A system and method for detecting and interlocking control of vehicle rollover

Abstract

This invention discloses a vehicle height over-limit detection and interlocking control system and method for tippler vehicles. The system includes a vehicle number recognition unit, a laser height detection unit, a ground control unit, and interlocking execution components. The ground control unit has a vehicle type-height matching logic library, which performs dual signal validity verification on the vehicle type recognition signal and the height detection signal. When both signals are valid, the system retrieves the allowable height threshold for the corresponding vehicle type for comparison. If the vehicle is determined to be over-height, an over-height interlocking signal is output. The system can automatically identify two vehicle entry modes: locomotive propulsion and tractor traction, and match differentiated interlocking control logic to achieve dual protection of vehicle parking and tippler operation locking. This invention can achieve precise height limitation based on vehicle type and interlocking protection under all working conditions, effectively improving the safety and automation level of tippler unloading operations.

Description

Technical Field

[0001] This invention relates to the field of safety control technology for unloading operations of railway freight tippers, and more specifically, to a tipper vehicle over-height detection and interlocking control system and method. Background Technology

[0002] Tippers are core equipment used in industries such as metallurgy, ports, and coal for unloading bulk materials from open railway wagons. They unload materials by tipping the wagon body, featuring high unloading efficiency and a high degree of automation, and are widely used in large-scale cargo transportation. Most existing tippers are designed and manufactured based on the body parameters of the C70 general-purpose open wagon. In recent years, higher-profile open wagons such as the C70E and C70E(H)-A have been gradually put into large-scale railway transportation. The body height of these wagons is significantly increased compared to traditional models. If a wagon mistakenly enters a tipper designed for the original standard model, problems such as inadequate pressing of the wagon beam and insufficient contact between the wagon platform and the wagon can occur. In severe cases, the wagon roof may scrape against the rotor end ring, causing serious safety accidents such as vehicle jamming, derailment, or even structural damage to the equipment.

[0003] Currently, the control of vehicles exceeding height limits at the tippler entrance mainly relies on manual inspection. On-site staff visually verify the vehicle model code, estimate the vehicle height, and then direct the vehicle to enter. This method is inefficient and highly susceptible to factors such as staff attention, work experience, on-site lighting, and environmental obstructions, making it prone to missed or incorrect detections and posing a safety hazard of mistakenly allowing oversized vehicles to pass.

[0004] Some work sites have installed height restriction detection devices with a single fixed threshold, which can only provide simple over-height alarm prompts and cannot differentiate between different vehicle types to set different height thresholds: if the threshold is set according to the standard vehicle type, taller vehicles will frequently trigger false alarms, interfering with normal operations; if the threshold is set according to the taller vehicle type, standard vehicles will not be detected as exceeding the height limit, resulting in protection failure. Furthermore, these height restriction devices only output alarm signals and do not form a hard interlock with the tipper control system, nor can they activate the vehicle braking mechanism, failing to prevent over-height vehicles from entering the tipper at the source, thus offering very limited safety protection capabilities. Summary of the Invention

[0005] This invention provides a vehicle height detection and interlocking control system and method for tippler vehicles. The problem it aims to solve is that existing tippler vehicle height detection systems rely on manual control, cannot set differentiated height limits for different vehicle types, have insufficient detection reliability, do not form effective hard interlocks with the operating system, and are only suitable for a limited range of operating conditions. This invention provides a height detection and interlocking control system with vehicle type recognition, vehicle type-specific height limits, dual signal verification, and multi-mode interlocking functions. This system prevents oversized vehicles from entering the tippler operation from the source, improving the safety and automation level of unloading operations.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A tippler vehicle over-height detection and interlocking control system, including A laser height detection unit is used to detect the actual height of the vehicle to be inspected. Interlocking actuators are used to perform vehicle parking control and / or tipper operation locking control; The vehicle number recognition unit is used to obtain the vehicle model information of the vehicle to be detected entering the entrance detection area of ​​the tipper; The ground control unit receives the height detection signal from the laser height detection unit and controls the interlocking execution component. It has a built-in vehicle type-height matching logic library. The ground control unit is connected to the vehicle number recognition unit and the laser height detection unit respectively. It is used to verify the validity of the received vehicle type information and the actual height information. When both signals are valid, it retrieves the allowable height threshold of the corresponding vehicle type from the vehicle type-height matching logic library according to the vehicle type information, compares the actual height with the allowable height threshold, and outputs an over-height interlocking signal to the interlocking execution component when the vehicle is determined to be too high. The interlocking execution component then performs vehicle parking control and / or tipper operation locking control.

[0007] Furthermore, the interlocking execution components include a locomotive execution unit and a tippler interlocking unit, and the ground control unit is also used to identify the current vehicle traction mode; When the locomotive propulsion mode is determined, the ground control unit sends a stop control signal to the locomotive execution unit to control the locomotive to brake and stop. At the same time, it sends an operation locking signal to the tippler interlocking unit to lock the tippler's entry, pressing and tipping actions. When the traction mode is determined to be the tractor mode, the ground control unit sends an operation locking signal to the tippler interlocking unit to lock the tractor traction action and all operation actions of the tippler.

[0008] Furthermore, the ground control unit automatically identifies the traction mode based on the following conditions: When the detection area identifies the locomotive tag and the tipper's traction machine in the car entry section is in standby and not engaged, it is determined to be in locomotive propulsion mode; When the detection area only identifies the vehicle tag and the tipper entering the vehicle section is in the ready-to-couple traction state, it is determined to be the traction mode of the tipper. The two traction modes are mutually exclusive. Only one control logic is executed during the same vehicle entry process, and mode switching is only completed before the vehicle enters the detection area. Switching is prohibited during the vehicle entry process.

[0009] Furthermore, the vehicle number recognition unit includes a ground vehicle number reader and a passive electronic tag; the passive electronic tag is installed on the top of the locomotive or vehicle and stores the vehicle number and model information of the corresponding vehicle; the ground vehicle number reader is arranged on the side of the tipper entrance track and is used to read the information of the passive electronic tag and transmit it to the ground control unit.

[0010] Furthermore, the laser height detection unit adopts a through-beam detection component, which is arranged in layers along the track height direction. Each layer corresponds to the allowable height threshold of a certain vehicle type, and is used to output the actual height information of the vehicle by detecting the occlusion state.

[0011] Furthermore, the ground control unit and the locomotive execution unit communicate with each other via a wireless transmission unit.

[0012] Furthermore, the locomotive execution unit includes a locomotive monitoring device, a shut-off valve, and a venting valve. After receiving the parking control signal, the locomotive monitoring device controls the shut-off valve and the venting valve to exhaust air, triggering the locomotive's air brakes to stop.

[0013] Furthermore, the tippler interlocking unit is connected to the tippler PLC via hard contacts. After receiving the over-height interlocking signal, it locks all operating actions of the tippler through hard interlocking and triggers audible, visual, and voice alarms.

[0014] Furthermore, the ground control unit has a built-in fault diagnosis module. When any of the following situations occur, such as missing vehicle number recognition signal, missing height detection signal, signal transmission delay exceeding 200ms, or height detection value exceeding the preset reasonable range, it is determined to be a system fault, and an alarm is immediately triggered and all actions of the tipper are locked.

[0015] A method for detecting and interlocking excessive height of tippler vehicles, comprising the following steps: S1. Obtain the vehicle type information of the vehicle to be inspected entering the inspection area of ​​the tipper, and simultaneously collect the actual height information of the vehicle to be inspected; S2. Perform a dual-signal validity check on the acquired vehicle model information and actual height information. If either signal is invalid, determine that the system is faulty and trigger the fault protection action; if both signals are valid, proceed to the next step. S3. Based on the verified vehicle model information, retrieve the pre-stored allowable height threshold corresponding to the vehicle model, and compare the actual height information with the allowable height threshold of the corresponding vehicle model. S4. If the comparison determines that the vehicle is too high, an over-height interlock control signal will be output to execute vehicle parking control and / or tipper operation locking control; if the comparison determines that the vehicle is compliant, a release command will be output.

[0016] The beneficial effects of this invention are as follows: This invention automatically obtains the vehicle type information of the vehicle to be detected through the vehicle number recognition unit, and retrieves the allowable height threshold of the corresponding vehicle type by combining the vehicle type-height matching logic library in the ground control unit. Differentiated height restriction standards can be implemented for different open wagon types, solving the problems of poor adaptability, false alarms and missed judgments of traditional fixed height restriction devices. At the same time, the vehicle type-height matching logic library supports online modification and addition of parameters, which can quickly adapt to the subsequent use of new railway freight vehicles, and the system has strong compatibility and scalability.

[0017] The ground control unit of this invention performs dual validity checks on the vehicle identification signal and the altitude detection signal, and only performs altitude comparison and determination when both signals are valid; if either signal is missing, distorted, or has a transmission timeout, the system fault protection is triggered to avoid malfunctions caused by the failure of a single detection device, thereby greatly improving the accuracy of ultra-high altitude detection results and the reliability of system operation.

[0018] This invention can automatically identify two car entry operation modes: locomotive propulsion and traction machine traction, and match differentiated interlocking control logic: in the locomotive propulsion mode, the locomotive braking and stopping and the tippler operation locking are triggered synchronously; in the traction machine traction mode, the traction mechanism and all operation actions of the tippler are directly locked, which fully covers all car entry conditions on site, has no blind spots, and can adapt to the safety management and control requirements of different operation scenarios.

[0019] This invention forms a dual safety barrier at both the vehicle and equipment ends: on the locomotive side, automatic braking and stopping are achieved through the locomotive execution unit, preventing the vehicle from continuing to move forward; on the tipper side, a hard connection is made to the tipper PLC to achieve a hard interlock, directly locking all operational actions of vehicle entry, pressing, and tipping. Both mechanisms bidirectionally block the risk of oversized vehicles from both the vehicle entry end and the equipment operation end, completely avoiding accidents such as scratches, jams, derailments, and equipment damage caused by oversized vehicles, significantly improving the safety protection level compared to existing technologies.

[0020] This invention automates the entire process of vehicle identification, height detection, logic determination, interlock execution, and alarm prompts without requiring manual intervention. It replaces the traditional manual inspection method, eliminating the risk of missed or incorrect judgments caused by human negligence or lack of experience, while improving detection efficiency and meeting the continuous and efficient operation requirements of tippler machines. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of a tippler vehicle over-height detection and interlocking control system according to the present invention.

[0022] Figure 2 This is a site layout diagram of the tippler entrance in this invention.

[0023] Figure 3This is a schematic diagram of the detection principle of the through-beam laser sensor in this invention.

[0024] Figure 4 This is the control logic diagram of the ground control unit in this invention.

[0025] Figure 5 This is a schematic diagram of the locomotive execution unit in this invention.

[0026] Figure 6 This is a flowchart of the locomotive monitoring device in this invention.

[0027] Figure 7 This is a flowchart of a method for detecting and interlocking excessive height of a tippler vehicle according to the present invention. Detailed Implementation

[0028] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0029] like Figures 1 to 7 As shown, this invention provides a tippler vehicle over-height detection and interlocking control system. Applied to the entrance detection area of ​​the railway freight tippler unloading system in metallurgical enterprises, it is used for over-height detection and interlocking safety management of railway open wagons entering the tippler operation area. It is compatible with various mainstream open wagon models such as C70, C70E, and C70E(H)-A, comprehensively covering both locomotive propulsion and traction machine operation conditions. It mainly consists of a wagon number recognition unit, a laser height detection unit, a ground control unit, a wireless transmission unit, and interlocking execution components.

[0030] The vehicle number recognition unit consists of a ground vehicle number reader and a passive electronic tag. The ground vehicle number reader is located on one side of the tippler entrance track, 5 meters away from the starting point of the track entry. The passive electronic tag is installed on the top center of the locomotive and vehicles. The tag stores the vehicle number code, vehicle type code, and other identification information. When a vehicle enters the detection area, the ground vehicle number reader reads the information in the passive electronic tag via radio frequency and transmits the vehicle number and vehicle type data to the ground control unit in real time.

[0031] The laser height detection unit uses a through-beam laser sensor, arranged in layers along the track height direction, and installed 3 meters away from the vehicle number reader along the direction of vehicle entry. This embodiment has three detection layers, corresponding to the allowable height thresholds for three mainstream open wagon models. The bottom detection layer corresponds to 3143mm above the track surface, matching the C70 open wagon height limit standard; the middle detection layer corresponds to 3243mm above the track surface, matching the C70E open wagon height limit standard; and the top detection layer corresponds to 3443mm above the track surface, matching the C70E(H)-A open wagon height limit standard. When a vehicle passes through the detection area, the laser sensor outputs a detection signal corresponding to the height level based on the beam obstruction status, and transmits it to the ground control unit.

[0032] The ground control unit uses an industrial-grade PLC control box, installed on the track side 2m away from the laser sensor along the direction of train approach. It integrates a data processing module, a logic operation module, a signal acquisition module, a fault diagnosis module, and a local storage module. It has a built-in model-height matching logic library, which pre-stores the allowable height thresholds for three models: C70, C70E, and C70E(H)-A. It is also equipped with a touch interaction module, which allows maintenance personnel to modify and add model and height parameters locally online without changing the underlying program, so as to adapt to the access of new railway freight vehicles.

[0033] The ground control unit is connected to the vehicle number recognition unit and the laser altitude detection unit respectively. Its core functions include dual signal validity verification, vehicle type and altitude matching comparison, automatic traction mode recognition, and interlocking control command output.

[0034] The wireless transmission unit consists of a ground-based fixed-frequency signal transceiver and a locomotive-mounted signal receiver. It adopts a one-to-one dedicated frequency encryption communication mechanism, with each locomotive matched with an independent fixed communication frequency and locomotive ID verification rules to avoid signal crosstalk and false triggering when multiple locomotives are operating in the same field.

[0035] In this embodiment, the wireless transmission unit operates in the 433MHz–435MHz industrial unlicensed UHF band, employing FSK frequency shift keying modulation with a modulation rate of 1200bps. Its rated effective communication distance is 0–1000m, completely covering the distance from the tippler entrance detection area to the locomotive parking area. The single signal transmission delay is ≤50ms, meeting the response requirements of industrial safety interlocks. The ground transceiver is normally in a dormant listening state, activating its dedicated communication channel only upon detecting a locomotive entering the network. After the ultra-high-speed braking command is issued, the locomotive sends a reverse braking status feedback signal, forming a two-way closed-loop communication.

[0036] The interlocking execution component is divided into two parts: the locomotive execution unit and the tippler interlocking unit, which correspond to the execution entities in different traction modes.

[0037] The locomotive execution unit is installed on the railway locomotive and includes a locomotive monitoring device, a shut-off valve, and a venting valve. The locomotive monitoring device is connected to the on-board signal receiver. After receiving and verifying the braking control signal, it controls the shut-off valve and the venting valve to exhaust air, triggering the locomotive's air braking system to achieve automatic stopping.

[0038] The tippler interlocking unit is connected to the existing tippler PLC via hard contacts. After receiving the over-height interlocking signal from the ground control unit, it directly locks all the tippler's operations of entering, pressing, and tipping through hard interlocking. At the same time, it activates the on-site audible and visual alarm device to issue a vehicle over-height warning to the operators.

[0039] The fault diagnosis module is integrated into the ground control unit and has four types of fault judgment logic: if the vehicle number recognition signal is continuously missing, it is judged as a tag abnormality or a reader malfunction; if there is no output of the altitude detection signal, it is judged as a laser sensor malfunction; if the signal transmission delay exceeds 200ms, it is judged as a transmission link abnormality; if the altitude detection value is 0 or exceeds 4000mm, it is judged as detection data distortion. When any type of fault is triggered, the system immediately outputs a fault alarm signal and locks all actions of the tipper. The system can only resume normal operation after the fault is cleared and manually confirmed to be reset.

[0040] This system can automatically identify two vehicle entry and traction modes: locomotive propulsion and tractor traction. The two modes are mutually exclusive, and only one control logic is executed during the same vehicle entry process. Moreover, mode switching is only completed before the vehicle enters the detection area, and mode switching is prohibited during the vehicle entry process.

[0041] I. Locomotive Propulsion Mode When the detection area identifies the passive electronic tag on the top of the locomotive, and the tippler's traction machine in the car-entry section is in standby mode and not engaged with any vehicles, the ground control unit automatically determines that the mode is locomotive propulsion mode. In this mode, the railway locomotive pushes the vehicles forward from the rear of the train set, and the locomotive retains control of the vehicle braking.

[0042] The specific control steps are as follows: S1. When a vehicle enters the detection area, the vehicle number recognition unit reads the passive electronic tags of the locomotive and the vehicle, obtains the vehicle type information, and transmits it to the ground control unit; at the same time, the laser height detection unit synchronously collects the actual height signal of the vehicle.

[0043] S2. The ground control unit performs dual signal validity verification on the vehicle identification signal and the height detection signal. If either signal is missing, distorted, or the transmission timeout occurs, it is determined to be a system fault, and an alarm is immediately triggered and all actions of the tipper are locked. If both signals are valid, proceed to the next step.

[0044] S3. The ground control unit retrieves the allowable height threshold for the corresponding vehicle model from the vehicle model-height matching logic library based on the vehicle model information, and compares the actual height of the vehicle with the corresponding threshold.

[0045] S4. If the vehicle height is determined to be compliant, the ground control unit outputs a release command, the tippler system is on standby, and the locomotive can continue to push the vehicle into the tippler for operation. If the vehicle is determined to be too high, the ground control unit sends an encrypted braking command to the corresponding locomotive via the wireless transmission unit. After receiving the command, the locomotive monitoring device drives the shut-off valve and the vent valve to exhaust the brake, causing the locomotive to stop automatically and prohibiting further advancement. At the same time, the ground control unit sends an operation locking signal to the tippler interlocking unit, locking all operation actions of the tippler through hard interlocking and triggering a light and voice alarm.

[0046] S5. After manually handling the oversized vehicle and confirming on-site safety, manually reset the system before restarting the vehicle entry operation.

[0047] II. Traction Mode of the Tractor When the detection area only identifies the vehicle tag but not the locomotive tag, and the tippler's traction machine in the car-entry section has already hooked up a vehicle and is in a traction-ready state, the ground control unit automatically determines that it is in traction machine mode. In this mode, the fixed traction machine in the factory building pulls the vehicle forward at the front of the car group, and the vehicle braking and entry control belong to the tippler system.

[0048] The specific control steps are as follows: S1. When a vehicle enters the detection area, the vehicle number recognition unit reads the vehicle's passive electronic tag to obtain the vehicle model information, and the laser height detection unit simultaneously collects the vehicle's actual height signal.

[0049] S2. The ground control unit verifies the validity of the two signals. If the signal is abnormal, it triggers fault protection. If both signals are valid, it proceeds to the next step.

[0050] S3. The ground control unit retrieves the allowable height threshold for the corresponding vehicle model and compares it with the actual height of the vehicle to make a judgment.

[0051] S4. If the vehicle height is determined to be compliant, a release command is output, and the tractor can normally pull the vehicle into the tippler. If the vehicle is determined to be too high, the ground control unit directly outputs an over-height interlock signal to the tippler interlocking unit through a hard contact, locking the tractor's traction mechanism, prohibiting the vehicle from continuing to move forward, and simultaneously locking all operating actions of the tippler and triggering an audible, visual, and voice alarm.

[0052] S5. After the abnormal height is manually eliminated and the system is manually reset, the traction machine and tipper can resume normal operation.

[0053] The above embodiments are merely illustrative of several implementation methods of the present invention, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the protection scope of the present invention.

Claims

1. A tippler vehicle over-height detection and interlocking control system, characterized in that: include A laser height detection unit is used to detect the actual height of the vehicle to be inspected. Interlocking actuators are used to perform vehicle parking control and / or tipper operation locking control; The vehicle number recognition unit is used to obtain the vehicle model information of the vehicle to be detected entering the entrance detection area of ​​the tipper; The ground control unit receives the height detection signal from the laser height detection unit and controls the interlocking execution component. It has a built-in vehicle model-height matching logic library. The ground control unit is connected to the vehicle number recognition unit and the laser height detection unit respectively. It is used to verify the validity of the received vehicle model information and the actual height information. When both signals are valid, it retrieves the allowable height threshold of the corresponding vehicle model from the vehicle model-height matching logic library according to the vehicle model information, compares the actual height with the allowable height threshold, and outputs an overheight interlocking signal to the interlocking execution component when the vehicle is determined to be too high. The interlocking execution component then performs vehicle parking control and / or tipper operation locking control.

2. The tippler vehicle over-height detection and interlocking control system according to claim 1, characterized in that: The interlocking execution component includes a locomotive execution unit and a tipper interlocking unit, and the ground control unit is also used to identify the current vehicle traction mode; When the locomotive propulsion mode is determined, the ground control unit sends a parking control signal to the locomotive execution unit to control the locomotive to brake and stop, and at the same time sends an operation locking signal to the tippler interlocking unit to lock the tippler's entry, pressing and tipping actions. When the traction mode is determined to be the tractor mode, the ground control unit sends a work locking signal to the tippler interlocking unit to lock the tractor traction action and all operating actions of the tippler.

3. The tippler vehicle over-height detection and interlocking control system according to claim 2, characterized in that, The ground control unit automatically identifies the traction mode based on the following conditions: When the detection area identifies the locomotive tag and the tipper's traction machine in the car entry section is in standby and not engaged, it is determined to be in locomotive propulsion mode; When the detection area only identifies the vehicle tag and the tipper entering the vehicle section is in the ready-to-couple traction state, it is determined to be the traction mode of the tipper. The two traction modes are mutually exclusive. Only one control logic is executed during the same vehicle entry process, and mode switching is only completed before the vehicle enters the detection area. Switching is prohibited during the vehicle entry process.

4. The tippler vehicle over-height detection and interlocking control system according to claim 1, characterized in that: The vehicle number recognition unit includes a ground vehicle number reader and a passive electronic tag; the passive electronic tag is installed on the top of the locomotive or vehicle and stores the vehicle number and model information of the corresponding vehicle; the ground vehicle number reader is arranged on the side of the tipper entrance track and is used to read the information of the passive electronic tag and transmit it to the ground control unit.

5. The tippler vehicle over-height detection and interlocking control system according to claim 1, characterized in that: The laser height detection unit uses a through-beam laser sensor, which is arranged in layers along the track height direction. Each layer corresponds to the allowable height threshold of a certain vehicle type, and is used to output the actual height information of the vehicle by detecting the occlusion state.

6. The tippler vehicle over-height detection and interlocking control system according to claim 2, characterized in that: The ground control unit and the locomotive execution unit are connected via a wireless transmission unit.

7. The tippler vehicle over-height detection and interlocking control system according to claim 2, characterized in that: The locomotive execution unit includes a locomotive monitoring device, a shut-off valve, and a venting valve. After receiving a stop control signal, the locomotive monitoring device controls the shut-off valve and the venting valve to vent air, triggering the locomotive's air brake to stop.

8. The tippler vehicle over-height detection and interlocking control system according to claim 1, characterized in that: The tippler interlocking unit is connected to the tippler PLC via hard contacts. After receiving the over-height interlocking signal, it locks all operating actions of the tippler through hard interlocking and triggers an audible, visual, and voice alarm.

9. The tippler vehicle over-height detection and interlocking control system according to claim 1, characterized in that: The ground control unit has a built-in fault diagnosis module. When any of the following situations occur, such as missing vehicle number recognition signal, missing height detection signal, signal transmission delay exceeding 200ms, or height detection value exceeding the preset reasonable range, it is determined to be a system fault, and an alarm is immediately triggered and all actions of the tipper are locked.

10. A method for detecting and interlocking excessive height of tippler vehicles, characterized in that, Includes the following steps: S1. Obtain the vehicle type information of the vehicle to be inspected entering the inspection area of ​​the tipper, and simultaneously collect the actual height information of the vehicle to be inspected; S2. Perform a dual-signal validity check on the acquired vehicle model information and actual height information. If either signal is invalid, determine that the system is faulty and trigger the fault protection action; if both signals are valid, proceed to the next step. S3. Based on the verified vehicle model information, retrieve the pre-stored allowable height threshold corresponding to the vehicle model, and compare the actual height information with the allowable height threshold of the corresponding vehicle model. S4. If the comparison determines that the vehicle is too high, an over-height interlock control signal will be output to execute vehicle parking control and / or tipper operation locking control; if the comparison determines that the vehicle is compliant, a release command will be output.

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