[0028] In specific implementation, the acceleration data is obtained from the three-axis acceleration sensor on the folding conveyor belt, which are the acceleration sequences of the X-axis, Y-axis, and Z-axis respectively. The invasion weights corresponding to the three axes are calculated according to the anti-invasion direction. The weights reflect the influence degree of the acceleration of each axis on the invasion risk. Generally, the weights are non-negative real numbers, and the sum of the weights can be normalized to 1. For the three-axis acceleration data at each time point, weighted summation is performed according to the corresponding invasion weights to obtain the invasion acceleration values corresponding to each time point, and the invasion acceleration sequence is formed according to the time sequence.

[0029] Specifically, in some embodiments, when weighted fusing the triaxial acceleration information based on the intrusion weights corresponding to each axis to obtain the intrusion acceleration sequence, the triaxial acceleration information includes multiple time points collected and the corresponding triaxial acceleration values respectively. For the triaxial acceleration data at each time point, weighted summation is performed according to the corresponding intrusion weights. Among them, the intrusion acceleration value = the intrusion weight corresponding to the X-axis × the acceleration value corresponding to the X-axis + the intrusion weight corresponding to the Y-axis × the acceleration value corresponding to the Y-axis + the intrusion weight corresponding to the Z-axis × the acceleration value corresponding to the Z-axis. Then, according to the intrusion acceleration values calculated for each time point, they are arranged in sequence to form a one-dimensional intrusion acceleration time series. For example: Triaxial acceleration data (unit: meters per second squared)

[0030] Among them, the intrusion weight corresponding to the X-axis: 0.2 The intrusion weight corresponding to the Y-axis: 0.6 The intrusion weight corresponding to the Z-axis: 0.2 For each time point, weighted calculation: t = 1: 0.2×0.5 + 0.6×0.7 + 0.2×0.4 = 0.10 + 0.42 + 0.08 = 0.60 t = 2: 0.2×0.6 + 0.6×0.8 + 0.2×0.5 = 0.12 + 0.48 + 0.10 = 0.70 t = 3: 0.2×0.4 + 0.6×0.6 + 0.2×0.6 = 0.08 + 0.36 + 0.12 = 0.56 t = 4: 0.2×0.8 + 0.6×0.9 + 0.2×0.4 = 0.16 + 0.54 + 0.08 = 0.78 t = 5: 0.2×0.7 + 0.6×1.0 + 0.2×0.3 = 0.14 + 0.60 + 0.06 = a0.80 t = 6: 0.2×0.3 + 0.6×0.6 + 0.2×0.2 = 0.06 + 0.36 + 0.04 = 0.46 The obtained intrusion acceleration sequence is as follows: [0.60, 0.70, 0.56, 0.78, 0.80, 0.46] Then, divide every 3 seconds into a time window (window size = 3) Window 1 (t = 1 to t = 3) corresponding values: [0.60, 0.70, 0.56] → Peak = 0.70 Window 2 (t = 4 to t = 6) corresponding values: [0.78, 0.80, 0.46] → Peak = 0.80 The transportation intrusion feature is the peak sequence in each time window arranged in chronological order. The final transportation intrusion feature output by the system is: [0.70, 0.80].

[0031] In step S103, based on the transportation direction of the folding conveyor belt, determine the transportation weights corresponding to each axis in the triaxial acceleration information, and extract the transportation offset trend of the triaxial acceleration information according to the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt.

[0032] It should be noted that although both the transportation offset trend and the transportation intrusion feature in this application are judgment bases extracted based on acceleration signals, the physical phenomena, extraction methods, and uses they focus on are completely different. The transportation offset trend reflects that during the normal operation of the conveyor belt, due to the slight subsidence of the foundation of one side support, the overall folding conveyor belt will slowly skew to one side. Although the amplitude is small, it accumulates continuously, eventually leading to the intrusion of the folding conveyor belt, reflecting the chronic trend of intrusion. The transportation intrusion feature indicates that the conveyor belt is subjected to a sudden lateral thrust or jamming, resulting in rapid side-slip or jumping, which is manifested as a peak mutation in a certain axial direction within a short time in the acceleration data, such as an instantaneous change of ±0.7m / s^2, reflecting the rapid change feature of intrusion. In this application, intrusion judgment is made based on the transportation offset trend and the transportation intrusion feature, which can not only identify the current rapid intrusion behavior but also identify the chronic offset trend that will accumulate and lead to intrusion subsequently, thus completing the active anti-intrusion identification during the transportation process of the folding conveyor belt.

[0033] It should be noted that the acceleration fluctuation of the folding conveyor belt in the transportation direction is affected by specific working conditions, and the possibility of intrusion danger usually occurs less. The offset danger often occurs in the non-transportation direction, such as the lateral support slip. When extracting the chronic offset trend, the weight of the transportation direction should be weakened to improve the sensitivity of identifying the acceleration change in the non-expected direction. To suppress the influence of the acceleration offset in the transportation direction on trend judgment and enhance the perception ability of the chronic offset in the non-transportation direction, in some specific embodiments of this application, determining the transportation weights corresponding to each axis in the triaxial acceleration information based on the transportation direction of the folding conveyor belt specifically includes: obtaining the unit vector of the transportation direction of the folding conveyor belt in the three-dimensional space coordinate system as the transportation vector, and after normalizing the reciprocals of the coordinate values corresponding to the transportation vector on each axis, respectively, as the transportation weights corresponding to each axis in the triaxial acceleration information.

[0034] In specific implementation, since the set direction of the triaxial acceleration sensor sometimes coincides with the transportation direction of the conveyor belt, to avoid meaningless transportation weights, when setting the code, the coordinate values corresponding to the transportation vector on each axis can be added with a preset minimum value and then take the reciprocal, and after normalizing its absolute value, they are respectively used as the transportation weights corresponding to each axis in the triaxial acceleration information.

[0035] Specifically, in some embodiments, in the process of determining the transportation weights corresponding to each axis in the triaxial acceleration information based on the transportation direction of the folding conveyor belt, first, a three-dimensional space coordinate system is constructed based on the acceleration detection direction of the triaxial acceleration sensor, and then the transportation direction of the folding conveyor belt is marked in the three-dimensional space coordinate system to obtain the corresponding unit direction vector. For example, the transportation direction vector of the folding conveyor belt in the three-dimensional space coordinate system is: V = (3, 4, 12), the calculated vector modulus is 13, and the unit transportation vector is: (3 / 13, 4 / 13, 12 / 13). Then, after adding the minimum value to each component and taking the reciprocal, e^-2 is commonly used as the minimum value in engineering. In this embodiment, the reciprocal return value corresponding to the X axis: 1 / (0.231 + e^-2) ≈ 4.15, the reciprocal return value corresponding to the Y axis 1 / (0.308 + e^-2) ≈ 3.14, the reciprocal return value corresponding to the Z axis 1 / (0.923 + 0.01) ≈ 1.072. Then, after normalizing the reciprocal return values corresponding to each axis, the transportation weight of the X axis is 0.496, the transportation weight corresponding to the Y axis is 0.376, and the transportation weight corresponding to the Z axis is 0.128.

[0036] Preferably, in some embodiments, extracting the transportation offset trend of the folding conveyor belt according to the transportation weights corresponding to each axis from the triaxial acceleration information specifically includes: Performing weighted fusion on the triaxial acceleration information based on the transportation weights corresponding to each axis to obtain an offset acceleration sequence; Define multiple time windows, determine the average offset acceleration in each time window according to each offset acceleration value and the corresponding time tag in the offset acceleration sequence, and form a transportation offset trend according to the time sequence.

[0037] In step S104, obtain the railway ground vibration signal, perform an anti-invasion limit judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation invasion limit characteristics, and send the anti-invasion limit result to the conveyor belt control center.

[0038] It should be noted that the passing of trains on the railway will cause local synchronous vibration of the folding conveyor belt. From the perspective of the acceleration trend, there may be a false offset trend. If interference recognition is not carried out, false alarms of anti-invasion limit are likely to occur. Optionally, in some embodiments, the vibration sensor installed at the foundation of the conveyor belt support is used to obtain the railway ground vibration signal, and the railway ground vibration signal is used to identify the environmental vibration caused by the passing of trains on the railway, so as to avoid the interference of the judgment of the transportation offset trend.

[0039] Preferably, in some embodiments, ground vibration sensors are arranged at the bottom of the conveyor belt support to collect the railway ground vibration signal in the track environment in real time; the system performs synchronous window matching on the signal, conducts time alignment analysis with the transportation offset trend, and conducts correlation analysis based on the railway ground vibration signal and the transportation offset trend to obtain a trend correlation index. When the trend correlation index is higher than the preset threshold, it is determined that the transportation offset trend is a normal environmental disturbance caused by train operation, and the system correspondingly filters or weakens the weight of the offset trend signal; thus effectively preventing the interference of the vibration caused by the passing of trains on the railway to the judgment of the transportation offset trend, and improving the accuracy and robustness of the anti-invasion limit risk judgment of the folding conveyor belt. When specifically implemented, the power spectral density of the railway ground vibration signal in each time window can be used as the vibration energy trend, and time alignment analysis is carried out with the transportation offset trend, and the Pearson correlation coefficient between the vibration energy trend and the transportation offset trend is used as the trend correlation index.

[0040] Preferably, in some embodiments, the anti-invasion limit judgment of the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt and the transportation invasion limit characteristics specifically includes: Obtain the preset transportation invasion limit weight and the initial transportation offset weight; Extract the vibration energy trend according to the railway ground vibration signal, determine the trend correlation index between the vibration energy trend and the transportation offset trend, and correct the initial transportation offset weight based on the trend correlation index to obtain the corrected transportation offset weight; Based on the transportation invasion limit weight and the corrected transportation offset weight, perform risk weighted fusion on the transportation offset trend and the transportation invasion limit characteristics of the folding conveyor belt respectively to obtain the anti-invasion limit risk coefficient; Perform anti-invasion limit judgment according to the anti-invasion limit risk coefficient and the preset risk threshold.

[0041] In specific implementation, the transportation intrusion weight and the initial transportation offset weight are calibrated as constants based on historical experience. Among them, interval mapping can be performed according to the trend correlation index to obtain a corresponding correction coefficient, and proportional correction of the weight of the initial transportation offset weight is performed. The larger the correction coefficient, the smaller the corresponding corrected transportation offset weight. Alternatively, the ratio between the trend correlation index and the set standard trend correlation index can be used as the correction coefficient, and this application does not limit this.

[0042] Preferably, in some embodiments, in the process of obtaining the anti-intrusion risk coefficient by performing risk weighted fusion on the transportation offset trend of the folding conveyor belt and the transportation intrusion feature based on the transportation intrusion weight and the corrected transportation offset weight respectively, after normalizing the transportation offset trend and the transportation intrusion feature respectively, the feature mean and the trend mean are multiplied by the corresponding transportation intrusion weight and offset correction weight respectively, and the sum of the product results is used as the anti-intrusion risk coefficient.

[0043] Optionally, in some embodiments, in the process of sending the anti-intrusion result to the conveyor belt control center, after comprehensively judging the transportation offset trend, the transportation intrusion feature, and the disturbance of the railway ground vibration signal, the system sends the anti-intrusion result to the conveyor belt control center in the form of a digital signal to achieve active regulation of the conveyor belt operation state. In specific implementation, the system generates an anti-intrusion status code according to the analysis result. Common statuses include: status code 0 indicates normal operation, without offset / intrusion risk; status code 1 indicates a suspicious offset trend, and it is recommended to enter the monitoring state; status code 2 indicates the existence of a potential intrusion risk, and deceleration or early warning processing is required; status code 3 indicates the confirmation of an intrusion event, and the conveyor belt operation needs to be stopped immediately. Among them, the system can interact with the conveyor belt control center through CAN wired communication.

[0044] Optionally, in some embodiments, in the process of performing anti-intrusion judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation intrusion feature, a trained support vector machine model can also be used. The railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation intrusion feature are used as a multi-dimensional input vector together, and feature classification is performed to obtain the anti-intrusion judgment result. Among them, in the training process of the support vector machine model, the transportation offset trend features, transportation intrusion features, and ground vibration features detected in several experimental environments are used as training samples, and the recognition results of the normal state and the intrusion state determined manually are used as classification results. The classification parameters of the model are adjusted by cross-validation until the error rate between the model classification result and the manual classification result is lower than the preset threshold, and it is judged that the support vector machine model training is completed.

[0045] In addition, on the other hand of the present application, in some embodiments, the present application provides a folding conveyor belt anti-invasion control system for a whole vehicle railway. The system includes a transportation invasion control unit. Refer to Figure 2 , which is a schematic structural diagram of the exemplary hardware and / or software of the transportation invasion control unit shown in some embodiments of the present application. The transportation invasion control unit 200 includes: a transportation information acquisition module 201, a transportation information processing module 202, and a transportation invasion judgment module 203, which are described as follows: The transportation information acquisition module 201 is used to acquire the three-axis acceleration information of the folding conveyor belt during transportation; The transportation information processing module 202 is used to determine the invasion weight corresponding to each axis in the three-axis acceleration information, and perform peak feature extraction on the three-axis acceleration information according to the invasion weight corresponding to each axis to obtain the transportation invasion feature of the folding conveyor belt; The transportation information processing module 202 is further used to determine the transportation weight corresponding to each axis in the three-axis acceleration information based on the transportation direction of the folding conveyor belt, and perform transportation offset trend extraction on the three-axis acceleration information according to the transportation weight corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; The transportation invasion judgment module 203 is used to obtain the railway ground vibration signal, perform anti-invasion judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation invasion feature, and send the anti-invasion result to the conveyor belt control center.

[0046] The above text has introduced in detail an example of a folding conveyor belt anti-invasion control method and system for a whole vehicle railway provided by the embodiments of the present application. It can be understood that, in order to implement the above functions, the corresponding device includes the corresponding hardware structure and / or software module for executing each function.

[0047] Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function in the application is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Therefore, professional technicians can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present application.

[0048] In addition, the present application also provides a computer terminal device. The computer terminal device includes a memory and a processor. The memory stores code, and the processor is configured to obtain the code and execute the above-mentioned folding conveyor belt anti-invasion control method for a whole vehicle railway.

[0049] In some embodiments, with reference to Figure 3 , this figure is a schematic structural diagram of a computer terminal device for implementing a folding conveyor belt anti-invasion limit control method for a whole vehicle railway according to some embodiments of the present application. The folding conveyor belt anti-invasion limit control method for a whole vehicle railway in the above embodiments can be implemented by Figure 3 the computer terminal device shown. The computer terminal device 300 includes at least one communication bus 301, a communication interface 302, a processor 303, and a memory 304.

[0050] The processor 303 can be a general-purpose central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more for controlling the execution of a folding conveyor belt anti-invasion limit control method for a whole vehicle railway in the present application.

[0051] The communication bus 301 may include a path for transmitting information between the above components.

[0052] The memory 304 can be a read-only memory (ROM), or other types of static storage devices that can store static information and instructions, a random access memory (RAM), or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disks, or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 304 can exist independently and be connected to the processor 303 through the communication bus 301. The memory 304 can also be integrated with the processor 303.

[0053] Among them, the memory 304 is used to store the program code for executing the solution of the present application and is controlled by the processor 303 to execute. The processor 303 is used to execute the program code stored in the memory 304. The program code may include one or more software modules. The determination of the transportation invasion limit feature in the above embodiments can be implemented by one or more software modules in the program code in the processor 303 and the memory 304.

[0054] A communication interface 302, using any device such as a transceiver, is used to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0055] Optionally, the above computer terminal device 300 may further include a power supply 305 for supplying power to various components or circuits in the real-time computer terminal device.

[0056] In a specific implementation, as an embodiment, the computer terminal device may include multiple processors, and each of these processors may be a single-CPU processor or a multi-CPU processor. Here, the processor may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0057] The above computer terminal device may be a general-purpose computer terminal device or a special-purpose computer terminal device. In a specific implementation, the computer terminal device may be a desktop computer, a laptop computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of the present application do not limit the type of the computer terminal device.

[0058] In addition, in other aspects of the present application, there is also provided a computer-readable storage medium storing at least one computer program, and the computer program is loaded and executed by a processor to implement the operations performed by the above-mentioned anti-invasion control method for a folding conveyor belt for a whole vehicle on railway.

[0059] In summary, in a folding conveyor belt anti-infringement control method and system for a whole vehicle used on railways disclosed in the embodiments of the present application, first, the three-axis acceleration information of the folding conveyor belt during transportation is collected; based on the anti-infringement direction, the infringement weights corresponding to each axis in the three-axis acceleration information are determined, and peak feature extraction is performed on the three-axis acceleration information based on the infringement weights corresponding to each axis to obtain the transportation infringement feature of the folding conveyor belt; based on the transportation direction of the folding conveyor belt, the transportation weights corresponding to each axis in the three-axis acceleration information are determined, and transportation offset trend extraction is performed on the three-axis acceleration information based on the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; the railway ground vibration signal is acquired, and anti-infringement judgment is performed on the folding conveyor belt according to the transportation offset trend and the transportation infringement feature, and the anti-infringement result is sent to the conveyor belt control center, which can perform anti-infringement judgment based on the offset trend and infringement feature during the transportation of the conveyor belt, and realize active anti-infringement during transportation.

[0060] The above are only the embodiments of the present application, and specific technical solutions or common knowledge such as characteristics well known in the art are not described in detail herein. It should be noted that for those skilled in the art, without departing from the technical solution of the present application, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present application, which will not affect the implementation effect of the present application and the practicality of the patent.

[0061] The protection scope required by the present application shall be subject to the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these changes and modifications.

Claims

1. A folding conveyor belt anti-infringement control method for a whole vehicle used on railways, characterized in that, Including: Collecting the triaxial acceleration information of the folding conveyor belt during transportation; Based on the anti-invasion direction, determining the invasion weights corresponding to each axis in the triaxial acceleration information, and extracting peak features from the triaxial acceleration information according to the invasion weights corresponding to each axis to obtain the transportation invasion features of the folding conveyor belt; Based on the transportation direction of the folding conveyor belt, determining the transportation weights corresponding to each axis in the triaxial acceleration information, and extracting the transportation offset trend from the triaxial acceleration information according to the transportation weights corresponding to each axis to obtain the transportation offset trend of the folding conveyor belt; Obtaining the railway ground vibration signal, making an anti-invasion judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt and the transportation invasion features, and sending the anti-invasion result to the conveyor belt control center.

2. The method according to claim 1, wherein Collecting the triaxial acceleration information of the folding conveyor belt during transportation through a triaxial acceleration sensor.

3. The method according to claim 1, characterized in that The anti-invasion direction is the vertical direction between the middle support position of the folding conveyor belt and the railway.

4. The method according to claim 1, characterized in that, Determining the invasion weights corresponding to each axis in the triaxial acceleration information based on the anti-invasion direction specifically includes: establishing a three-dimensional space coordinate system according to the triaxial acceleration information; obtaining the unit vector of the anti-invasion direction in the three-dimensional space coordinate system, and respectively taking the coordinate values corresponding to the unit vector on each axis as the invasion weights corresponding to each axis in the triaxial acceleration information.

5. The method according to claim 1, characterized in that, Extracting peak features from the triaxial acceleration information according to the invasion weights corresponding to each axis to obtain the transportation invasion features of the folding conveyor belt specifically includes: Performing weighted fusion on the triaxial acceleration information based on the invasion weights corresponding to each axis to obtain an invasion acceleration sequence; Defining multiple time windows, determining the invasion acceleration peaks in each time window according to each invasion acceleration value and the corresponding time tag in the invasion acceleration sequence, and forming the transportation invasion features according to the time sequence.

6. The method according to claim 1, wherein Making an anti-invasion judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt and the transportation invasion features specifically includes: Obtaining the preset transportation invasion weight and the initial transportation offset weight; Extracting the vibration energy trend from the railway ground vibration signal, determining the trend correlation index between the vibration energy trend and the transportation offset trend, and correcting the weight of the initial transportation offset weight based on the trend correlation index to obtain the corrected transportation offset weight; Performing risk weighted fusion on the transportation offset trend and the transportation invasion features of the folding conveyor belt respectively based on the transportation invasion weight and the corrected transportation offset weight to obtain the anti-invasion risk coefficient; Making an anti-invasion judgment on the folding conveyor belt according to the anti-invasion risk coefficient and the preset risk threshold.

7. The method according to claim 1, wherein Collecting the railway ground vibration signal through a ground vibration sensor arranged at the bottom of the conveyor belt support.

8. A folding conveyor belt anti-infringement control system for a whole vehicle on railway, comprising a transportation infringement control unit, wherein the transportation infringement control unit is used to execute the anti-infringement control method for the folding conveyor belt of a whole vehicle on railway according to any one of claims 1 to 7, characterized in that, The transportation invasion control unit includes: A transportation information collection module for collecting the triaxial acceleration information of the folding conveyor belt during transportation; A transportation information processing module, configured to determine intrusion weights corresponding to each axis in the triaxial acceleration information, and extract peak features from the triaxial acceleration information according to the intrusion weights corresponding to each axis, so as to obtain transportation intrusion features of the folding conveyor belt; The transportation information processing module is further configured to determine transportation weights corresponding to each axis in the triaxial acceleration information based on the transportation direction of the folding conveyor belt, and extract a transportation offset trend from the triaxial acceleration information according to the transportation weights corresponding to each axis, so as to obtain a transportation offset trend of the folding conveyor belt; A transportation intrusion judgment module, configured to obtain a railway ground vibration signal, perform an anti-intrusion judgment on the folding conveyor belt according to the railway ground vibration signal, the transportation offset trend of the folding conveyor belt, and the transportation intrusion features, and send an anti-intrusion result to a conveyor belt control center.

9. A computer terminal device, characterized in that, The computer terminal device includes a memory and a processor, the memory stores code, and the processor is configured to obtain the code and execute a method for controlling anti-intrusion of a folding conveyor belt for a whole vehicle railway as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing at least one computer program, characterized in that, The computer program is loaded and executed by a processor to implement the operations performed by a method for controlling anti-intrusion of a folding conveyor belt for a whole vehicle railway as described in any one of claims 1 to 7.

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