Intelligent safety remote control system for curve switch of underground track locomotive

Abstract

The present application relates to the technical field of mine underground track transportation safety control, in particular to an intelligent safety remote control system for underground rail electric locomotive curve switch machine, which comprises an active magnetic steel wheel sensor, a camera device, a programmable logic controller, a fixed infrared receiver, a vehicle-mounted infrared emitter, an electric switch machine and a turnout position detection contact. The programmable logic controller establishes a vehicle arrival event according to a vehicle arrival signal, determines a stable confirmation state according to a vehicle image, establishes a remote control permission record when the vehicle arrival event is valid and the stable confirmation state is established, verifies a switch instruction in combination with an instruction receiving time, a permission time range and a permission use state, controls the electric switch machine to act and compares an in-place state with a target in-place state. The present application controls vehicle arrival, stable confirmation, remote control permission and in-place confirmation, so that the switch operation is jointly constrained by the vehicle state and the permission state.

Description

Technical Field

[0001] This invention relates to the field of safety control technology for underground rail transportation in mines, and in particular to an intelligent safety remote control system for an underground rail locomotive curve switch machine. Background Technology

[0002] The field of safety control technology for underground rail transport in mines mainly focuses on the technical processing of the operation status detection, signal transmission, passage judgment, and control execution of underground rail locomotives, track lines, turnouts, and switching devices. Typically, track detection devices, signal indicating devices, controllers, communication devices, and switching actuators work together to complete vehicle position identification, track status judgment, control command transmission, and turnout operation. Among these, the intelligent safety remote control system for underground rail locomotive curve switching machines refers to a system used for vehicle passage and switching control in underground track curves and turnout areas. Typically, track occupancy detection devices collect vehicle entry, exit, or occupancy signals, transmit these signals to the controller for status judgment, and combine this with driver operation instructions or on-site signal devices to determine turnout control conditions. The controller outputs action commands to the switching machine, and simultaneously provides feedback on the track and turnout status through traffic lights or other on-site indicating devices.

[0003] Existing underground rail locomotive turnout control in curves and switch areas relies mainly on track occupancy signals and driver instructions. While the vehicle's entry status can be detected, there is a lack of continuous correlation between whether the vehicle has come to a complete stop and the remote control operation conditions. Fixed receiving devices may remain receivable even after the vehicle's status changes, and repeated instructions may enter the turnout control link. After the switch is activated, on-site confirmation is required. There is a lack of correlation between the vehicle's arrival status, stopping status, remote control instructions, and positioning status during a single passage, which can easily lead to inconsistencies between the operating conditions and the actual vehicle status. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent safety remote control system for underground rail locomotive curve switch machines. This system establishes a continuous control association between the vehicle's entry status, vehicle's stationary status, remote control permission status, switch command, and actual switch position status. It limits the conditions for receiving and executing switch commands, as well as the single-use permission status, so that the switch control process corresponds to the actual operating status of the current vehicle, and forms a control link from vehicle arrival, stationary confirmation, remote control permission, command verification, switch execution to switch position confirmation.

[0005] To achieve the above objectives, the present invention provides an intelligent safety remote control system for an underground rail locomotive curve switch machine. The system includes an active magnetic steel wheel sensor, a camera device, a programmable logic controller, a fixed infrared receiver, a vehicle-mounted infrared transmitter, an electric switch machine, and turnout position detection contacts. An active magnetic steel wheel sensor is used to detect the vehicle's entry status and generate a vehicle arrival signal. The programmable logic controller establishes a vehicle arrival event based on the vehicle arrival signal. The camera device continuously captures vehicle images within the parking confirmation area. The programmable logic controller determines the stopping confirmation state corresponding to the vehicle arrival event based on the change in the reference position of the vehicle body in the continuous vehicle images and the positional relationship between the vehicle body and the parking confirmation area. When the vehicle arrival event is valid and the stopping confirmation state is established, the programmable logic controller establishes a remote control license record with a permitted time range and permitted usage status, and puts the fixed infrared receiver into the instruction receiving state. The vehicle-mounted infrared transmitter sends a turn command to the fixed infrared receiver, and the fixed infrared receiver transmits the received turn command and the corresponding command reception time to the programmable logic controller.

[0006] The programmable logic controller verifies the turn command based on the command reception time, the vehicle arrival event, the stop confirmation status, and the permitted use status; When the instruction is received within the permitted time range, the vehicle arrival event is valid, the stop confirmation state is established, and the permitted use state is unused, the target direction is determined according to the turn instruction and the electric turn machine is controlled to move, and the permitted use state is updated to used state. The turnout position detection contact detects the actual position state after the electric switch machine is activated. The programmable logic controller compares the actual position state with the target position state corresponding to the target direction. When the two are consistent, it is determined that the turnout is completed.

[0007] Furthermore, during the establishment of the vehicle arrival event, when the programmable logic controller detects that the vehicle arrival signal changes from an untriggered state to a triggered state, it records the signal triggering time, uses the signal triggering time as the event start time to establish the vehicle arrival event corresponding to the current vehicle, and uses the vehicle arrival event as the associated object of the stop confirmation state. If a vehicle arrival signal is detected again while the vehicle arrival event is still valid, the current vehicle arrival event is maintained and a new vehicle arrival event is not created.

[0008] Furthermore, during the process of determining the stopped and confirmed state, the camera device continuously acquires vehicle images within the parking confirmation area according to a preset sampling interval, determines the reference position of the vehicle body from adjacent vehicle images and calculates the corresponding position change, and simultaneously determines the positional relationship between the vehicle body boundary and the parking confirmation area boundary. When the position change of a consecutive preset number of vehicle images does not exceed the preset static determination threshold, and the vehicle boundary remains within the parking confirmation area, the stopping confirmation state corresponding to the vehicle arrival event is determined to be established. When any change in position exceeds the preset static determination threshold or the vehicle boundary leaves the parking confirmation area, the continuous determination count will be reset to zero and the stationary confirmation state will remain invalid.

[0009] Furthermore, during the establishment of the remote control license record, the programmable logic controller records the license start time when the stop confirmation state is established, determines the license end time according to the preset license duration, and sets the license usage state to the unused state, thereby establishing the remote control license record with the license start time, the license end time, and the license usage state. After the remote control license record is established, the programmable logic controller controls the fixed infrared receiver to enter the instruction receiving state. If the current time exceeds the license expiration time and no turnaround instruction that meets the verification conditions is received, the license usage status is set to invalid, and the fixed infrared receiver is controlled to exit the instruction receiving state.

[0010] Furthermore, during the verification process of the turn signal command, when the fixed infrared receiver receives the turn signal command, it records the command reception time and transmits the turn signal command and the command reception time to the programmable logic controller. The programmable logic controller first compares the instruction receiving time with the permission start time and permission end time respectively. When the instruction receiving time is between the permission start time and the permission end time, it continues to verify the vehicle arrival event, the stopping confirmation status and the permission usage status. When all verification conditions are met, the target direction is determined according to the switch command and the corresponding switch control command is output to the electric switch machine. When any verification condition is not met, no switch control command is output to the electric switch machine.

[0011] Furthermore, after receiving the switch control command, the electric switch machine drives the turnout to switch in the target direction. After outputting the switch control command, the programmable logic controller updates the permitted use status from unused to used, so that subsequent switch commands corresponding to the same remote control permission record no longer meet the switch control conditions. The turnout position detection contact detects the actual position status of the turnout after the turnout switch and transmits the actual position status to the programmable logic controller. The programmable logic controller determines the corresponding target arrival state according to the target direction, compares the actual arrival state with the target arrival state, and determines that the turn is completed when the two are consistent, and keeps the turn incomplete when the two are inconsistent.

[0012] Furthermore, after this turnaround is completed, the programmable logic controller sets the corresponding remote control license record to the end state and controls the fixed infrared receiver to exit the command receiving state. When a new switch command is received while the remote control license record is in the terminated state, the current control state of the electric switch machine is maintained, and no switch control command is output again based on the new switch command.

[0013] Furthermore, the active magnetic steel wheel sensor detects the vehicle leaving state and generates a vehicle leaving signal. After receiving the vehicle leaving signal, the programmable logic controller sets the vehicle arrival event corresponding to this turn to the end state and clears the stop confirmation state and remote control permission record associated with the vehicle arrival event. After the vehicle arrival event is completed, the vehicle has come to a complete stop, and the remote control permission record has been cleared, the fixed infrared receiver remains in the exit command receiving state. When the active magnetic steel wheel sensor generates a vehicle arrival signal again, the programmable logic controller re-establishes the vehicle arrival event and starts continuous judgment of the vehicle image in the parking confirmation area. After the parking confirmation state is re-established, a new remote control permission record is established, and the fixed infrared receiver enters the instruction receiving state. The new permission time range and permission usage state are used as the verification basis for the next turn command.

[0014] The working principle and advantages of this invention are as follows: In this invention, after the vehicle arrival signal is generated by the active magnetic steel wheel sensor, the programmable logic controller establishes a vehicle arrival event, making the vehicle entry state the basis for authorization. The camera continuously collects vehicle images in the parking confirmation area, determines the stopping confirmation state based on the change in the vehicle body reference position and the vehicle body position, and establishes a remote control authorization record with an authorized time range and authorized use state when the vehicle arrival event is valid and the stopping confirmation state is established. After receiving the turn command, the system combines the command reception time, vehicle arrival event, stopping confirmation state and authorized use state for verification, and controls the electric turn machine to operate only when the conditions are met, and compares the arrival state with the target arrival state, so that the vehicle state, remote control authorization, turn execution and arrival confirmation form a control closed loop. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the safety remote control process for the underground rail-mounted electric locomotive curve switch machine of the present invention. Figure 2 This is a schematic diagram of the hardware and software collaborative structure of the curve entrance junction of the present invention; Figure 3 This is a schematic diagram illustrating the data flow for vehicle arrival and stabilization confirmation according to the present invention. Figure 4 This is a schematic diagram illustrating the remote control license status transition of the present invention; Figure 5 This is a timing diagram for the verification and confirmation of turnaround commands in this invention. Detailed Implementation

[0016] The following detailed explanation illustrates the specific implementation methods: This embodiment uses the example of a mine underground rail-mounted electric locomotive passing through a curve entrance switch and performing a switch operation as an application scenario. The system involves active magnetic steel wheel sensors, a PLC control cabinet, a fixed infrared receiver, an oncoming camera, straight-line oncoming blind spot red-green warning lights, straight-line outgoing blind spot red-green warning lights, an outgoing camera, remote control signal indicator lights, an onboard infrared transmitter, an infrared signal transmission indicator light, an infrared signal transmission button, the electric locomotive, an electric switch machine, a switch machine motor, a switch tip tie rod, a sensing and prompting station, and a curve exit blind spot red-green warning light. The parking confirmation area, edge computing device, remote control permission record, vehicle arrival event, stop confirmation status, permission time range, permission usage status, instruction reception time, target direction, target arrival status, and actual arrival status will all be described using the above names in the following text. Please refer to [link / reference]. Figures 1 to 5 This embodiment provides an intelligent safety remote control system for underground rail locomotive curve switch machines, which is used to control the arrival of the locomotive, parking confirmation, remote control permission, switch command reception, electric switch machine operation, and switch position status when the locomotive passes through the entrance switch of an underground curve.

[0017] The vehicle arrival signal generated by the active magnetic wheel sensor serves as the trigger condition for the vehicle control process, while continuous vehicle images captured by the camera serve as the basis for stopping confirmation. A programmable logic controller (PLC) is located in the PLC control cabinet and is used to establish vehicle arrival events, receive stopping confirmation status, maintain remote control permission records, verify turnout commands, output turnout control commands, and compare turnout positioning status. A fixed infrared receiver, a vehicle-mounted infrared transmitter, and an electric turnout machine sequentially constitute the turnout command reception and execution link.

[0018] In one specific configuration, the approaching camera is an industrial network camera that outputs 1920×1080 pixel vehicle images at a capture frequency of 25 frames per second, and sends the video stream to the edge computing device via a wired network interface. The parking confirmation area is calibrated on-site after the approaching camera is installed, corresponding to an actual range of approximately 6.0 meters along the track direction. The edge computing device acquires vehicle images at 40-millisecond inter-frame intervals. The programmable logic controller's digital input acquisition task reads the position feedback signals from the active magnetic wheel sensor and the electric switch machine at 10-millisecond cycles, while the vehicle status verification and remote control authorization control logic operates at 100-millisecond control cycles.

[0019] In this embodiment, both the vehicle arrival signal and the vehicle departure signal are obtained by active magnetic wheel sensors; the vehicle image is obtained by a camera; the vehicle detection frame and target tracking marker are obtained by edge computing devices through target detection and continuous tracking of the vehicle image; the vehicle body reference position is determined by the geometric center of the vehicle detection frame; the boundary of the parking confirmation area and the local distance conversion relationship are determined through on-site calibration; the command reception time is obtained by the programmable logic controller reading the local clock when it obtains the valid decoding state of the fixed infrared receiver; the target direction is obtained by the fixed infrared receiver decoding the infrared code sent by the vehicle-mounted infrared transmitter; and the actual arrival status is obtained by the action arrival feedback contact or position switch of the electric switch machine.

[0020] In this embodiment, the sensing and prompting station is located in the intersection area at the entrance of the curve. Active magnetic steel wheel sensors are deployed at the corresponding positions on the track. When the locomotive wheel passes by, it generates a level change signal and sends the level change signal to the programmable logic controller in the PLC control cabinet.

[0021] A forward-facing camera is positioned to cover the parking confirmation area, continuously capturing vehicle images as the locomotive approaches, enters, and stops within the area. An edge computing device, either housed within or connected to the PLC control cabinet, detects and continuously tracks the video stream from the forward-facing camera, outputting vehicle detection frames, target tracking markers, and vehicle position status. The programmable logic controller (PLC) performs stop confirmation and remote control authorization based on the vehicle position status output by the edge computing device.

[0022] Vehicle target detection employs YOLOv8 target detection technology to locate the locomotive in each frame of the vehicle image and output vehicle detection bounding boxes. Continuous target tracking utilizes BoT-SORT target tracking technology, associating vehicle detection bounding boxes belonging to the same locomotive with the same target trajectory based on vehicle detection results, target spatial location, and continuous tracking status. The edge computing device maintains the same target tracking identifier for the same target trajectory. Subsequent changes in vehicle reference position are calculated only between consecutive vehicle images with the same target tracking identifier; vehicle detection bounding boxes corresponding to different target tracking identifiers do not participate in the same continuous stationary determination.

[0023] The parking confirmation area is determined using on-site camera calibration. After the oncoming camera is installed, a fixed reference point with a known actual position is selected on the track plane. The actual position of the fixed reference point on the track plane is then correlated with the pixel position in the vehicle image. When it is necessary to convert pixel displacement into actual distance, planar perspective correction is performed on the parking confirmation area, and a local distance conversion factor is determined based on the actual length of the corrected parking confirmation area along the track direction and the corresponding pixel length.

[0024] In this embodiment, the actual length of the parking confirmation area along the track direction is approximately 6.0 meters, and the perspective-corrected parking confirmation area corresponds to approximately 1200 pixels along the track direction. Therefore, the local distance conversion factor along the track direction is taken as 0.005 meters per pixel. This local distance conversion factor is used for the perspective-corrected parking confirmation area.

[0025] Fixed infrared receivers are installed at corresponding locations in the sensing and prompting station or PLC control cabinet, and their reception enable status is controlled by a programmable logic controller (PLC). The vehicle-mounted infrared transmitter is installed at the locomotive driver's console. After the driver operates the infrared signal transmission button, the vehicle-mounted infrared transmitter sends an infrared remote control signal corresponding to the turn direction. The infrared signal transmission indicator light displays the transmission status accordingly. The remote control signal indicator light is controlled by the PLC and illuminates when the remote control operation conditions are met, indicating that the fixed infrared receiver has entered the turn command receiving state.

[0026] The vehicle-mounted infrared transmitter and the fixed infrared receiver transmit turn commands using infrared encoding and decoding. When the driver operates the infrared signal transmission button, the vehicle-mounted infrared transmitter generates an infrared encoded signal carrying target direction information; the fixed infrared receiver receives the infrared encoded signal, obtains the target direction through the infrared decoding circuit, and outputs the valid decoding status and target direction to the programmable logic controller (PLC). Within the control cycle that obtains the valid decoding status, the PLC reads the local clock and uses the corresponding clock value as the command reception time.

[0027] The switch execution section is driven by the switch machine motor in the electric switch machine, which moves the switch tip lever. The switch tip lever drives the switch point rail from the current track position to the target track position. After the switch action is completed, the actual position status is established by the electric switch machine's action feedback contact or position switch, and transmitted to the programmable logic controller (PLC). The PLC determines the target position status based on the target direction corresponding to the switch command and compares the actual position status with the target position status.

[0028] A pre-established correspondence is established between the target direction and the target arrival status, with the straight-line direction corresponding to the straight-line target arrival status and the curved-line direction corresponding to the curved target arrival status. The actual arrival status is acquired through the action feedback contacts or position switches at the corresponding positions of the electric switch machine. When the programmable logic controller (PLC) makes comparisons, it compares the target arrival status and the actual arrival status.

[0029] System initialization and establishment of initial control state.

[0030] After the PLC control cabinet is powered on, it enters monitoring mode. The fixed infrared receiver remains disabled, the remote control signal indicator remains off, and the switch machine motor is in the currently locked line position. The red-green warning lights for the blind spot on the straight road approaching, the red-green warning lights for the blind spot on the straight road going, and the red-green warning lights for the blind spot at the curve exit are displayed according to the set initial state. At this time, no vehicle arrival event has been established for the current vehicle, nor has a remote control permission record corresponding to the current vehicle been generated.

[0031] During monitoring, the programmable logic controller (PLC) continuously reads the vehicle detection signal output by the active magnetic wheel sensor and receives the video processing results output by the edge computing device. The vehicle detection signal is used to determine whether a new vehicle control cycle has begun, and the video processing results are used to determine whether the locomotive has entered the parking confirmation zone and whether it remains stationary after the vehicle control cycle is established.

[0032] After power-on, the programmable logic controller (PLC) reads the status of the digital input terminals at 10-millisecond cycles and uses three consecutive 100-millisecond main control cycles as the state stabilization phase, corresponding to approximately 300 milliseconds. During the state stabilization phase, the fixed infrared receiver remains disabled.

[0033] After the camera is activated, it outputs vehicle images at 25 frames per second. The edge computing device checks the continuity of the vehicle images based on the video frame timestamps or frame numbers. A complete stillness determination window uses 21 consecutive valid vehicle images, forming 20 adjacent frame time intervals. If there are fewer than 21 consecutive valid vehicle images, a complete stillness determination window is not formed, the stationary confirmation state remains invalid, and subsequent vehicle images continue to be acquired.

[0034] Vehicle entry detection and vehicle arrival event establishment.

[0035] When the locomotive approaches the curve entrance switch and passes the active magnetic wheel sensor located at the vehicle entry detection position, the active magnetic wheel sensor generates a vehicle arrival signal. The programmable logic controller receives the vehicle arrival signal and establishes the vehicle arrival event corresponding to the current vehicle based on the moment when the vehicle arrival signal changes from a non-triggered state to a valid triggered state.

[0036] Vehicle arrival events are used to confine subsequent stop confirmation, remote control authorization recording, and turn execution processes to the same vehicle passage process. When a vehicle arrival event is established, the programmable logic controller records the corresponding event start state and sets the vehicle arrival event to a valid state.

[0037] During the validity period of a vehicle arrival event, even if the same active magnetic wheel sensor generates a vehicle detection signal again due to different wheels of the same vehicle passing by consecutively, the programmable logic controller will still maintain the current vehicle arrival event and will not repeatedly establish a new vehicle arrival event based on subsequent vehicle detection signals generated by the same vehicle.

[0038] The switch output of the active magnetic steel wheel sensor is connected to the digital input of the programmable logic controller (PLC). The PLC periodically confirms the duration of the accumulated valid trigger state. When the valid trigger state accumulates for 50 milliseconds, the corresponding input is confirmed as a vehicle arrival signal. If the valid trigger state disappears before 50 milliseconds have been accumulated, no vehicle arrival event is established.

[0039] For example, if the active magnetic wheel sensor establishes a valid trigger state at 14:32:05:20 and maintains it continuously for 180 milliseconds, then the 50-millisecond valid duration condition is met. The programmable logic controller (PLC) establishes the current vehicle arrival event and uses the time corresponding to this valid trigger as the time base for the vehicle arrival event. Before the current vehicle arrival event ends with the vehicle leaving the state, subsequent wheel triggers generated by the same vehicle are all attributed to the current vehicle arrival event and no new vehicle arrival event is established.

[0040] The vehicle arrival signal output by the active magnetic wheel sensor is not directly used as the switch machine motor's operating condition. Instead, the programmable logic controller (PLC) uses it to establish a vehicle arrival event. Subsequent stop confirmation, remote control authorization recording, and switch command verification are all associated with the vehicle arrival event.

[0041] Continuously acquire vehicle images and establish a stopped and confirmed state.

[0042] Once the vehicle arrival event is established, the camera continuously captures images of the vehicle corresponding to the parking confirmation area. The vehicle images are transmitted to the edge computing device, which uses YOLOv8 target detection technology and BoT-SORT continuous tracking technology to perform vehicle target detection and continuous tracking on the locomotive, and outputs the vehicle detection box, target tracking marker, and vehicle position status.

[0043] To establish a stable, confirmed state, the vehicle body reference position in consecutive vehicle images is used as the comparison point between adjacent vehicle images. The edge computing device determines the locomotive's vehicle body reference position based on the consecutive vehicle images and compares the reference position in the current vehicle image with that in the previous vehicle image to obtain the change in the vehicle body reference position between consecutive vehicle images. Simultaneously, the positional relationship between the vehicle detection box and the parking confirmation area is determined based on the calibration area of ​​the parking confirmation area within the camera's field of view.

[0044] YOLOv8 outputs vehicle detection bounding boxes for the current vehicle image. The edge computing device uses the geometric center of the vehicle detection bounding box as the reference position of the vehicle body in the current frame. BoT-SORT outputs target tracking identifiers to determine whether the vehicle detection bounding box in the current frame belongs to the same locomotive as the vehicle detection bounding box in the previous frame. Only adjacent vehicle images with the same target tracking identifier are included in the position change calculation. Let the... The reference position of the vehicle body in the frame vehicle image is The reference position of the vehicle body in the previous frame image is The displacement of the vehicle body reference position between two adjacent vehicle images is: in, Indicates the first The displacement of the vehicle body reference position relative to the previous frame, in pixels; Indicates the first The horizontal pixel coordinates of the frame vehicle body reference position; Indicates the first Vertical pixel coordinates of the frame vehicle body reference position; This indicates the horizontal pixel coordinates of the vehicle's reference position in the previous frame. This represents the vertical pixel coordinates of the vehicle's reference position in the previous frame. All coordinates are obtained from vehicle detection boxes with the same target tracking identifier.

[0045] because Both are pixel coordinate differences, therefore The unit is pixels.

[0046] A complete decision window uses 21 consecutive valid vehicle images, corresponding to 20 positional changes between adjacent frames. When the camera frame rate is 25 frames per second, the time interval between adjacent vehicle images is 0.04 seconds. Therefore, a 21-frame decision window corresponds to 20 time intervals from the first frame to the last frame, with a time span of 0.80 seconds.

[0047] In a set of continuous judgment data, the positional changes of 20 adjacent frames are 0.8 pixels, 1.0 pixels, 1.1 pixels, 1.2 pixels, 1.3 pixels, 1.4 pixels, 1.5 pixels, 1.5 pixels, 1.6 pixels, 1.7 pixels, 1.8 pixels, 1.8 pixels, 1.9 pixels, 2.0 pixels, 2.1 pixels, 2.2 pixels, 2.3 pixels, 2.4 pixels, 2.6 pixels, and 2.9 pixels, respectively. The maximum positional change of adjacent frames in this set of data is 2.9 pixels.

[0048] In this embodiment, the 3-pixel single-frame position change limit is used to define the position fluctuation range of adjacent vehicle detection boxes. This position change limit is used to determine the image detection results and is not directly used as the basis for calculating the actual vehicle speed. The actual vehicle motion state is further determined by the net longitudinal displacement of the window after track plane correction.

[0049] To characterize the overall magnitude of positional change within a complete decision window, the root mean square value of the positional change is calculated: in, This represents the root mean square value of the positional change within a decision window, in pixels. This represents the number of adjacent frame position changes involved in the calculation, in this embodiment... Indicates the first The change in position between adjacent frames is expressed in pixels.

[0050] Based on the above 20 positional changes, the arithmetic mean of the positional changes is 1.755 pixels, and the root mean square value of the positional changes is approximately 1.836 pixels. Retaining two decimal places, these values ​​are 1.76 pixels and 1.84 pixels, respectively. Therefore, this decision window satisfies the condition that the root mean square value of the positional changes does not exceed 3 pixels.

[0051] To characterize the dispersion of the vehicle detection frame position change, the overall standard deviation of the position change is calculated: in, This represents the overall standard deviation of the positional change within the current judgment window, in pixels. Indicates the quantity of positional change; Indicates the first Changes in position; This represents the arithmetic mean of all positional changes within the same decision window. Based on the aforementioned 20 positional changes, Pixels It is approximately 0.541 pixels.

[0052] The overall standard deviation of position change is used to record the degree of positional fluctuation of the vehicle detection frame within the decision window, and is not used as the sole condition for confirming a stationary state. The root mean square value of position change is used to determine the positional changes of continuous vehicle images; the two play different roles in the control process.

[0053] Whether the vehicle is located within the parking confirmation zone is determined by comparing the vehicle detection frame with the parking confirmation zone boundary obtained through on-site calibration. When the vehicle detection frame remains within the parking confirmation zone boundary within the current decision window, the parking zone condition is met; if either side of the vehicle detection frame crosses the parking confirmation zone boundary, the current decision window becomes invalid, and a new decision window is established starting from a vehicle image that re-meets the parking confirmation zone location condition.

[0054] For the actual motion state of the vehicle after track plane correction, this embodiment uses the net displacement along the longitudinal direction of the track between the reference positions of the vehicle body in the first and last frames of the judgment window to calculate the average motion speed of the window. Let the local distance conversion factor be... The net pixel displacement along the track between the first and last frames of the determination window is... The decision window time span is The average window movement speed is: in, This indicates the average speed of the vehicle moving along the track direction within the judgment window, in meters per second. This represents the local distance conversion factor obtained from the on-site calibration of the track plane, in meters per pixel. This represents the net pixel displacement of the vehicle reference position along the longitudinal direction of the correction track in the first and last frames of the determination window, in pixels. This indicates the time span of the decision window, in seconds.

[0055] by Taking seconds as an example, the corresponding actual net longitudinal displacement is 0.012 meters, and the average movement speed of the window is: That is, 0.015 meters per second. In this embodiment, when the average movement speed of the window does not exceed 0.02 meters per second as an auxiliary criterion for determining the stationary state, the above-mentioned determination window meets this condition.

[0056] When the vehicle remains within the parking confirmation zone and the change in the vehicle's reference position corresponding to consecutive vehicle images continuously meets the stationary determination criteria, a stationary confirmation state is formed corresponding to the current vehicle arrival event. The stationary confirmation state is transmitted from the edge computing device to the programmable logic controller as one of the conditions for establishing a remote control authorization record.

[0057] This embodiment uses two consecutive decision windows to confirm continuous stillness. Each decision window consists of 21 consecutive valid vehicle images and shares a vehicle image located at the boundary between the two decision windows. Therefore, the two consecutive decision windows use a total of 41 vehicle images, corresponding to 40 inter-frame time intervals, forming a continuous observation time of 1.60 seconds under the condition of 25 frames per second acquisition.

[0058] When two consecutive decision windows meet the following conditions, the vehicle detection frame is located in the parking confirmation area, the position change of each adjacent frame does not exceed 3 pixels, the root mean square value of the position change does not exceed 3 pixels, and the average movement speed of the window does not exceed 0.02 meters per second, the edge computing device will update the parking confirmation status to established.

[0059] When the change in the vehicle reference position in continuous vehicle images does not meet the stationary determination condition, or when the positional relationship between the vehicle detection frame and the parking confirmation area does not meet the parking confirmation condition, the stationary confirmation state is not established. At this time, the programmable logic controller (PLC) disables the fixed infrared receiver and does not allow the turn command issued by the vehicle-mounted infrared transmitter to enter the turn execution stage.

[0060] When the position change of any adjacent frame exceeds 3 pixels, the root mean square value of the position change of any decision window exceeds 3 pixels, the average movement speed of the window exceeds 0.02 meters per second, the vehicle detection box crosses the parking confirmation area, or the BoT-SORT cannot obtain the same target tracking identifier as the current vehicle during continuous tracking, the current continuous decision process terminates, the continuous stationary count is cleared to zero, and the stationary confirmation status is updated to invalid.

[0061] The edge computing device continues to acquire images of subsequent vehicles and re-establishes a 21-frame decision window after obtaining continuous and valid detection and tracking results for the same vehicle again. The programmable logic controller keeps the fixed infrared receiver disabled until two consecutive new decision windows again meet all the stopping conditions.

[0062] The failure to establish the above-mentioned static continuity indicates that the vehicle's position change exceeds the current stopping condition, the vehicle has left the stopping confirmation area, or the continuous visual tracking results are insufficient to continue confirming that the vehicle is currently stationary. In the event of any of these situations, the previously established stopping confirmation state will not be used.

[0063] To further examine the spatial continuity of adjacent vehicle detection frames, the intersection-over-union ratio (IoU) index is used. in, This represents the intersection-union ratio of vehicle detection boxes belonging to the same target tracking identifier in two adjacent frames, and is a dimensionless value. Indicates the first Frame vehicle detection box; This indicates the vehicle detection box corresponding to the previous frame. This represents the area of ​​the intersection of two vehicle detection frames; This represents the area of ​​the union region of the two vehicle detection frames.

[0064] In this embodiment, an intersection-over-union (IoU) ratio of at least 0.90 between adjacent vehicle detection frames is used as an auxiliary criterion for determining the spatial continuity of the detection frames. When the IoU ratio within a continuous decision window is between 0.91 and 0.97, the detection frame continuity meets the auxiliary criterion. When the IoU ratio drops to 0.84, the edge computing device does not continue to use that frame to accumulate the current continuous stationary determination, but instead starts establishing a new decision window from a newly acquired vehicle image that meets the continuous tracking condition. The IoU ratio is used to assist in checking the continuity of vehicle detection frames and is not used as a separate criterion for determining the physical stationary state of the vehicle.

[0065] Establish a remote control license record and enable infrared reception.

[0066] After receiving the stop confirmation status, the programmable logic controller (PLC) checks whether the current vehicle arrival event is valid. When the vehicle arrival event is valid and the stop confirmation status is established, the PLC creates a remote control authorization record corresponding to the current vehicle arrival event.

[0067] The remote control authorization record includes an authorization time range and an authorization status. The authorization time range defines the time period during which a turn command can be received and executed after the current parking confirmation. The authorization status indicates whether the current remote control authorization has not been used to execute a turn operation, has been used to execute a turn operation, or has expired.

[0068] The remote control authorization record is established by the programmable logic controller (PLC) and associated with the current vehicle arrival event. When the stop confirmation state changes from false to true, the PLC reads the local clock as the authorization start time, calculates the authorization end time based on the authorization duration pre-written in the control program, and initializes the authorization usage state to unused.

[0069] When a remote control license record is established, the programmable logic controller (PLC) uses the current time corresponding to the license establishment to form the license start time, and determines the license end time based on the license duration. The license start time and license end time together constitute the license time range.

[0070] In this embodiment, the permission duration is set to 10 seconds. For example, if the vehicle arrival event is established at 14:32:05:20, and the programmable logic controller (PLC) obtains a stop confirmation status at 14:32:10:00 after the continuous stopping judgment is completed, then the permission start time is 14:32:10:00, and the permission end time is 14:32:20:00. The permission start time, permission end time, and subsequent instruction reception time are all obtained from the PLC's local clock.

[0071] After the remote control permission record is established, the programmable logic controller (PLC) outputs an enable control signal to the fixed infrared receiver, causing the fixed infrared receiver to enter the command receiving state. Simultaneously, the remote control signal indicator light illuminates. The illuminated remote control signal indicator light indicates that the current vehicle has met the arrival and stopping confirmation conditions, and the fixed infrared receiver is in a state where it is authorized to receive the current vehicle's turn command.

[0072] For example, if the instruction received by the programmable logic controller is 14:32:14.60, then the time falls between 14:32:10.00 and 14:32:20.00, and the permission time condition is met. If the instruction received is 14:32:20.40, then the instruction received is later than the permission deadline, and the permission time condition is not met.

[0073] When the current time exceeds the permission deadline and no turnaround command meeting the verification conditions is received within the permission time range, the programmable logic controller updates the current remote control permission record to an invalid state, controls the fixed infrared receiver to exit the command receiving state, and the remote control signal indicator light turns off.

[0074] When a remote control license has been established, but the edge computing device detects that the vehicle has moved again within the licensed time frame and updates the stop confirmation status to invalid, the programmable logic controller (PLC) updates the current remote control license record to invalid and simultaneously controls the fixed infrared receiver to exit the command receiving state. Subsequently, when a remote control license is required again, the stop confirmation for two consecutive decision windows should be completed again, and the license start time, license end time, and unused license usage status should be regenerated.

[0075] Send, receive, and verify turnaround instructions.

[0076] When the driver needs to guide the locomotive onto the target line, they operate the infrared signal transmitter button. The onboard infrared transmitter sends a turn command carrying the target direction information, and the infrared signal transmitter indicator light illuminates according to the transmission status.

[0077] The fixed infrared receiver receives turn commands from the vehicle-mounted infrared transmitter only when the programmable logic controller (PLC) is enabled. Upon receiving the turn command, the fixed infrared receiver obtains the target direction through its infrared decoding circuit and transmits the valid decoding status and target direction to the PLC. When the PLC receives the valid decoding status, it reads its local clock to obtain the corresponding command reception time.

[0078] The programmable logic controller verifies the turn command sequentially according to time conditions, vehicle event conditions, vehicle stopping conditions, and permitted use conditions.

[0079] The timing condition is determined based on the instruction reception time and the permitted time range. The timing condition is met when the instruction reception time falls between the permitted start time and the permitted end time; the timing condition is not met when the instruction reception time is earlier than the permitted start time or later than the permitted end time.

[0080] Once the time condition is met, the programmable logic controller (PLC) verifies the validity of the vehicle arrival event. If the vehicle arrival event is valid, the system continues to verify the stationary status; if the vehicle arrival event has ended, no switch control commands for controlling the switch machine motor are output.

[0081] When a vehicle arrival event is valid, the programmable logic controller (PLC) reads the stop confirmation status corresponding to the current vehicle arrival event. If the stop confirmation status is valid, the authorized use status is verified; if the stop confirmation status is invalid, the switch machine motor is not allowed to execute the current switch command.

[0082] When the permitted usage status is "unused," the programmable logic controller (PLC) determines the target direction based on the turn instruction and determines the target's arrival status based on the correspondence between the target direction and the target's arrival status. If the permitted usage status is already "used" or "invalid," the PLC will not output turn control instructions again based on the same remote control permitted record.

[0083] The above verification is performed in the following order: time conditions, vehicle event conditions, stationary confirmation conditions, and permitted use conditions. If any prerequisite is not met, the verification of this turn order will stop, and no turn control output will be generated.

[0084] For example, the vehicle arrival event is established at 14:32:05:20, the stop confirmation state is established at 14:32:10:00, the permitted time range is from 14:32:10:00 to 14:32:20:00, and the instruction reception time is 14:32:14:60. When the vehicle arrival event is still valid, the stop confirmation state is still established, and the permitted use state is unused, all verification conditions are met, and the programmable logic controller enters the turn execution stage.

[0085] If the vehicle resumes movement after permission is granted, and any of the following conditions are not met: position change in adjacent frames, root mean square value of position change, average speed of movement within the window, position condition of the parking confirmation zone, or continuous target tracking condition, the parking confirmation status will be updated to invalid, and the current remote control permission will simultaneously expire. Thereafter, even if the command received by the fixed infrared receiver is still within the original permission time range, no turnaround control output will be generated.

[0086] During the above verification process, the instruction reception time is used to determine whether the turn instruction falls within the current permitted time range; the vehicle arrival event is used to determine whether the turn instruction falls within the current vehicle passage process; the stop confirmation status is used to determine whether the locomotive remains stopped within the stop confirmation area; and the permitted use status is used to determine whether the current remote control permit record has been used to execute the turn operation. The turn is executed, and the permitted use status is updated.

[0087] Once all verification conditions are met, the programmable logic controller (PLC) determines the target direction based on the switch command and outputs a switch control command corresponding to the target direction to the drive circuit of the electric switch machine. Upon receiving the drive control, the switch machine motor actuates the turnout tip lever, which in turn moves the turnout switch rail from its current position to the target position.

[0088] After outputting a turn control command, the programmable logic controller (PLC) updates the license usage status in the current remote control license record from unused to used. This update corresponds to the current turn control command, ensuring that the same remote control license record, having already been used for one turn operation, no longer meets the license usage conditions for subsequent turn commands.

[0089] The programmable logic controller updates the permitted use status to "used" within the same control logic cycle that generates a valid turn control output, so that the permitted use status update and the turn control output have a corresponding time relationship.

[0090] For example, if a fixed infrared receiver receives a valid turn command at 14:32:14.60, the programmable logic controller (PLC) performs condition verification and generates a turn control output at 14:32:14.70, updating the permitted usage status to "used". If a turn command is received again at 14:32:15.30, although this time is still within the permitted time range, the permitted usage status has already been changed to "used", therefore the second turn command will not generate a new turn control output.

[0091] Therefore, when the fixed infrared receiver receives a turn command again under the same vehicle arrival event, the programmable logic controller will not output a new turn control command to the switch motor if the permitted use status is already "used".

[0092] The time point at which the permission usage status is updated from unused to used corresponds to the output of the turn control command. The permission usage status is then used for the remote permission termination control after the turn is completed, causing the remote permission record to change in the order of establishment, use, and termination.

[0093] Check the actual position and confirm that the turnaround is complete.

[0094] During the turnout switching process, the electric switch machine's motor drives the turnout tip lever, and the feedback relationship of the turnout's position is used to obtain the actual position status of the turnout. The actual position status is transmitted to the programmable logic controller (PLC) via digital input.

[0095] The actual position status is acquired by the feedback contact or position switch of the electric switch machine corresponding to the physical position of the turnout. The position feedback component changes its switch state as the turnout switch reaches the corresponding track position. The programmable logic controller (PLC) reads the corresponding switch input and generates the actual position status. The actual position status is derived from the turnout's physical position feedback and is not inferred from the switch control commands.

[0096] The programmable logic controller (PLC) generates a corresponding target position status based on the target direction determined by the turnout command. The target position status indicates the track position that the turnout is required to be in by this turnout command, while the actual position status indicates the track position actually reached after the turnout operation.

[0097] The programmable logic controller (PLC) compares the actual arrival status with the target arrival status. When the actual arrival status matches the target arrival status, the PLC determines that the turn is complete, sets the remote control permission record corresponding to the turn to the end status, and simultaneously controls the fixed infrared receiver to exit the command receiving state.

[0098] For example, when the target direction is a curve, the programmable logic controller determines the curve target position state according to a preset correspondence. During the turn operation, if the action position feedback has not yet formed the curve position state, the actual position state is inconsistent with the target position state, and the turn is not completed. After the action position feedback of the corresponding curve position forms a valid state, the actual position state is consistent with the target position state, and the turn is determined to be completed.

[0099] This embodiment sets a 3-second action status observation window to continuously collect the actual positioning status after the switch control output. The 3-second action status observation window itself is not used as a condition for switch completion.

[0100] For example, after the switch control command is output at 14:32:14.70, the action status observation window continues until 14:32:17.70; if the actual position status is consistent with the target position status at 14:32:16.10, then the switch is confirmed to be completed at 14:32:16.10. The time from the switch control output to the position confirmation is 1.40 seconds.

[0101] When the actual arrival status differs from the target arrival status, the programmable logic controller (PLC) maintains the state of incomplete turn and does not use the inconsistent arrival feedback as the basis for turn completion. Since the remote control authorization record is already in a used state after the turn control command is output, turn control will not be received again through the same remote control authorization record when the actual arrival status differs from the target arrival status.

[0102] If the actual arrival status still differs from the target arrival status when the 3-second action status observation window expires, the programmable logic controller (PLC) will continue to maintain the "turn not completed" state, the fixed infrared receiver will remain disabled, the permitted use status will remain "used," the current remote control permission will not be reactivated, and no permitted passage status corresponding to the target line will be generated. The expiration of the action status observation window only indicates the end of the current normal arrival waiting phase and does not signify the turn completion result.

[0103] Once the actual positioning status matches the target positioning status, the on-site signal indications are controlled according to the line status. The straight-line incoming blind zone red-green warning lights, the straight-line outgoing blind zone red-green warning lights, and the curve exit blind zone red-green warning lights are used for on-site status indication in the curve and switch areas, respectively. Among them, the status change of the curve exit blind zone red-green warning light corresponds to the positioning status of the electric switch machine.

[0104] The vehicle departs, thus ending the vehicle arrival event.

[0105] When the locomotive passes through the switch point and leaves the current monitoring area, the active magnetic wheel sensor deployed at the corresponding track detection position on the departure side detects the departure status of the locomotive and generates a departure signal. After receiving the departure signal, the programmable logic controller sets the current locomotive arrival event to the end state.

[0106] The switch output of the active magnetic wheel sensor on the vehicle departure side is connected to the digital input of the programmable logic controller (PLC), and a vehicle departure signal is generated using the same valid duration confirmation logic as the vehicle arrival signal. The vehicle arrival event is established based on the track detection position from the vehicle entry side, and the vehicle arrival event is terminated based on the track detection position from the vehicle departure side.

[0107] For example, if the active magnetic wheel sensor on the vehicle departure side establishes a valid vehicle departure status at 14:32:23.80, the programmable logic controller will update the vehicle arrival event established at 14:32:05.20 to the end status and clear the stop confirmation status and remote control permission record corresponding to the current vehicle arrival event.

[0108] After the vehicle arrival event concludes, the programmable logic controller (PLC) clears the stop confirmation status and remote control authorization record associated with the current vehicle arrival event, while maintaining the fixed infrared receiver in exit command reception state. The vehicle arrival signal, vehicle arrival event, stop confirmation status, remote control authorization record, turn command, and turn completion status corresponding to the current vehicle thus complete one vehicle control cycle.

[0109] When the next locomotive passes the active magnetic wheel sensor on the vehicle entry side and generates a new vehicle arrival signal, the programmable logic controller (PLC) re-establishes a new vehicle arrival event. The newly established vehicle arrival event does not use the stopping confirmation state, permitted time range, or usable state corresponding to the previous vehicle arrival event.

[0110] After a new vehicle arrival event is established, the camera continuously captures the vehicle's status within the parking confirmation area again. The edge computing device then uses the new continuous vehicle images to generate motion state information corresponding to the current vehicle. Only when the new vehicle arrival event is valid and a parking confirmation state is re-established will the programmable logic controller (PLC) create a new remote control authorization record.

[0111] For example, if the next locomotive triggers the active magnetic wheel sensor on the vehicle entry side again at 14:33:02:00, the programmable logic controller (PLC) will re-establish the vehicle arrival event. The edge computing device will re-acquire the vehicle detection frame starting from the target tracking identifier corresponding to the new vehicle and re-establish a decision window consisting of 21 consecutive vehicle images; the permission start time, permission end time, and permission usage status corresponding to the previous vehicle arrival event have been cleared and will not participate in the turn verification of the new vehicle.

[0112] Each remote control permission record corresponds to a vehicle arrival event. The permission usage status is used to determine whether the corresponding remote control permission record has generated a turn control output. The permission status in the previous vehicle control cycle is not used as the verification basis for the subsequent vehicle control cycle.

[0113] During the aforementioned control process, the blind spot status monitoring and turn control processes operate simultaneously. When the active magnetic wheel sensor corresponding to the curve area detects an oncoming vehicle in the curve area, the programmable logic controller controls the blind spot red-green warning lights in the opposite direction to enter the red light warning state; after the vehicle leaves the corresponding detection area within the curve, the blind spot red-green warning lights return to the corresponding safety indication state.

[0114] The vehicle status in the curve blind spot is determined by the switching signals output from the active magnetic wheel sensors deployed at the corresponding track detection positions. Upon receiving a valid oncoming vehicle signal in the curve area, the programmable logic controller (PLC) controls the corresponding blind spot red / green warning lights to turn red; upon receiving a signal indicating the vehicle has left, it restores the corresponding safety indication status. The blind spot red / green warning light status is controlled based on vehicle detection signals at the track detection positions.

[0115] When the locomotive does not need to enter a curve and continues running along the current straight track, the locomotive maintains the current switch track status and passes through when the on-site traffic conditions are met. This condition does not change the vehicle arrival event, the stop confirmation status, or the remote control permission control relationship; only when a turn command is issued via the onboard infrared transmitter does the process of establishing remote control permission, verifying the command, executing the turn, and confirming the position enter. In this embodiment, the programmable logic controller (PLC) is responsible for maintaining vehicle arrival events, receiving stop confirmation status, maintaining remote control permission records, verifying turn commands, outputting turn control commands, and comparing position status. It provides the vehicle position and motion status information required for stop confirmation to the camera and edge computing device. The active magnetic steel wheel sensor provides the track detection signals corresponding to vehicle arrival and departure. The fixed infrared receiver and the onboard infrared transmitter form the infrared communication link for the turn command. The switch motor and the switch tip lever in the electric switch machine form the turnout conversion execution link. The action position feedback of the electric switch machine forms the actual position status. Each part works in the order of vehicle detection, stop confirmation, remote control permission, command verification, turn execution, position confirmation, and vehicle departure.

[0116] For processing continuous vehicle images from the approaching camera, the vehicle reference position is determined by the vehicle detection frame, the correspondence between continuous vehicle targets is determined by the BoT-SORT target tracking marker, the parking confirmation zone boundary is determined by the on-site camera calibration, and the actual distance conversion factor is determined by the track plane calibration and perspective correction results. If a vehicle is detected but not continuously stationary within the parking confirmation zone, no remote control permission record is established.

[0117] In this embodiment, the two-dimensional Euclidean distance is used to determine the image displacement of the vehicle reference position in adjacent frames, with the dimension being pixels; the root mean square of position change is used to characterize the overall magnitude of position change within a judgment window, with the dimension being pixels; the standard deviation of position change is used to record the dispersion of the detection box position change, with the dimension being pixels; the average motion velocity of the window is used to characterize the average motion state of the vehicle along the track direction after track plane correction, with the dimension being meters per second; the intersection-union ratio of vehicle detection boxes is used to assist in checking the spatial continuity of adjacent vehicle detection boxes, and is a dimensionless value. Each calculation is used for the corresponding vehicle position and motion state judgment.

[0118] For remote control authorization records, the authorization time range is used to limit the valid reception time of turn commands, and the authorization usage status is used to limit whether the same remote control authorization record has been used for a turn control. The authorization time range, authorization usage status, vehicle arrival event, and stop confirmation status together serve as verification conditions for turn commands.

[0119] A control process based on the aforementioned example data is as follows: at 14:32:05:20, a vehicle arrival signal is obtained and a vehicle arrival event is established; after continuous vehicle image verification, a stop confirmation state is established at 14:32:10:00, and a permissible time range from 14:32:10:00 to 14:32:20:00 is established; at 14:32:14:60, a valid turn command is obtained; at 14:32:14:70, a turn control output is generated; at 14:32:16:10, an actual arrival state consistent with the target arrival state is obtained; at 14:32:23:80, a vehicle departure signal is obtained. The time data are used in the following order: vehicle arrival, stop confirmation, permissible time establishment, command verification, turn execution, arrival confirmation, and vehicle departure.

[0120] Regarding the actual positioning status, this embodiment does not use the output of switch control commands by the programmable logic controller as the basis for switch completion. Instead, it reads the actual positioning status after the electric switch machine has been activated and compares the actual positioning status with the target positioning status. When the actual positioning status matches the target positioning status, the switch is determined to be completed and the current remote control authorization record is terminated.

[0121] For the receiving status of the fixed infrared receiver, after both the vehicle arrival event and the stop confirmation status are met, the programmable logic controller establishes a remote control permission record and enables the fixed infrared receiver; when the permission time range expires, the vehicle moves again causing the stop confirmation status to be invalid, the permission usage status is updated to "used", or the turn is completed, the fixed infrared receiver exits the receiving status of the turn command for this turn.

[0122] In this embodiment, the vehicle arrival event originates from the active magnetic wheel sensor on the vehicle entry side; the stopping confirmation state originates from the vehicle image captured by the oncoming camera and the vehicle detection and continuous tracking results generated by the edge computing device; the permission start time, permission end time, and instruction reception time all use the local clock of the programmable logic controller; the permission usage state is maintained by the programmable logic controller; the target direction originates from the infrared instruction decoding result of the fixed infrared receiver; the target arrival state is determined by the correspondence between the target direction and the turnout position; the actual arrival state originates from the action arrival feedback of the electric switch machine; the vehicle arrival event ends based on the vehicle departure signal generated by the active magnetic wheel sensor on the vehicle departure side.

[0123] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A smart safety remote control system for an underground rail-mounted electric locomotive curve switch machine, characterized in that, The system includes: an active magnetic steel wheel sensor, a camera device, a programmable logic controller, a fixed infrared receiver, a vehicle-mounted infrared transmitter, an electric switch machine, and turnout position detection contacts; An active magnetic steel wheel sensor detects the vehicle's entry status and generates a vehicle arrival signal. A programmable logic controller establishes a vehicle arrival event based on the vehicle arrival signal. The camera device continuously captures vehicle images within the parking confirmation area. The programmable logic controller determines the stopping confirmation state corresponding to the vehicle arrival event based on the change in the reference position of the vehicle body in the continuous vehicle images and the positional relationship between the vehicle body and the parking confirmation area. When the vehicle arrival event is valid and the stopping confirmation state is established, the programmable logic controller establishes a remote control license record with a permitted time range and permitted usage status, and puts the fixed infrared receiver into the instruction receiving state. The vehicle-mounted infrared transmitter sends a turn command to the fixed infrared receiver, and the fixed infrared receiver transmits the received turn command and the corresponding command reception time to the programmable logic controller. The programmable logic controller verifies the turn instruction based on the instruction reception time, vehicle arrival event, stop confirmation status, and permitted use status. When the instruction reception time is within the permitted time range, the vehicle arrival event is valid, the stop confirmation status is established, and the permitted use status is unused, the target direction is determined according to the turn instruction, and the electric switch machine is controlled to operate, and the permitted use status is updated to used status. The turnout position detection contact detects the actual position status after the electric switch machine is activated. The programmable logic controller compares the actual position status with the target position status corresponding to the target direction. When the two are consistent, it determines that the turnout is completed and ends the remote control authorization record.

2. The intelligent safety remote control system for underground rail-mounted electric locomotive curve switch machine according to claim 1, characterized in that, The process of establishing the vehicle arrival event includes: When the programmable logic controller detects that the vehicle arrival signal changes from an untriggered state to a triggered state, it records the corresponding signal trigger time, establishes a vehicle arrival event corresponding to the current vehicle using the signal trigger time as the event start time, and uses the vehicle arrival event as the associated object of the stop confirmation state. If a vehicle arrival signal is detected again while the vehicle arrival event is still valid, the current vehicle arrival event is maintained and a new vehicle arrival event is not created.

3. The intelligent safety remote control system for underground rail-mounted electric locomotive curve switch machine according to claim 2, characterized in that, The process of determining the stabilization confirmation state includes: The camera device continuously acquires vehicle images within the parking confirmation area according to a preset sampling interval, determines the reference position of the vehicle body from adjacent vehicle images and calculates the corresponding position change, and simultaneously determines the positional relationship between the vehicle body boundary and the parking confirmation area boundary. When the position change of a consecutive preset number of vehicle images does not exceed the preset static determination threshold, and the vehicle boundary remains within the parking confirmation area, the stopping confirmation state corresponding to the vehicle arrival event is determined to be established. When any change in position exceeds the preset static determination threshold or the vehicle boundary leaves the parking confirmation area, the continuous determination count will be reset to zero and the stationary confirmation state will remain invalid.

4. The intelligent safety remote control system for underground rail locomotive curve switch machine according to claim 3, characterized in that, The process of establishing a remote control license record includes: When the stop confirmation state is established, the programmable logic controller records the license start time, determines the license end time according to the preset license duration, and sets the license usage state to the unused state. A remote control license record is established with the license start time, the license end time, and the license usage state. After the remote control license record is established, the programmable logic controller controls the fixed infrared receiver to enter the instruction receiving state. If the current time exceeds the license expiration time and no turnaround instruction that meets the verification conditions is received, the programmable logic controller sets the license usage state to invalid state and controls the fixed infrared receiver to exit the instruction receiving state.

5. The intelligent safety remote control system for underground rail locomotive curve switch machine according to claim 4, characterized in that, The verification process for turn orders includes: When a fixed infrared receiver receives a turn command, it records the time of command reception and transmits the turn command and the time of command reception to a programmable logic controller. The programmable logic controller first compares the instruction receiving time with the permission start time and permission end time respectively. When the instruction receiving time is between the permission start time and the permission end time, it continues to verify the vehicle arrival event, the stopping confirmation status and the permission usage status. When the vehicle arrival event is valid, the stopping confirmation status is established, and the permitted use status is unused, the target direction is determined according to the turn command and the corresponding turn control command is output to the electric turn machine. When any verification condition is not met, no turn control command is output to the electric turn machine.

6. The intelligent safety remote control system for underground rail locomotive curve switch machine according to claim 5, characterized in that, The control process of the electric switch machine includes: The programmable logic controller determines the switch control state corresponding to the target direction based on the target direction, and outputs the corresponding switch control command to the electric switch machine; After receiving the switch control command, the electric switch machine drives the turnout to switch in the target direction. After outputting the switch control command, the programmable logic controller updates the permitted use status from unused to used, so that subsequent switch commands corresponding to the same remote control permission record no longer meet the switch control conditions.

7. The intelligent safety remote control system for underground rail locomotive curve switch machine according to claim 6, characterized in that, The process for determining the position of the electric switch machine after it has been activated includes: The turnout position detection contact detects the actual position status of the turnout after the turnout switch and transmits the actual position status to the programmable logic controller (PLC). The PLC determines the corresponding target position status according to the target direction, compares the actual position status with the target position status, and determines that the turnout is completed when the actual position status matches the target position status. If the actual position status does not match the target position status, the turnout is kept in an incomplete state.

8. The intelligent safety remote control system for underground rail locomotive curve switch machine according to claim 7, characterized in that, The control process after this turnaround includes: When the actual arrival state matches the target arrival state, the programmable logic controller sets the remote control permission record corresponding to this turn to the end state and controls the fixed infrared receiver to exit the command receiving state. When the programmable logic controller receives a new turn instruction during the period when the remote control license record is in the end state, it maintains the current control state of the electric turn machine and does not output a turn control instruction again according to the new turn instruction.

9. The intelligent safety remote control system for underground rail locomotive curve switch machines according to claim 8, characterized in that, The process for ending the vehicle arrival event includes: The active magnetic steel wheel sensor detects the vehicle leaving state and generates a vehicle leaving signal. After receiving the vehicle leaving signal, the programmable logic controller sets the vehicle arrival event corresponding to this turn to the end state and clears the stop confirmation state and remote control permission record associated with the vehicle arrival event. After receiving the vehicle arrival signal again, the programmable logic controller re-establishes the vehicle arrival event and uses the re-established vehicle arrival event as the associated object for the next stop confirmation and remote control authorization establishment.

10. The intelligent safety remote control system for underground rail-mounted electric locomotive curve switch machine according to claim 9, characterized in that, The process of establishing the next vehicle control cycle includes: After the vehicle arrival event is completed, the stop confirmation is established, and the remote control permission record is cleared, the programmable logic controller maintains the fixed infrared receiver in the command receiving state. When the active magnetic steel wheel sensor generates a vehicle arrival signal again, the programmable logic controller starts to continuously judge the vehicle image in the parking confirmation area according to the re-established vehicle arrival event, and establishes a new remote control permission record after the parking confirmation state is re-established, so that the fixed infrared receiver enters the command receiving state. The new remote control permission record is independent of the remote control permission record corresponding to the previous vehicle arrival event, and the new permission time range and permission usage status are used as the verification basis for the next turn command.

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