A Visual Control Method and System for Unhooking Iron Bull

Abstract

This application relates to the field of visualization control technology, and discloses a visualization control method and system for the process of unhooking and detaching an electric ox. The method includes: obtaining the distance data between the ox car and the trailer car through weighted fusion of ultrasonic and infrared ranging values; collecting the electric actuator stroke and the ox car's position data; constructing a three-dimensional virtual scene based on the above data and dynamically mapping the trailer car position and the pin rotation angle; dividing the scene into a panoramic view layer and a close-up view layer, and overlaying a data dashboard on the panoramic view layer; determining the operation stage based on the trailer car distance change rate and the electric actuator stroke and automatically switching the view display mode; plotting the thrust change curve on the close-up view layer, generating abnormal diagnostic information through thrust threshold comparison, and popping up a diagnostic panel. This application solves the problems of lack of intuitive visualization monitoring and difficulty in timely detection and handling of abnormal situations in the existing technology for unhooking and detaching electric ox operations, improving the intuitiveness of operation and the efficiency of fault diagnosis.

Description

Technical Field

[0001] This application relates to the field of visual control technology, and in particular to a visual control method and system for the process of unhooking a steel bull. Background Technology

[0002] In railway loading operations, shunting tractors, as important traction equipment, need to be connected and disconnected from train cars through uncoupling and coupling operations. Traditional tractor uncoupling and coupling operations rely on manual operation. Operators need to manually disconnect or connect the coupling hook between the tractor and the car. The entire operation lacks visual monitoring methods, making it difficult for operators to accurately grasp the distance between the car and the tractor, the stroke status of the electric actuator, and the changes in thrust during the uncoupling process.

[0003] The existing technology has the following shortcomings: operators cannot observe the entire process of uncoupling the tractor in real time, making it difficult to accurately determine whether a safe distance for uncoupling has been reached when the carriage approaches the tractor. This can easily lead to collisions due to being too close or uncoupling failures due to being too far away. Furthermore, the lack of visual monitoring of the electric actuator's stroke and thrust during uncoupling means that operators cannot promptly detect and address abnormal situations such as pin jamming or overload, resulting in a high failure rate and easy equipment damage. Existing monitoring methods primarily rely on fixed-view cameras, which cannot automatically adjust the displayed content and key monitoring parameters according to changes in the operational phase. Operators need to switch between multiple monitoring screens, increasing operational complexity and the risk of misjudgment.

[0004] Due to the lack of accurate measurement and real-time visualization of the distance data between the carriages, operators find it difficult to accurately grasp the dynamic process of the carriages approaching the tractor, which directly affects the accuracy of judging the timing of uncoupling. During the uncoupling execution phase, the lack of synchronous visualization monitoring of the electric actuator's stroke and thrust means that when the thrust abnormally increases, operators cannot promptly identify whether it is due to electric actuator stall or overload, resulting in low efficiency in troubleshooting. In addition, because the visualization interface cannot automatically switch display modes according to the current operation stage, operators need to manually adjust the monitoring perspective and focus parameters, which not only increases the operational burden but also makes it easy to miss key information due to distraction, ultimately affecting the overall safety and efficiency of the operation. Summary of the Invention

[0005] This application provides a visualization control method and system for the process of unhooking and detaching a train car. It is used to construct a three-dimensional virtual scene and dynamically map the position of the car body and the rotation angle of the hook pin according to real-time sensor data. At the same time, it automatically switches the display mode of the visualization interface according to the operation stage and superimposes the thrust change curve and abnormal diagnosis information. This solves the problems of lack of intuitive visualization monitoring and difficulty in timely detection and handling of abnormal situations in the existing technology of unhooking and detaching train cars, and improves the intuitiveness of operation and the efficiency of fault diagnosis.

[0006] Firstly, this application provides a visual control method for the process of unhooking a bull, the method comprising:

[0007] Step S1: Obtain the distance data between the carriages by weighted fusion calculation of ultrasonic ranging values ​​and infrared ranging values, and at the same time collect electric actuator stroke data and iron ox position data;

[0008] Step S2: Construct a three-dimensional virtual scene based on the car distance data, electric actuator stroke data, and iron ox position data, and dynamically map the car model position and hook pin rotation angle in the three-dimensional virtual scene;

[0009] Step S3: Divide the three-dimensional virtual scene into a panoramic bird's-eye view layer and a close-up view layer of the work area. Overlay a data dashboard in the panoramic bird's-eye view layer to display the distance data of the carriage and the travel data of the electric actuator.

[0010] Step S4: Determine the current operation stage based on the rate of change of the carriage distance data and the electric actuator stroke data, and automatically switch the display modes of the panoramic bird's-eye view layer and the close-up view layer of the operation area according to the determined operation stage;

[0011] Step S5: Draw the curve of electric actuator thrust changing over time in the close-up view layer of the work area, generate abnormal diagnosis information by comparing the electric actuator thrust with a preset threshold, and pop up the abnormal diagnosis panel in the visualization interface.

[0012] Secondly, this application provides a visual control system for the process of removing hooks from iron bulls, the visual control system for the process of removing hooks from iron bulls includes:

[0013] The calculation module is used to obtain the distance data between the carriages by weighted fusion calculation of ultrasonic ranging values ​​and infrared ranging values, and at the same time collect the electric actuator stroke data and the position data of the iron ox.

[0014] The mapping module is used to construct a three-dimensional virtual scene based on the car distance data, electric actuator stroke data and ox position data, and dynamically map the car model position and hook pin rotation angle in the three-dimensional virtual scene;

[0015] The partitioning module is used to divide the three-dimensional virtual scene into a panoramic bird's-eye view layer and a close-up view layer of the work area. The data dashboard is superimposed in the panoramic bird's-eye view layer to display the distance data of the carriage and the travel data of the electric actuator.

[0016] The determination module is used to determine the current operation stage based on the rate of change of the carriage distance data and the electric actuator stroke data, and automatically switch the display modes of the panoramic bird's-eye view layer and the close-up view layer of the operation area according to the determined operation stage.

[0017] The generation module is used to draw the curve of electric actuator thrust changing over time in the close-up view layer of the work area, generate abnormal diagnosis information by comparing the electric actuator thrust with a preset threshold, and pop up an abnormal diagnosis panel in the visualization interface.

[0018] Thirdly, a visual control device for the process of unhooking a bull is provided, comprising: a memory and at least one processor, wherein the memory stores instructions; the at least one processor invokes the instructions in the memory to cause the visual control device for the process of unhooking a bull to execute the above-described visual control method for the process of unhooking a bull.

[0019] Fourthly, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, which, when executed on a computer, cause the computer to perform the above-mentioned visual control method for the process of unhooking the iron bull.

[0020] The technical solution provided in this application obtains the distance data of the carriage by weighted fusion calculation of ultrasonic ranging values ​​and infrared ranging values. The dual-mode ranging fusion method overcomes the limitations of the single ranging method. Ultrasonic ranging is not affected by light but has a large measurement angle, while infrared ranging has a small angle but is accurate. By dynamically adjusting the weight coefficients of the two ranging values ​​according to the ambient light intensity, the weight of infrared ranging is increased under strong light conditions and the weight of ultrasonic ranging is increased under weak light conditions, ensuring that accurate carriage distance data can be obtained under different lighting conditions. At the same time, the electric actuator stroke data and the iron ox position data are collected to provide a complete state parameter basis for the subsequent construction of a three-dimensional virtual scene. Based on the distance data of the carriage, the stroke data of the electric actuator, and the position data of the tractor, a three-dimensional virtual scene is constructed. The position of the carriage model and the rotation angle of the hook pin are dynamically mapped in the three-dimensional virtual scene. The spatial layout and equipment status of the real working site are presented in a three-dimensional visualization. By observing the relative positional relationship between the carriage model and the tractor model in the three-dimensional virtual scene, the operator can intuitively judge whether the carriage has reached a suitable position for uncoupling. At the same time, the dynamic mapping of the rotation angle of the hook pin allows the operator to observe the complete process of the pin rotating from a vertical state to a horizontal state in real time, accurately grasp the execution progress of the uncoupling action, and avoid the problems of limited field of view and unclear details when relying on a fixed-view camera in the traditional method. The 3D virtual scene is divided into a panoramic bird's-eye view layer and a close-up view layer of the work area. The panoramic bird's-eye view layer overlays a data dashboard displaying the distance data between the wagons and the electric actuator stroke data. This layered display method provides both a global perspective of the overall situation and a close-up perspective highlighting local details. The panoramic bird's-eye view layer shows the overall layout of the loading tower, railway tracks, tractors, and wagons, helping operators grasp the overall work situation. The close-up view layer of the work area magnifies the alignment of the hook pin and hook hole, allowing operators to accurately observe key parts of the hooking and unhooking process. The data dashboard displays the real-time values ​​of the wagon distance and electric actuator stroke in the form of a semi-circular dial and a horizontal progress bar, allowing operators to quickly judge the current status without having to mentally switch between digital readings and actual positions.

[0021] The current operation stage is determined based on the rate of change of the distance to the carriage and the travel data of the electric actuator. The display mode of the panoramic bird's-eye view and the close-up view of the work area is automatically switched according to the determined operation stage. Through automatic identification of the operation stage and adaptive switching of the interface, the problem of operators needing to manually adjust the monitoring perspective and focus on parameters is solved. When the operation is determined to be in the standby stage, the panoramic bird's-eye view occupies the main display area for easy monitoring of the overall status. When the operation is determined to be in the carriage approach stage, the close-up view of the work area is automatically displayed and the carriage distance instrument area is enlarged to guide the operator to focus on the carriage approach speed and distance changes. When the operation is determined to be in the uncoupling preparation stage, the interface is automatically adjusted to a layout suitable for performing the uncoupling operation. When the operation is determined to be in the uncoupling execution stage, the electric actuator travel instrument area is automatically enlarged to allow the operator to focus on monitoring the travel progress. The entire display mode switching process can be completed automatically according to the progress of the operation without operator intervention, avoiding the risk of missing key information due to operator distraction or untimely switching. The electric actuator thrust over time is plotted in a close-up view of the work area. Anomaly diagnosis information is generated by comparing the electric actuator thrust with a preset threshold, and an anomaly diagnosis panel pops up in the visualization interface. The motor current data is converted into thrust data and displayed in real time as a time-series curve. Operators can intuitively judge whether the uncoupling process is normal by observing the trend of the thrust curve. When the thrust curve suddenly rises above the preset thrust threshold and the duration exceeds the preset time, anomaly diagnosis information containing anomaly type code and anomaly description text is automatically generated. The anomaly handling suggestion library is queried according to the anomaly type code to obtain the corresponding handling suggestion text, which is displayed in the anomaly diagnosis panel. This provides operators with clear troubleshooting directions and handling measures. Compared with the traditional method where operators can only judge the cause of the anomaly by experience, this application significantly improves the accuracy of anomaly identification and the efficiency of fault diagnosis through the visualization of the thrust curve and intelligent diagnosis function, reducing equipment damage and operation delays caused by misjudgment. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an embodiment of the visual control method for the process of unhooking the iron bull in this application;

[0024] Figure 2 This is a schematic diagram illustrating the distance measurement between the ox and the train carriage in an embodiment of this application;

[0025] Figure 3This is a schematic diagram of the overall architecture of the visual control system for unhooking the iron bull in this application embodiment;

[0026] Figure 4 This is a schematic diagram of one embodiment of the visual control system for the process of unhooking the iron bull in this application.

[0027] Figure 5 This is a schematic block diagram of the structure of the visual control device for the process of removing the hook from the iron bull in an embodiment of the present invention. Detailed Implementation

[0028] This application provides a visual control method and system for the process of unhooking a metal bull. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0029] For ease of understanding, the specific process of the embodiments of this application is described below. Please refer to [link / reference]. Figure 1 One embodiment of the visualization control method for the process of unhooking the iron bull in this application includes:

[0030] Step S1: Obtain the distance data between the carriages by weighted fusion calculation of ultrasonic ranging values ​​and infrared ranging values, and at the same time collect electric actuator stroke data and iron ox position data;

[0031] Step S2: Construct a three-dimensional virtual scene based on the distance data of the carriage, the stroke data of the electric actuator, and the position data of the iron ox. Dynamically map the position of the carriage model and the rotation angle of the hook pin in the three-dimensional virtual scene.

[0032] Step S3: Divide the 3D virtual scene into a panoramic bird's-eye view layer and a close-up view layer of the work area. Overlay a data dashboard in the panoramic bird's-eye view layer to display the distance data of the carriage and the travel data of the electric actuator.

[0033] Step S4: Determine the current operation stage based on the rate of change of the car distance data and the electric actuator stroke data, and automatically switch the display modes of the panoramic bird's-eye view layer and the close-up view layer of the operation area according to the determined operation stage;

[0034] Step S5: Draw the curve of electric actuator thrust changing over time in the close-up view layer of the work area, generate abnormal diagnosis information by comparing the electric actuator thrust with the preset threshold, and pop up the abnormal diagnosis panel in the visualization interface.

[0035] It is understood that the executing entity of this application can be a visual control system for the process of unhooking and reattaching iron oxen, or it can be a terminal or a server; the specific implementation is not limited here. This application's embodiment uses a server as the executing entity for illustration.

[0036] Specifically, the ultrasonic ranging sensor emits ultrasonic pulses with a period of 100ms. After receiving the echo, it calculates the ultrasonic ranging value based on the product of the echo time difference and the speed of sound. This method is unaffected by light but has a relatively large measurement angle of ±30°. The infrared ranging sensor uses the triangulation principle to emit an infrared beam and receive the reflected light. It calculates the infrared ranging value based on the position offset of the reflected light spot on the position-sensitive detector, the baseline distance, and the focal length of the receiving lens. This method has an angle quantization value of ±5° and a ranging accuracy range of ±2mm. Compared to the ±10mm accuracy range of the ultrasonic ranging sensor, the infrared ranging accuracy is improved by 5 times. The system collects ambient light intensity and compares it with a preset light threshold of 500 lux. When the light intensity is greater than the threshold, it indicates good lighting conditions, making infrared ranging more reliable. Therefore, a first weighting coefficient of 0.3 and a second weighting coefficient of 0.7 are used to weight and fuse the two ranging values. When the light intensity is less than or equal to the threshold, it indicates insufficient light, making ultrasonic ranging more reliable. Again, a first weighting coefficient of 0.7 and a second weighting coefficient of 0.3 are used for weighted fusion, thus obtaining accurate vehicle distance data under different lighting conditions. A Hall sensor detects changes in the internal magnetic field of the electric actuator with a period of 50 ms. The magnetic field change is converted into a voltage signal, which is linearly related to the actuator's stroke. A preset calibration coefficient of 10 mm / V is used; multiplying the voltage signal by this coefficient yields the actuator's stroke data.

[0037] A 3D scene coordinate system is established with the center of the loading tower as the origin. The X-axis points in the direction of the railway extension, the Y-axis is perpendicular to the ground and upwards, and the Z-axis points to the initial position of the ox. A 3D model of the loading tower, a 3D model of the railway track, and a standard 3D model of the wagon are pre-loaded into this coordinate system, forming the basic 3D virtual scene. The real-time position coordinates of the ox's 3D model in the 3D scene coordinate system are calculated based on the ox's position data. The X-coordinate value continuously increases as the ox moves along the positive X-axis. The relative position coordinates of the wagon's 3D model with respect to the ox's 3D model are calculated based on the wagon distance data. The wagon's X-coordinate equals the ox's X-coordinate minus the wagon distance data, thus obtaining dynamically updated scene layout data. Inverse kinematics calculations are performed based on the electric actuator stroke data and the initial vertical position of the hook pin to obtain the rotation angle of the hook pin from the vertical to the horizontal state. This rotation angle is calculated using an arcsine function. The rotation angle drives the virtual skeleton structure of the hook pin for animation rendering. The rotation axis of the skeleton structure is set at the bottom of the pin, and cubic Bézier curves are used for smooth interpolation during the rotation process to make the animation smooth. Update the scene layout data to the basic 3D virtual scene to complete the construction of the 3D virtual scene.

[0038] A panoramic bird's-eye view layer is generated by rendering the 3D virtual scene from a preset top-down angle. This view layer displays the overall layout of the loading tower, railway tracks, tractors, and wagons from a top-down perspective. A close-up view layer of the working area is generated by rendering the 3D virtual scene from the front and side views of the hook mechanism. This view layer magnifies and displays the local details of the hook pins and hook holes from a side view. A data dashboard area is set up in the panoramic bird's-eye view layer, divided into a wagon distance instrument area and an electric actuator stroke instrument area. The wagon distance pointer angle is calculated based on the mapping relationship between the wagon distance data and a preset distance scale range. This mapping relationship is established through linear interpolation. A semi-circular dial is drawn in the wagon distance instrument area, with the scale range covering the possible distance range of the wagon. The wagon distance pointer is displayed on the dial based on the wagon distance pointer angle. The stroke progress bar fill ratio is calculated based on the ratio of the electric actuator stroke data to the preset stroke range. A horizontal progress bar is drawn in the electric actuator stroke instrument area. The fill length of the progress bar is determined based on the stroke progress bar fill ratio, which is equal to the total length of the progress bar multiplied by the fill ratio.

[0039] The time difference calculation is performed on the continuously collected car distance data. The difference between two adjacent car distance data samples is divided by the sampling time interval to obtain the rate of change of the car distance data. This rate of change reflects the speed at which the car approaches the tractor. The rate of change of the car distance data, the car distance data, and the electric actuator stroke data are then matched with preset operation stage determination rules. The judgment rules include: judging whether the distance data of the car body is greater than the first distance threshold of 5 meters and whether the electric actuator stroke data is equal to the initial stroke value. When both conditions are met, it indicates that the tractor is stationary and the distance of the car body is far away, and a standby stage indicator is obtained; judging whether the rate of change of the distance data of the car body is less than the preset rate of change threshold of -0.1 m / s and whether the distance data of the car body continues to decrease. The judgment standard is that the distance data of the car body shows a decreasing trend within 5 consecutive samples (i.e., 0.5 seconds). When both conditions are met, it indicates that the car body is approaching the tractor, and a car body approach stage indicator is obtained; judging whether the distance data of the car body is within the preset safe distance range of 0.5 meters to 2 meters and whether the absolute value of the rate of change of the distance data of the car body is less than the preset stable threshold of 0.05 m / s. When both conditions are met, it indicates that the car body has reached a suitable position for uncoupling and is relatively stationary, and a uncoupling preparation stage indicator is obtained; judging whether the electric actuator stroke data is greater than the initial stroke value and less than the target stroke value of 100 mm. When the conditions are met, it indicates that the electric actuator is performing the uncoupling action, and a uncoupling execution stage indicator is obtained. When multiple stage indicators are simultaneously met, they are selected according to priority: the uncoupling execution stage indicator has the highest priority (level 1), the uncoupling preparation stage indicator has the highest priority (level 2), the car approach stage indicator has the highest priority (level 3), and the standby stage indicator has the lowest priority (level 4). The stage indicator with the lowest priority value is selected as the current operation stage indicator. Based on the current operation stage indicator, a preset view display mode configuration table is queried. This configuration table stores the view layer display parameters and data dashboard magnification parameters corresponding to different operation stages. The display area sizes of the panoramic bird's-eye view layer and the close-up view layer of the operation area are adjusted based on the view layer display parameters, and the display ratio of the car distance instrument area and the electric actuator stroke instrument area is adjusted based on the data dashboard magnification parameters.

[0040] Motor current data of the electric actuator is collected, and the motor current data is multiplied by a preset force-current conversion coefficient to obtain the actuator thrust. This conversion coefficient is determined through actuator calibration tests. A thrust-time curve coordinate system is established at the bottom of the close-up view layer of the working area. With time as the horizontal axis and thrust as the vertical axis, the continuously collected actuator thrust is plotted as a line in chronological order to obtain the actuator thrust change curve over time. The actuator thrust is compared with a preset thrust threshold, which is the maximum thrust value of the actuator under normal operating conditions. When the actuator thrust exceeds the preset thrust threshold, it indicates that abnormal resistance has been encountered. Further analysis is conducted to determine whether the duration of this state exceeds a preset duration. If the duration exceeds the preset duration, an anomaly is confirmed, and an anomaly diagnostic information is generated, including an anomaly type code and an anomaly description text. The anomaly type code identifies the specific type of anomaly, and the anomaly description text describes the details of the anomaly. Based on the exception type code in the exception diagnosis information, the system queries the preset exception handling suggestion library. This suggestion library stores the handling suggestion text corresponding to different exception types. The system obtains the corresponding handling suggestion text and pops up an exception diagnosis panel containing the exception description text and handling suggestion text in the visualization interface.

[0041] In one specific embodiment, step S1 includes:

[0042] The ultrasonic ranging value is obtained by periodically emitting ultrasonic pulses and receiving echoes using an ultrasonic ranging sensor, and calculating the product of the echo time difference and the speed of sound.

[0043] The infrared ranging sensor emits an infrared beam and receives the reflected light. The infrared ranging value is calculated based on the offset of the reflected light spot, the baseline distance, and the focal length of the receiving lens.

[0044] Ambient light intensity is collected, and a first weighting coefficient and a second weighting coefficient are determined based on the comparison between ambient light intensity and a preset light threshold. The ultrasonic ranging value and the infrared ranging value are weighted and fused to obtain the distance data between the carriages.

[0045] The change in the internal magnetic field of the electric actuator is periodically detected by a Hall sensor and converted into a voltage signal. The voltage signal is then multiplied by a preset calibration coefficient to obtain the actuator stroke data.

[0046] Specifically, the ultrasonic ranging sensor starts a timer after emitting an ultrasonic pulse. The timer stops when the echo signal reflected from the carriage is received. The recorded time difference is the round-trip time of the ultrasonic wave. Dividing this time difference by two gives the one-way time, and multiplying it by the speed of sound gives the ultrasonic ranging value. The infrared ranging sensor uses the triangulation principle. An infrared emitter emits an infrared beam that illuminates the surface of the carriage. The reflected light is focused onto a position-sensitive detector by a receiving lens, forming a spot. When the distance to the carriage changes, the position of the spot on the detector shifts. This shift is inversely proportional to the distance. According to the principle of similar triangles, the infrared ranging value equals the product of the baseline distance and the focal length of the receiving lens divided by the spot position shift. After the light sensor collects the current ambient light intensity, it compares the value with a preset light threshold of 500 lux. When the light intensity is greater than the threshold, the first weighting coefficient is set to 0.3 and the second weighting coefficient to 0.7. When the light intensity is less than or equal to the threshold, the first weighting coefficient is set to 0.7 and the second weighting coefficient to 0.3. The weighting coefficients are determined by testing the error rates of ultrasonic and infrared ranging under different lighting conditions. When the light intensity is greater than 500 lux, the infrared ranging error rate is ±0.5% while the ultrasonic ranging error rate is ±1.5%. Therefore, the weighting coefficients for infrared ranging are set to 0.7 and for ultrasonic ranging to 0.3. When the light intensity is less than or equal to 500 lux, the ultrasonic ranging error rate remains at ±1.5% while the infrared ranging error rate rises to ±3%. Therefore, the weighting coefficients for ultrasonic ranging are set to 0.7 and for infrared ranging to 0.3. The distance data between the vehicle and the passenger compartment is equal to the ultrasonic ranging value multiplied by the first weighting coefficient plus the infrared ranging value multiplied by the second weighting coefficient. The Hall element inside the Hall sensor is placed in the magnetic field of the permanent magnet on the piston rod of the electric push rod. When the piston rod moves, the position of the permanent magnet relative to the Hall element changes, causing the intensity of the magnetic field sensed by the Hall element to change. The Hall element outputs a corresponding voltage signal according to the magnetic field intensity. This voltage signal is linearly related to the displacement of the piston rod. Multiplying the voltage signal by a preset calibration coefficient converts it into electric push rod stroke data. The calibration coefficient is obtained by measuring the corresponding voltage value at a known stroke position and calculating the ratio.

[0047] Figure 2This is a schematic diagram of the distance measurement between the winch and the train carriage in an embodiment of this application. In the diagram, the winch is located on the left side of the railway track, and the train carriage is located on the right side of the railway track. A rangefinder is installed on the side of the winch facing the train carriage. The rangefinder includes an ultrasonic rangefinder and an infrared rangefinder, which are used to measure the distance between the winch and the train carriage in real time. The ultrasonic rangefinder periodically emits ultrasonic pulses and receives the echoes reflected by the train carriage. The ultrasonic rangefinder value is calculated based on the product of the echo time difference and the speed of sound. The infrared rangefinder emits an infrared beam and receives the reflected light reflected by the train carriage. The infrared rangefinder value is calculated based on the offset of the reflected light spot position, the baseline distance, and the focal length of the receiving lens. After the control system collects the ambient light intensity, it determines the first weighting coefficient and the second weighting coefficient based on the comparison result between the light intensity and the preset light threshold. The ultrasonic rangefinder value and the infrared rangefinder value are weighted and fused to obtain the carriage distance data. This carriage distance data is used for the subsequent construction of the three-dimensional virtual scene and the determination of the operation stage.

[0048] In one specific embodiment, step S2 includes:

[0049] A three-dimensional scene coordinate system is established with the center of the loading building as the origin. The three-dimensional model of the loading building, the three-dimensional model of the railway track, and the standard three-dimensional model of the carriage are preloaded into the three-dimensional scene coordinate system to obtain the basic three-dimensional virtual scene.

[0050] The real-time position coordinates of the 3D model of the Iron Bull in the 3D scene coordinate system are calculated based on the location data of the Iron Bull, and the relative position coordinates of the 3D model of the carriage relative to the 3D model of the Iron Bull are calculated based on the distance data of the carriage, so as to obtain dynamically updated scene layout data.

[0051] Based on the electric actuator stroke data and the inverse kinematics calculation of the initial vertical position of the hook pin, the rotation angle of the hook pin from the vertical state to the horizontal state is obtained.

[0052] The rotation angle drives the virtual skeleton structure of the hook pin to perform animation rendering, and the scene layout data is updated to the basic 3D virtual scene to obtain the 3D virtual scene.

[0053] Specifically, a right-handed Cartesian coordinate system is established with the center of the loading tower as the origin as the 3D scene coordinate system. The X-axis points in the direction of railway extension, the Y-axis is perpendicular to the ground and upwards, and the Z-axis points to the initial parking position of the ox. In this coordinate system, 3D models of the loading tower, railway tracks, and standard carriages are pre-loaded. These pre-loaded 3D models are placed in their corresponding positions according to the actual scene layout to form the basic 3D virtual scene. The ox's position data represents the cumulative distance the ox has moved along the railway tracks. This distance value is directly used as the X-coordinate of the ox's 3D model in the 3D scene coordinate system, while the Y and Z coordinates remain unchanged, thus calculating the real-time position coordinates of the ox's 3D model. The carriage distance data represents the distance between the carriage and the ox. The X-coordinate of the carriage's 3D model is equal to the X-coordinate of the ox's 3D model minus the carriage distance data. The Y and Z coordinates remain consistent with the ox, thus calculating the relative position coordinates of the carriage's 3D model relative to the ox's 3D model. The ox's position coordinates and the carriage's position coordinates together constitute dynamically updated scene layout data.

[0054] The inverse kinematics calculation of the hook pin refers to calculating the rotation angle of the hook pin based on the linear stroke of the electric actuator. The initial vertical position of the hook pin results in a rotation angle of zero degrees. The electric actuator pulls the pin through a lever mechanism, causing it to rotate around its bottom axis. A kinematic constraint exists between the electric actuator's stroke data and the pin's rotation angle. The pin's rotation angle is equal to the ratio of the arcsine function applied to the electric actuator's stroke data to the maximum stroke of the electric actuator. The output value of this arcsine function is then multiplied by an angle unit conversion factor to obtain the rotation angle in degrees. As the electric actuator's stroke increases from zero to its maximum stroke, the pin's rotation angle increases from zero degrees to ninety degrees, i.e., it rotates from a vertical to a horizontal state. The virtual skeleton structure of the hook pin is a skeletal animation system used in the 3D model to drive the pin's movement. The rotation axis of the skeleton is set at the bottom of the pin. The calculated rotation angle is input into the skeletal system to drive the pin model to rotate around the axis. Cubic Bézier curves are used for easing interpolation during the rotation process to ensure a smooth and natural animation transition. The animation rendering engine generates intermediate frames of the pin at different times based on the rotation angle. The position coordinates of the ox and the carriage in the scene layout data are updated to the position attributes of the corresponding models in the basic 3D virtual scene. At the same time, the pin rotation animation rendering results are updated to the hook mechanism model, thus completing the dynamic update of the entire 3D virtual scene and obtaining a 3D virtual scene that reflects the real-time status of hook-and-unhook operation.

[0055] Figure 3This is a schematic diagram of the overall architecture of the visual control system for unhooking and detaching the winch in this embodiment of the application. In the diagram, the winch winch is located on the left side of the railway line, and the loading tower is located on the right side of the railway line. The winch winch control system is located inside the loading tower. A gateway is installed on the winch winch to collect data on the distance between the carriages, the travel data of the electric actuator, and the position data of the winch winch collected by various sensors on the winch winch. The gateway transmits the data wirelessly to a repeater set in the middle of the railway line. The repeater amplifies the wireless signal and transmits it to a transceiver installed on the outer wall of the loading tower. The transceiver transmits the received data to the winch winch control system inside the loading tower via a wired connection. The winch winch control system constructs a three-dimensional virtual scene based on the received real-time data and dynamically maps the position of the carriage model and the rotation angle of the hook pin in the visualization interface. The entire communication architecture adopts a three-level structure of gateway-repeater-transceiver to cover the entire travel range of the winch winch along the railway track, ensuring that the sensor data can be transmitted to the winch winch control system in real time and reliably. Operators can remotely monitor and control the unhooking and detaching operation of the winch winch through the visualization interface of the winch winch control system inside the loading tower.

[0056] In one specific embodiment, step S3 includes:

[0057] The three-dimensional virtual scene is rendered according to a preset top-down angle to generate a panoramic bird's-eye view layer, and the three-dimensional virtual scene is rendered according to the front and side views of the hook mechanism to generate a close-up view layer of the working area.

[0058] A data dashboard area is set up in the panoramic bird's-eye view layer, and the data dashboard area is divided into the carriage distance instrument area and the electric actuator stroke instrument area;

[0059] The angle of the carriage distance pointer is calculated based on the mapping relationship between the carriage distance data and the preset distance scale range. A semi-circular scale is drawn in the carriage distance instrument area, and the carriage distance pointer is displayed according to the carriage distance pointer angle.

[0060] The stroke progress bar fill ratio is calculated based on the ratio of the electric actuator stroke data to the preset stroke range. A horizontal progress bar is then drawn in the electric actuator stroke instrument area, and the stroke progress bar fill length is displayed according to the stroke progress bar fill ratio.

[0061] Specifically, the rendering engine sets the virtual camera in the 3D virtual scene to a top-down view, meaning the camera is positioned above the scene looking downwards. This camera's perspective is used to rasterize and render the 3D virtual scene, generating a 2D image as a panoramic bird's-eye view layer. This view layer presents the overall spatial layout of the loading tower, railway tracks, tractors, and wagons. The rendering engine also sets another virtual camera to a side view of the hook mechanism, meaning the camera is positioned horizontally to the side of the hook mechanism. This camera's perspective is used to render a local area of ​​the hook mechanism in the 3D virtual scene, generating a close-up view layer of the working area. This view layer magnifies and displays the alignment of the hook pin and hook hole, as well as the details of the pin's rotation. A rectangular area is partitioned within the panoramic bird's-eye view layer's image area as a data dashboard area. This area is positioned at a specific location in the image using pixel coordinates. The data dashboard area is then divided into two sub-areas according to a preset layout scheme, serving as the wagon distance instrument area and the electric actuator travel instrument area, respectively.

[0062] The mapping relationship between the car distance data and the preset distance scale range is established through linear interpolation. The preset distance scale range includes the minimum scale value and the maximum scale value. Subtracting the minimum scale value from the car distance data yields the distance offset. Dividing the distance offset by the scale range span (i.e., the maximum scale value minus the minimum scale value) yields the normalized distance ratio. Multiplying this normalized distance ratio by the angular span of the semi-circular dial gives the car distance pointer angle. The angular span is typically set to 180 degrees, corresponding to the leftmost to rightmost edge of the dial. A semi-circular dial is drawn in the image area of ​​the car distance instrument panel. The dial includes an arc outline, scale markings, and scale value labels. Based on the car distance pointer angle, a straight line is drawn from the center of the dial towards the arc, serving as the car distance pointer. The angle between the pointer and the horizontal line equals the car distance pointer angle. Dividing the electric actuator stroke data by the preset stroke range (i.e., the maximum stroke value of the electric actuator) yields the stroke progress bar fill ratio. This ratio, between zero and one, represents the percentage of stroke completed. Draw a horizontal progress bar in the image area of ​​the electric actuator stroke meter area. The progress bar includes a background rectangle and a fill rectangle. The width of the background rectangle is the total length of the progress bar. The width of the fill rectangle is equal to the total length of the progress bar multiplied by the stroke progress bar fill ratio, which is the stroke progress bar fill length. The fill rectangle is drawn from the left end of the progress bar to the fill length position.

[0063] In one specific embodiment, step S4 includes:

[0064] The rate of change of the continuously collected carriage distance data is obtained by performing time difference calculation.

[0065] The rate of change of the car distance data, the car distance data, and the electric actuator stroke data are matched with the preset operation stage determination rules to obtain the current operation stage identifier;

[0066] Query the preset view display mode configuration table based on the current work stage identifier to obtain the corresponding view layer display parameters and data dashboard zoom parameters;

[0067] Adjust the display area size of the panoramic bird's-eye view layer and the close-up view layer of the work area based on the view layer display parameters, and adjust the display ratio of the carriage distance instrument area and the electric actuator stroke instrument area based on the data instrument panel magnification parameters.

[0068] Specifically, time difference calculation refers to subtracting the car distance data collected at the previous moment from the car distance data collected at the current moment to obtain the distance change, and then dividing the distance change by the time interval between the two collections to obtain the rate of change of the car distance data. This rate of change reflects the speed at which the car approaches or moves away from the ox. A negative rate of change indicates that the car is approaching the ox, a positive rate of change indicates that the car is moving away from the ox, and a rate of change close to zero indicates that the car and the ox are relatively stationary. The preset operation stage determination rules include multiple determination conditions, each corresponding to an operation stage identifier. The rate of change of the car distance data, the car distance data, and the electric actuator stroke data are sequentially matched with each determination rule to determine whether the car distance data is greater than the first distance threshold of 5 meters and whether the electric actuator stroke data is equal to the initial stroke value. When both conditions are met, a standby stage identifier is obtained. The criteria for determining whether the rate of change of the car distance data is less than the preset rate of change threshold of -0.1 m / s and whether the car distance data continues to decrease are determined. The determination criterion is that the car distance data shows a decreasing trend within 5 consecutive samples (sampling period of 100 ms, i.e., 0.5 seconds). When both conditions are met, a car approach stage identifier is obtained. The system identifies whether the distance data between the car and the vehicle is within the preset safe distance range of 0.5 meters to 2 meters and whether the absolute value of the rate of change of the distance data is less than the preset stable threshold of 0.05 meters / second. When both conditions are met, the system obtains the uncoupling preparation stage identifier. It also identifies whether the electric actuator stroke data is greater than the initial stroke value and less than the target stroke value by 100 millimeters. When the conditions are met, the system obtains the uncoupling execution stage identifier. When multiple stage identifiers are met simultaneously, they are selected according to priority order: the uncoupling execution stage identifier has the highest priority of level 1, the uncoupling preparation stage identifier has the highest priority of level 2, the car approach stage identifier has the highest priority of level 3, and the standby stage identifier has the lowest priority of level 4. The stage identifier with the lowest priority value is selected as the current operation stage identifier.

[0069] The view display mode configuration table is a pre-established data table that stores the view layer display parameters and data dashboard zoom parameters corresponding to different work stage identifiers. Based on the current work stage identifier, the corresponding entry in the configuration table is searched, and the view layer display parameters and data dashboard zoom parameters are retrieved from that entry. The view layer display parameters include the display area size of the panoramic bird's-eye view layer and the display area size of the work area close-up view layer. The display area size is defined by pixel width and pixel height. Based on the view layer display parameters, the pixel area size occupied by the panoramic bird's-eye view layer and the work area close-up view layer in the visualization interface is adjusted. When the work stage is the standby stage, the panoramic bird's-eye view layer occupies 100% of the display area, while the work area close-up view layer is hidden. When the work stage is the carriage approach stage, the work area close-up view layer begins to display and occupies 30% of the display area. When the work stage is the uncoupling preparation stage or the uncoupling execution stage, the work area close-up view layer zooms in and occupies 70% of the display area so that operators can observe the uncoupling details. The data dashboard magnification parameters include the display ratio of the distance to the carriage instrument area and the display ratio of the electric actuator travel instrument area. The display ratio defines the area proportion occupied by each instrument area in the data dashboard area. Based on the data dashboard magnification parameters, the pixel size of the distance to the carriage instrument area and the electric actuator travel instrument area are adjusted. When the operation stage is the carriage approach stage, the distance to the carriage instrument area occupies 70% of the data dashboard area and the electric actuator travel instrument area occupies 30% of the area. When the operation stage is the uncoupling execution stage, the electric actuator travel instrument area occupies 70% of the data dashboard area and the distance to the carriage instrument area occupies 30% of the area.

[0070] In one specific embodiment, the rate of change of the car distance data, the car distance data, and the electric actuator stroke data are matched with preset operation stage determination rules to obtain the current operation stage identifier, including:

[0071] Determine whether the distance data between the carriages is greater than the first distance threshold and whether the electric actuator stroke data is equal to the initial stroke value. When both conditions are met, obtain the standby stage identifier.

[0072] Determine whether the rate of change of the car distance data is less than a preset rate of change threshold and whether the car distance data continues to decrease. When both conditions are met, obtain the car approach stage indicator.

[0073] Determine whether the distance data between the carriages is within the preset safe distance range and whether the absolute value of the rate of change of the carriage distance data is less than the preset stable threshold. When both conditions are met, obtain the uncoupling preparation stage indicator.

[0074] Determine whether the electric actuator stroke data is greater than the initial stroke value and less than the target stroke value. When the condition is met, obtain the uncoupling execution stage identifier and use one of the standby stage identifier, the car approach stage identifier, the uncoupling preparation stage identifier, and the uncoupling execution stage identifier as the current operation stage identifier.

[0075] Specifically, the first distance threshold is 5 meters, which represents the critical value for a relatively long distance between the train cars. The initial stroke value indicates that the electric actuator is usually at zero when it is not activated. The train car distance data is compared with the first distance threshold to determine if it is greater than the threshold. At the same time, the electric actuator stroke data is compared with the initial stroke value to determine if they are equal. When the train car distance data is greater than the first distance threshold, it means that the train car is far from the train. When the electric actuator stroke data is equal to the initial stroke value, it means that the electric actuator has not performed any action. When both conditions are met, it indicates that the train is in a stationary waiting state and thus obtains the standby stage indicator. The preset change rate threshold is -0.1 m / s, indicating that the critical value of the approach speed of the carriage is usually negative. The change rate of the carriage distance data is compared with the preset change rate threshold to determine whether the change rate is less than the threshold, that is, whether the negative value of the change rate is large enough. At the same time, it is checked whether the carriage distance data of 5 consecutive sampling periods (the sampling period is 100 ms, that is, 0.5 seconds) shows a decreasing trend, that is, to determine whether the carriage distance data is continuously decreasing. When the change rate is less than the preset change rate threshold, it means that the carriage is approaching the iron bull at a certain speed, and the continuous decrease of the carriage distance data confirms that the approach state continues. When both conditions are met, the carriage approach stage is identified.

[0076] The preset safe distance range includes a lower limit of 0.5 meters and an upper limit of 2 meters, defining the suitable distance range for uncoupling operations. The distance data of the car is compared with this range to determine whether it is within the range, i.e., the distance data of the car is greater than or equal to the lower limit and less than or equal to the upper limit. The preset stability threshold is 0.05 meters per second, which represents the critical speed at which the car and the tractor are relatively stationary. The absolute value of the rate of change of the car distance data is taken and compared with the preset stability threshold to determine whether the absolute value is less than the threshold. When the distance data of the car is within the preset safe distance range, it means that the car has reached a suitable position for uncoupling, and the absolute value of the rate of change is less than the preset stability threshold, which means that the car and the tractor are basically stationary. When both conditions are met, it indicates that the uncoupling conditions have been met, and thus the uncoupling preparation stage is identified. The target stroke value is 100 mm, representing the stroke position required for the electric actuator to complete the uncoupling action. The electric actuator stroke data is compared with the initial stroke value to determine if it is greater than the initial stroke value, and simultaneously compared with the target stroke value to determine if it is less than the target stroke value. When the electric actuator stroke data is greater than the initial stroke value, it means that the electric actuator has started moving; when it is less than the target stroke value, it means that the electric actuator has not yet completed the entire stroke. When the conditions are met, it indicates that the electric actuator is performing the uncoupling action, thus obtaining the uncoupling execution stage identifier. When multiple stage identifiers meet the judgment conditions at the same time, they are selected according to the priority order: the uncoupling execution stage identifier has the highest priority of level 1, the uncoupling preparation stage identifier has the highest priority of level 2, the car body approach stage identifier has the highest priority of level 3, and the standby stage identifier has the lowest priority of level 4. The stage identifier with the lowest priority value is selected as the current operation stage identifier.

[0077] In one specific embodiment, step S5 includes:

[0078] Collect the motor current data of the electric actuator, multiply the motor current data by the preset force-current conversion coefficient, and obtain the electric actuator thrust.

[0079] Establish a thrust time-series curve coordinate system at the bottom of the close-up view layer of the working area. With time as the horizontal axis and thrust as the vertical axis, plot the continuously collected electric actuator thrust in time sequence to obtain the electric actuator thrust change curve over time.

[0080] The electric actuator thrust is compared with a preset thrust threshold. When the electric actuator thrust exceeds the preset thrust threshold and the duration exceeds the preset duration, abnormal diagnostic information containing an abnormality type code and an abnormality description text is generated.

[0081] Based on the exception type code in the exception diagnosis information, the system queries the preset exception handling suggestion library to obtain the corresponding handling suggestion text. An exception diagnosis panel containing the exception description text and handling suggestion text will then pop up in the visualization interface.

[0082] Specifically, the motor current sensor monitors the current of the electric actuator's drive motor in real time and outputs motor current data. This current data has a linear relationship with the thrust output by the electric actuator. The preset force-current conversion coefficient is determined through electric actuator calibration tests. That is, under a known load, the motor current is measured and the ratio of thrust to current is calculated. Multiplying the motor current data by the preset force-current conversion coefficient converts the current value into a thrust value, thus obtaining the electric actuator thrust. A thrust time-series curve coordinate system is established in the bottom pixel area of ​​the close-up view layer of the working area. This coordinate system includes a horizontal time axis and a vertical thrust axis. The time axis represents time increasing from left to right, and the thrust axis represents thrust increasing from bottom to top. The time axis and thrust axis intersect to form a rectangular coordinate system. The continuously collected electric actuator thrust data is assigned to corresponding coordinate points in the coordinate system according to the timestamp of the collection time. The coordinate points of adjacent times are connected by straight line segments to form a broken line. This broken line is the curve of the electric actuator thrust changing with time. The trend of the curve reflects the dynamic change of thrust during the unhooking process.

[0083] The preset thrust threshold represents the maximum thrust value of the electric actuator under normal operating conditions. The real-time collected electric actuator thrust is compared with the preset thrust threshold. When the electric actuator thrust exceeds the preset thrust threshold, it indicates that abnormal resistance has been encountered. The start time of the thrust exceeding the threshold is recorded, and the thrust is continuously monitored to ensure that it remains above the threshold. The duration from the start time to the current time is calculated and compared with a preset duration. The preset duration is used to exclude brief thrust peaks caused by instantaneous impacts. When the duration exceeds the preset duration, the abnormal state is confirmed to persist, and abnormal diagnostic information is generated. This information includes an abnormality type code and an abnormality description text. The abnormality type code uses predefined coding rules to identify the specific type of abnormality, such as overload or electric actuator stall. The abnormality description text uses natural language to describe the details of the abnormality, such as the current thrust value, the magnitude of exceeding the threshold, and the duration. The exception handling suggestion library is a pre-built knowledge base that stores handling suggestion text corresponding to different exception type codes. The suggestion text describes the troubleshooting methods and handling measures for that type of exception. Based on the exception type code in the exception diagnosis information, a matching entry is searched in the exception handling suggestion library, and the corresponding handling suggestion text is retrieved from that entry. An exception diagnosis panel pops up at the top of the visualization interface. This panel is a semi-transparent rectangle overlaying the original interface. The panel contains exception description text and handling suggestion text. The exception description text is displayed at the top of the panel with a prominent color and font, while the handling suggestion text is located at the bottom of the panel, displaying multiple specific suggestions in a list format. Confirmation and retry buttons are provided at the bottom of the panel for operators to select subsequent actions.

[0084] The above describes the visual control method for the process of unhooking and detaching iron oxen in the embodiments of this application. The following describes the visual control system for the process of unhooking and detaching iron oxen in the embodiments of this application. Please refer to [link / reference]. Figure 4 One embodiment of the visual control system for the process of removing the hook from the ox in this application includes:

[0085] The calculation module is used to obtain the distance data between the carriages by weighted fusion calculation of ultrasonic ranging values ​​and infrared ranging values, and at the same time collect the electric actuator stroke data and the position data of the iron ox.

[0086] The mapping module is used to construct a three-dimensional virtual scene based on the car distance data, electric actuator stroke data and ox position data, and dynamically map the car model position and hook pin rotation angle in the three-dimensional virtual scene;

[0087] The partitioning module is used to divide the three-dimensional virtual scene into a panoramic bird's-eye view layer and a close-up view layer of the work area. The data dashboard is superimposed in the panoramic bird's-eye view layer to display the distance data of the carriage and the travel data of the electric actuator.

[0088] The determination module is used to determine the current operation stage based on the rate of change of the carriage distance data and the electric actuator stroke data, and automatically switch the display modes of the panoramic bird's-eye view layer and the close-up view layer of the operation area according to the determined operation stage.

[0089] The generation module is used to draw the curve of electric actuator thrust changing over time in the close-up view layer of the work area, generate abnormal diagnosis information by comparing the electric actuator thrust with a preset threshold, and pop up an abnormal diagnosis panel in the visualization interface.

[0090] above Figure 4 The visualization control system for the unhooking and detaching process of the tractor in this embodiment of the invention is described in detail from the perspective of modular functional entities. The visualization control device for the unhooking and detaching process of the tractor in this embodiment of the invention is described in detail from the perspective of hardware processing.

[0091] Reference Figure 5 This invention also provides a visual control device for the process of removing hooks from iron oxen. This visual control device can be a server, and its internal structure can be as follows: Figure 5As shown, the visual control device for the unhooking process of the electric bull includes a processor, memory, display screen, input device, network interface, and database connected via a system bus. The processor, designed as a computer, provides computing and control capabilities. The memory of the visual control device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the visual control device stores the data corresponding to this embodiment. The network interface of the visual control device is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the above-described method.

[0092] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the visual control device for the process of unhooking and detaching iron oxen applied thereto.

[0093] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the visual control method for the process of unhooking the iron bull.

[0094] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a visual control device for the process of unhooking a metal ox (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0096] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for visualizing control of an iron cow hooking process, characterized by, The method comprises: Step S1: obtain the carriage distance data by weighted fusion calculation of ultrasonic ranging value and infrared ranging value, collect the electric push rod stroke data and the iron bull position data at the same time; Step S2: construct a three-dimensional virtual scene according to the carriage distance data, the electric push rod stroke data and the iron bull position data, dynamically map the carriage model position and the hook pin rotation angle in the three-dimensional virtual scene; Step S3: divide the three-dimensional virtual scene into a panoramic bird's eye view layer and a work area close-up view layer, superimpose a data instrument panel in the panoramic bird's eye view layer to display the carriage distance data and the electric push rod stroke data; Step S4: determine the current work stage according to the change rate of the carriage distance data and the electric push rod stroke data, automatically switch the display mode of the panoramic bird's eye view layer and the work area close-up view layer according to the determined work stage, including: performing time difference calculation on the continuously collected carriage distance data to obtain the change rate of the carriage distance data; matching the change rate of the carriage distance data, the carriage distance data and the electric push rod stroke data with the preset work stage determination rule to obtain the current work stage identifier; querying the preset view display mode configuration table according to the current work stage identifier to obtain the corresponding view layer display parameters and data instrument panel magnification parameters; adjusting the display area size of the panoramic bird's eye view layer and the work area close-up view layer based on the view layer display parameters, and adjusting the display proportion of the carriage distance instrument area and the electric push rod stroke instrument area based on the data instrument panel magnification parameters; Step S5: draw the change curve of the electric push rod thrust with time in the work area close-up view layer, generate abnormal diagnosis information by comparing the electric push rod thrust with the preset threshold value, and pop up the abnormal diagnosis panel in the visual interface.

2. The method of visualizing and controlling the process of hooking and unhooking a cow according to claim 1, characterized in that, The step S1 comprises: periodically emitting ultrasonic pulses by the ultrasonic ranging sensor and receiving echoes, calculating the ultrasonic ranging value according to the product of echo time difference and sound speed; emitting an infrared light beam by the infrared ranging sensor and receiving reflected light, calculating the infrared ranging value according to the reflected light spot position offset, baseline distance and receiving lens focal length; collecting ambient light intensity, determining the first weight coefficient and the second weight coefficient according to the comparison result of the ambient light intensity and the preset light threshold, and performing weighted fusion calculation on the ultrasonic ranging value and the infrared ranging value to obtain the carriage distance data; periodically detecting the change of the internal magnetic field of the electric push rod by the Hall sensor and converting it into a voltage signal, multiplying the voltage signal by a preset calibration coefficient to obtain the electric push rod stroke data.

3. The method of visualizing control of the iron cow hanging and picking process according to claim 1, characterized in that, The step S2 comprises: establishing a three-dimensional scene coordinate system with the loading building center as the origin, preloading the loading building three-dimensional model, the railway track three-dimensional model and the carriage standard three-dimensional model in the three-dimensional scene coordinate system to obtain the basic three-dimensional virtual scene; According to the iron bull position data, real-time position coordinates of the iron bull three-dimensional model in the three-dimensional scene coordinate system are calculated, relative position coordinates of the carriage three-dimensional model relative to the iron bull three-dimensional model are calculated according to the carriage distance data, and dynamic updated scene layout data is obtained; Based on the kinematics inverse solution calculation of the electric push rod stroke data and the initial vertical position of the hook pin, the rotation angle of the hook pin from the vertical state to the horizontal state is obtained; The rotation angle is used to drive the animation rendering of the hook pin virtual skeleton structure, and the scene layout data is updated to the basic three-dimensional virtual scene, and the three-dimensional virtual scene is obtained.

4. The method of visualizing and controlling the process of hooking and unhooking a cow according to claim 1, characterized in that, The step S3 comprises: The three-dimensional virtual scene is rendered to generate a panoramic bird's eye view layer according to a preset overhead angle, and a work area close-up view layer is generated according to a hook mechanism front side view angle; A data instrument panel area is set in the panoramic bird's eye view layer, and the data instrument panel area is divided into a carriage distance instrument area and an electric push rod stroke instrument area; According to the mapping relationship between the carriage distance data and the preset distance scale range, the carriage distance pointer angle is calculated, a semicircular scale disc is drawn in the carriage distance instrument area, and the carriage distance pointer is displayed according to the carriage distance pointer angle; According to the ratio calculation of the electric push rod stroke data and the preset stroke range, the stroke progress bar filling ratio is obtained, a horizontal progress bar is drawn in the electric push rod stroke instrument area, and the stroke progress bar filling length is displayed according to the stroke progress bar filling ratio.

5. The method of visualizing and controlling the process of hooking and unhooking a cow according to claim 1, characterized in that, The change rate of the carriage distance data, the carriage distance data and the electric push rod stroke data are matched with the preset work stage judgment rule to obtain the current work stage identifier, comprising: It is judged whether the carriage distance data is greater than the first distance threshold and whether the electric push rod stroke data is equal to the initial stroke value, and when both conditions are met, the standby stage identifier is obtained; It is judged whether the change rate of the carriage distance data is less than the preset change rate threshold and whether the carriage distance data is continuously reduced, and when both conditions are met, the carriage approaching stage identifier is obtained; It is judged whether the carriage distance data is within the preset safety distance interval and whether the absolute value of the change rate of the carriage distance data is less than the preset stability threshold, and when both conditions are met, the hooking preparation stage identifier is obtained; It is judged whether the electric push rod stroke data is greater than the initial stroke value and less than the target stroke value, and when the condition is met, the hooking execution stage identifier is obtained, and one of the standby stage identifier, the carriage approaching stage identifier, the hooking preparation stage identifier and the hooking execution stage identifier is taken as the current work stage identifier.

6. The method of visualizing control of the iron cow hooking and unhooking process according to claim 1, characterized in that, The step S5 comprises: The motor current data of the electric push rod is collected, the motor current data is multiplied by a preset force-current conversion coefficient, and the electric push rod thrust is obtained; A thrust time sequence curve coordinate system is established at the bottom of the work area close-up view layer, with time as the horizontal axis and thrust as the vertical axis, a broken line is drawn according to the time sequence of the continuously collected electric push rod thrust, and the change curve of the electric push rod thrust with time is obtained; The electric push rod thrust is compared with a preset thrust threshold value, and when the electric push rod thrust exceeds the preset thrust threshold value and lasts for more than a preset time length, abnormal diagnosis information containing an abnormal type code and an abnormal description text is generated; According to the abnormal type code in the abnormal diagnosis information, a preset abnormal treatment suggestion library is queried to obtain corresponding treatment suggestion text, and an abnormal diagnosis panel containing the abnormal description text and the treatment suggestion text is popped up in the visual interface.

7. A visual control system for the process of ironing, hanging and unhooking, characterized by, The iron cow hooking and unhooking process visual control method and system can be implemented by using the computer program product. The computing module is configured to obtain the carriage distance data by weighted fusion calculation of the ultrasonic ranging value and the infrared ranging value, and simultaneously collect the electric push rod stroke data and the iron cow position data; The mapping module is configured to construct a three-dimensional virtual scene according to the carriage distance data, the electric push rod stroke data and the iron cow position data, and dynamically map the carriage model position and the hook pin rotation angle in the three-dimensional virtual scene; The dividing module is configured to divide the three-dimensional virtual scene into a panoramic bird's eye view layer and a work area close-up view layer, and superimpose a data instrument panel on the panoramic bird's eye view layer to display the carriage distance data and the electric push rod stroke data; The determining module is configured to determine the current work stage according to the change rate of the carriage distance data and the electric push rod stroke data, and automatically switch the display mode of the panoramic bird's eye view layer and the work area close-up view layer according to the determined work stage; The generating module is configured to draw a curve of the electric push rod thrust changing with time in the work area close-up view layer, generate abnormal diagnosis information by comparing the electric push rod thrust with a preset threshold value, and pop up an abnormal diagnosis panel in the visual interface.

8. An iron hooking process visual control device, characterized by, The computer program product comprises a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the iron cow hooking and unhooking process visual control method according to any one of claims 1 to 6 when executing the computer program.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program product comprises a memory and a processor, the memory stores a computer program capable of running on the processor, and the processor implements the iron cow hooking and unhooking process visual control method according to any one of claims 1 to 6 when executing the computer program.

Images