CN113291485A

CN113291485A - Refueling truck safety detection method and system

Info

Publication number: CN113291485A
Application number: CN202110739229.7A
Authority: CN
Inventors: 于慧洋; 王雷; 管大胜; 郭�旗; 李营; 何宇; 廖赫
Original assignee: China Aviation Oil Group Co ltd
Current assignee: China Aviation Oil Group Co ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-08-24
Anticipated expiration: 2041-06-30
Also published as: CN113291485B; CN115973435A

Abstract

The application provides a refueller safety detection method and system. The safety detection method for the fuelling vehicle comprises the following steps: acquiring an automatic driving instruction of a refueling truck; the automatic piloting indication comprises an automatic piloting path and a stand of the airplane to be filled; responding to the automatic driving indication, and detecting whether a plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state; if at least one of the plurality of vehicle interlocking devices is not in a safe state, controlling the brake of the refueling truck; and if the plurality of vehicle interlocking devices are in a safe state, the brake on the refueling truck is released, and the refueling truck is controlled to drive to the stop position of the airplane to be refueled or drive away from the stop position of the airplane to be refueled according to the automatic driving path.

Description

Refueling truck safety detection method and system

Technical Field

The invention relates to the technical field of design of refueling vehicles, in particular to a refueling vehicle safety detection method and system.

Background

When the refueling vehicle of the airplane refuels, a plurality of facilities of the refuelling vehicle must be connected with the airplane or a fuel supply pipe network, and after refueling, the facilities connected to the airplane or the fuel supply pipe network need to be completely reset to a specified position to allow the refuelling vehicle to drive away, otherwise, fuel leakage can be caused, and flight accidents can be caused seriously.

Therefore, in order to prevent accidents caused by misoperation of a refueling operator, an interlocking control system is generally adopted on a refueling truck of an aircraft, and when facilities on the refueling truck of the aircraft are not reset, the interlocking control system can forcibly brake the vehicle. When a fuelling vehicle driver finds that the fuelling vehicle cannot be forcibly braked, the fuelling vehicle driver can check all facilities needing to be reset one by one. Therefore, the labor cost is high, and the efficiency of safety detection is low.

Disclosure of Invention

The application provides a refueller safety inspection method and system, and the cost of labor is low, and safety inspection's efficiency is higher.

The application provides a refueller safety detection method, the refueller safety detection method includes:

acquiring an automatic driving instruction of a refueling truck; the automatic piloting indication comprises an automatic piloting path and a stand of the airplane to be filled;

responding to the automatic driving indication, and detecting whether a plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state;

if at least one of the plurality of vehicle interlocking devices is not in a safe state, controlling the brake of the refueling truck;

and if the plurality of vehicle interlocking devices are in a safe state, the brake on the refueling truck is released, and the refueling truck is controlled to drive to the stop position of the airplane to be refueled or drive away from the stop position of the airplane to be refueled according to the automatic driving path.

Optionally, the detecting whether the plurality of vehicle interlocking devices in the interlocking mechanism are in the safe state includes:

acquiring an indicator light signal of an indicator light interlocked with the first vehicle interlocking device; determining whether the first vehicle interlock device is in a safe state according to the indicator light signal;

and/or the presence of a gas in the gas,

the safety detection method for the fuelling vehicle comprises the following steps: acquiring first position information and first name information of the vehicle interlocking device which is not in a safe state; according to the first position information, determining position display points of the vehicle interlocking devices which are not in the safe state in all the vehicle interlocking devices; displaying the first position information, the first name information and the position display point through a center console of the refueling truck;

and/or the presence of a gas in the gas,

the brake interlocking component in the interlocking mechanism comprises an electromagnetic valve and an air cylinder, and the air cylinder interlocks the electromagnetic valve; the controlling the fuelling vehicle braking comprising: a power supply system is controlled to supply power to the electromagnetic valve so as to control the cylinder to brake the refueling truck;

and/or, the refueller safety detection method further comprises the following steps:

if the acquired image acquired by the image acquisition component shows that the refueling truck has a falling component, controlling the refueling truck to brake;

and/or, the refueller safety detection method further comprises the following steps: receiving a control instruction of brake release of a user when the plurality of vehicle interlocking devices are in the safe state; sending the control instruction to a dispatching center so as to enable the dispatching center to establish communication connection with the cab of the refueling truck; if a passing permission command issued by the dispatching center is received, the brake of the refueling truck is released;

and/or the presence of a gas in the gas,

after the brake on the fuelling vehicle is released if the plurality of vehicle interlock devices are all in a safe state, the method further comprises: locking the tire by locking hardware if the emergency stop switch is operated, wherein the emergency stop switch is mechanically connected with the locking hardware.

Optionally, the plurality of vehicle interlocking devices include a resettable interlocking device and an interlocking device with a safety threshold, wherein the resettable interlocking device includes a platform refueling joint, a reel refueling joint, a ground well rubber tube lifting mechanism, a loading arm, a platform rubber tube cantilever, a static electricity conducting grounding wire clamp, a platform aircraft oil tank cover box, a reel aircraft oil tank cover box, a power takeoff, a lifting platform, and/or an interlock;

the interlocking device with the safety threshold comprises a tire and/or a fuel tank.

Optionally, the detecting, according to the automatic driving instruction, whether a plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state includes:

responding to the automatic driving instruction, and acquiring induction signals of an inductor corresponding to the vehicle interlocking device;

and determining whether a plurality of vehicle interlocking devices are in a safe state according to the sensing signal, wherein the sensor comprises an inductive proximity switch arranged corresponding to the resettable interlocking device and a pressure sensor arranged corresponding to the interlocking device with a safe threshold value.

Optionally, if the plurality of vehicle interlocking devices are all in a safe state, when the brake on the refueling truck is released, the refueling truck safety detection method further includes:

if an operation instruction in a cab of the refueling truck is received, acquiring an image in the cab; the operation indication is an indication for increasing the vehicle speed, an indication for braking and/or an indication for rotating a steering wheel;

if the operation instruction is determined to be the instruction of misoperation according to the image, controlling the refueling truck to keep the current state;

and if the operation instruction is determined to be the instruction of correct operation according to the image, controlling the refueling truck to execute the operation instruction.

Optionally, the determining, according to the image, that the operation instruction is an erroneous operation includes:

identifying a pose of the filler in the image;

if the situation that the refueling person is not in the driving posture is determined according to the posture, determining that the operation instruction is misoperation; wherein the driving posture comprises holding the steering wheel by hand, opening eyes and wearing a safety belt;

and/or the presence of a gas in the gas,

the refueller safety detection method further comprises the following steps: acquiring a first pressure signal of a pressure sensor arranged on the steering wheel; acquiring a second pressure signal of a pressure sensor arranged on an accelerator pedal; acquiring a third pressure signal of a pressure sensor arranged on the brake pedal; if the first pressure signal is not smaller than a first pressure threshold value, the second pressure signal is not smaller than a second pressure threshold value, and the third pressure signal is not smaller than a third pressure threshold value, determining that the operation indication is correct operation;

and/or the presence of a gas in the gas,

the safety detection method for the fuelling vehicle comprises the following steps: and if the acquired operation instruction is an instruction for increasing the speed of the vehicle, controlling the vehicle to run at a preset speed.

Optionally, after the brake on the refueling truck is released if the plurality of vehicle interlocking devices are all in the safe state, the refueling truck safety detection method further includes:

sending an operation instruction in a cab of the refueling truck to a dispatching center so that the dispatching center can determine whether the operation instruction is an instruction of misoperation or not and generate corresponding response information; the operation indication is an indication for increasing the vehicle speed, an indication for braking and/or an indication for rotating a steering wheel;

receiving the response information;

and executing corresponding operation according to the response information.

Optionally, the obtaining of the operation instruction in the cab of the refueling truck and sending the operation instruction to the scheduling center includes: acquiring an operation instruction in a cab of the refueling truck; acquiring information and/or monitoring images sensed by a laser radar of the refueling truck according to the operation instruction; sending the operation instruction, the information sensed by the laser radar and/or the monitoring image to a dispatching center so that the dispatching center determines whether the operation instruction is an instruction of misoperation or not;

and/or, the operation instruction in the cab of the refueling truck is acquired and sent to a dispatching center, and the method comprises the following steps:

the operation instruction is sent to a dispatching center through a 5G communication module;

the receiving the response information includes:

and receiving the response information through the 5G communication module.

Optionally, the method for detecting the safety of the fuelling vehicle further comprises:

detecting whether a barrier of the fuelling vehicle is a static object or a dynamic object;

if the roadblock is a static object and is in the automatic driving path, planning a detour route;

and controlling the refueling truck to detour according to the detour route.

Optionally, the obstacle for detecting the fuelling vehicle is a static object or a dynamic object, and includes:

acquiring 3D information of the roadblock;

determining a 3D position of the barrier in a pre-established 3D map according to the 3D information;

acquiring the return time of the roadblock for multiple times through a laser radar;

and determining that the roadblock is a static object or a dynamic object according to the 3D position and the return time.

measuring the distance between the roadblock and the refueling truck through a laser radar;

determining to acquire an image of the barrier through a shooting device;

and determining that the roadblock is a static object or a dynamic object according to the distance, the image of the roadblock and the speed of the refueling truck.

The application provides a refueller safety detection system comprising one or more processors for implementing the method as claimed in any one of the above.

The present application provides a computer readable storage medium having stored thereon a program which, when executed by a processor, implements a method as described in any one of the above.

In some embodiments, the refueling truck safety detection method can detect that at least one vehicle interlocking device is not in a safe state, so that a user can master which specific vehicle interlocking device or devices are not in the safe state, and after intervention of a refueling worker, the specific vehicle interlocking devices which are not in the safe state can be found timely, the safety detection efficiency is high, meanwhile, the whole vehicle interlocking devices do not need to be checked one by one, and the labor cost is reduced. And when detecting that at least one vehicle interlocking device is not in a safe state, controlling the brake of the refueling truck, so that the refueling truck is interlocked and braked through the at least one vehicle interlocking device which is not in the safe state, accidents caused by the vehicle interlocking device which is not returned can be avoided, and the intensity of the interlocking brake of the refueling truck is also improved. And if a plurality of vehicle interlocking devices are all in safe state, the brake to the tank service truck is released, so that all the vehicle interlocking devices can be ensured to return to the safe state, and the safety of the tank service truck is improved.

Drawings

FIG. 1 is a flow chart illustrating a method for detecting fuel dispenser safety provided in an embodiment of the present application;

FIG. 2 is a flow chart illustrating a vehicle interlock device not in a safe state according to one embodiment of the present application;

FIG. 3 is a flow chart illustrating a process for determining whether a first vehicle interlock device is in a safe state according to one embodiment of the present application;

FIG. 4 is a flow chart illustrating a process for determining whether a plurality of vehicle interlock devices are in a safe state according to one embodiment of the present application;

FIG. 5 is a flow chart illustrating a process for determining whether a plurality of vehicle interlock devices are in a safe state according to one embodiment of the present application;

FIG. 6 is a flow chart illustrating determining that an operational indication is an indication of a malfunction provided by one embodiment of the present application;

FIG. 7 is a flow chart illustrating a determination that an operational indication is correct provided by an embodiment of the present application;

FIG. 8 is a flow chart illustrating a method for detecting fuel dispenser safety provided in an embodiment of the present application;

FIG. 9 is a flow diagram for one embodiment of step 401 in FIG. 8;

FIG. 10 is a flow chart illustrating control of a bowler to detour a detour route according to an embodiment of the present application;

fig. 11 is a flow chart illustrating the determination of whether the barrier is a static object or a dynamic object as shown in fig. 10;

fig. 12 is a flow chart illustrating the determination of whether the barrier is a static object or a dynamic object as shown in fig. 10;

FIG. 13 is a flow chart illustrating a method for detecting fuel dispenser safety provided in an embodiment of the present application;

fig. 14 is a block diagram illustrating a fuel truck safety detection system according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with one or more embodiments of the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims which follow.

It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described herein. In some other embodiments, the method may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.

The interlocking control system in the related art comprises a vehicle interlocking device and a vehicle braking system. The driver of a common fuelling vehicle needs training to go on duty, and the training content comprises the content of which vehicle interlocking devices in the fuelling vehicle are prone to failure. When the fuelling vehicle is forcibly braked, audible and visual alarm can be carried out through an audible and visual alarm in a cab of the fuelling vehicle. At the moment, after hearing the sound-light alarm, the driver of the fuelling vehicle automatically checks the specific fault point of the fuelling vehicle by virtue of the training experience of the driver, and performs the operations such as homing and the like. Therefore, the labor cost is high, and the efficiency of safety detection is low.

In order to solve the technical problem, embodiments of the present application provide a method and a system for detecting the safety of a refueling truck, which can detect that at least one vehicle interlocking device is not in a safe state, and thus can grasp which specific vehicle interlocking device or devices are not in the safe state, so that after intervention of a refueling truck, a specific vehicle interlocking device not in the safe state is found in time, the efficiency of safety detection is high, and meanwhile, the whole vehicle interlocking devices are not required to be checked one by one, thereby reducing the labor cost.

First, a method for detecting safety of a refueling truck provided by the embodiment of the application can be applied to a refueling truck control system or a dispatching system. In some embodiments, the fuelling vehicle control system can refer to separate control systems for the fuelling vehicles, such as a fuelling vehicle safety detection system. In some embodiments, the dispatch system may be a system that dispatches all of the bowsers, which may interact with the bowler control system.

Next, the method and system for detecting the safety of the fueling vehicle according to the embodiment of the present application will be described in detail with reference to the drawings.

Fig. 1 is a flowchart illustrating a method for detecting safety of a refueling truck according to an embodiment of the present disclosure. The method may include the following steps 101 to 104.

Step 101, acquiring an automatic driving instruction of a refueling truck; the automatic piloting indication comprises an automatic piloting path and a stand of the airplane to be filled.

In some embodiments, the refueler is used to refuel an aircraft to be refueled. Such as a tanker that may include, but is not limited to, a tanker that carries the oil itself and/or a pipeline truck that uses wells at a stand for refueling. Therefore, the required refueling truck can be used according to actual requirements. Any vehicle capable of fueling an aircraft to be fueled is within the scope of the embodiments of the present disclosure and is not intended to be limiting.

In some embodiments, the autopilot indication is used to indicate a start point and an end point of a bowser. For example, the starting point of the refueling truck is the current position of the refueling truck, and the ending point of the refueling truck is the stand of the airplane to be refueled, and/or the starting point of the refueling truck is the stand of the airplane to be refueled, and the ending point of the refueling truck is the parking space of the refueling truck. In some embodiments, the autopilot instructions include an autopilot route and a parking space for a bowser. The autopilot path may be determined based on the current position of the fuelling vehicle and the stand of the aircraft to be fuelled. This path may be the shortest or fastest path between the current position of the fuelling vehicle and the aircraft stand to be fuelled. The autopilot path may include, but is not limited to, the current position of the fuelling vehicle and the stand of the aircraft to be fuelled, such that the start and end points of the autopilot path can be grasped in time.

The parking space may refer to a position where the aircraft needs to be refueled when the aircraft is parked, and may also be referred to as a refueling level. Therefore, the condition that the airplane needs to be refueled can be timely mastered, and meanwhile, the position of the airplane which is dispatched to an airport for specific refueling can be timely mastered.

The aircraft to be filled may be an aircraft which applies for filling. The specific application is not limited. In some embodiments, step 101 further includes obtaining an autopilot indication of a refueling truck sent by the dispatch system, where the stand of the aircraft to be refueled may be received by an empty pipe system or other information system, so that the autopilot indication may be obtained in real time by interacting with other systems.

And 102, responding to the automatic driving instruction, and detecting whether a plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state.

The interlocking mechanism in the present application may refer to a mechanism composed of devices that establish an interlocking relationship in advance. In some embodiments, the interlock mechanism may include, but is not limited to, a vehicle interlock device and a vehicle braking system. The vehicle interlocking device may refer to a device capable of interlocking a vehicle braking system through an interlocking relationship. A vehicle braking system may refer to a system that is directly associated with a vehicle braking component.

Wherein the plurality of vehicle interlocking devices are used for realizing the interlocking of the devices on the vehicle and the braking of the vehicle. The plurality of vehicle interlocks may include, but are not limited to, resettable interlocks and interlocks having a safety threshold, wherein the resettable interlocks include a platform refueling joint, a reel refueling joint, a ground well hose lift mechanism, a loading arm, a platform hose cantilever, a static conductive ground clamp, a platform aircraft tank cap, a reel aircraft tank cap, a power takeoff, a lift platform, and/or an interlock; the interlocking devices with safety thresholds comprise tires and/or fuel tanks. Thus, the vehicle interlocking member can be interlocked with the braking of the vehicle from various aspects such as a driving angle, a component angle and the like.

Wherein resettable interlock device may refer to a removable or displaceable device. And detecting whether the detachable reset interlocking device is in a reset state or not. For another example, if the lift platform is detected to be in a raised state, the interlock device having a safety threshold may be a device having a threshold requirement. Such as a tire pressure of the tire being greater than a preset tire pressure value. For another example, the oil amount of the oil tank is larger than the preset oil amount value. The preset tire pressure value and the preset oil quantity value can be determined according to user requirements.

The safe state in this application can refer to the state that can reset interlocking device's reset and interlocking device reach safe threshold value, can make the tank service truck relieve the braking.

And 103, controlling the brake of the refueling truck if at least one vehicle interlocking device in the plurality of vehicle interlocking devices is not in a safe state.

In some embodiments, the brake interlocking component in the interlocking mechanism comprises a solenoid valve and a cylinder, wherein the cylinder interlocks the solenoid valve; and step 103, controlling the brake of the refueling truck, wherein the power supply system is controlled to supply power to the electromagnetic valve so as to control the cylinder to complete the brake of the refueling truck. Therefore, after the electromagnetic valve is powered on and opened, the electromagnetic valve controls the cylinder to be ejected out, the cylinder extrudes the brake pedal after being ejected out, the fuelling vehicle is braked, the brake pedal is braked by the cylinder linkage electromagnetic valve and the brake pedal, and the automatic braking of the vehicle when the vehicle linkage device is not in a safe state is realized. In some embodiments, the cylinder is provided on a brake pedal that is accessible to a fuel filler. Wherein, the interlocking state of the cylinder and the electromagnetic valve can comprise: the linkage state of the opening of the electromagnetic valve and the ejection of the cylinder; or the electromagnetic valve is closed, and the air cylinder is reset in a linkage state. The interlocking states of the cylinder, the solenoid valve and the brake pedal may include: the electromagnetic valve is opened, the cylinder is ejected out, and the brake pedal performs the linkage state of braking; or the electromagnetic valve is closed, the air cylinder is reset, and the brake pedal is reset in a linkage state.

In some embodiments, the method for detecting the safety of the fuelling vehicle further comprises: and if the acquired image acquired by the image acquisition component shows that the refueling truck has a falling component, controlling the braking of the refueling truck. In this way, the image detection can assist in detecting whether the plurality of vehicle interlocking devices in the interlocking mechanism are in a safe state, and the dropping of the component can be effectively detected. Wherein, the component can be a large component which is convenient to monitor.

And 104, if the plurality of vehicle interlocking devices are in a safe state, releasing the brake of the refueling truck, and controlling the refueling truck to drive to the stop position of the airplane to be refueled or drive away from the stop position of the airplane to be refueled according to the automatic driving path.

The autonomous driving in the present application may be unmanned driving. But according to the rules of airports, autonomous driving may also be driver-assisted driving. The person may not be a dedicated pilot, but may be a refueller who needs to refuel the aircraft. Therefore, the refueling operator can be brought to the stand of the airplane to be refueled by the refueling vehicle to refuel.

In some embodiments, after step 104, the method further comprises: if the emergency stop switch is operated, locking the tire by locking hardware, wherein the emergency stop switch is mechanically connected with the locking hardware. Wherein, the scram switch is preset in the fuelling vehicle. The locking hardware can be a device which can be buckled with the tire to forcibly brake the rotation of the tire.

In the embodiment of the application, at least one vehicle interlocking device can be detected not to be in the safe state, and the specific vehicle interlocking device or the specific vehicle interlocking devices not to be in the safe state can be mastered, so that after an oil filler intervenes, the specific vehicle interlocking device not to be in the safe state can be found in time, the safety detection efficiency is high, meanwhile, the whole vehicle interlocking devices are not required to be checked one by one, and the labor cost is reduced. And when detecting that at least one vehicle interlocking device is not in a safe state, controlling the brake of the refueling truck, so that the refueling truck is interlocked and braked through the at least one vehicle interlocking device which is not in the safe state, accidents caused by the vehicle interlocking device which is not returned can be avoided, and the intensity of the interlocking brake of the refueling truck is also improved. And if a plurality of vehicle interlocking devices are all in safe state, the brake to the tank service truck is released, so that all the vehicle interlocking devices can be ensured to return to the safe state, and the safety of the tank service truck is improved.

In some embodiments, the at least one vehicle interlock device is not in a safe state is indicated by an indicating device interlocked with each vehicle interlock device not in a safe state; the safety indicating equipment for the interlocking of the vehicle interlocking devices indicates that the vehicle interlocking devices are not in a safety state, so that specific fault points are conveniently indicated, the efficiency of safety inspection is improved, and therefore inexperienced personnel can conveniently and timely inspect the fault points. Wherein the indicating device is for indicating any one or more vehicle interlock devices, each not in a safe state. For example, the center console of the refueling truck can be used as an indicating device to indicate each vehicle interlocking device which is not in a safe state in a display mode. For another example, the indicator light may be used as an indicator device to signal each vehicle interlock device that is not in a safe state. Any implementation that is capable of indicating any one or more vehicle interlock devices is within the scope of the embodiments of the present application.

FIG. 2 is a flow chart illustrating a vehicle interlock device that is not in a safe state according to one embodiment of the present application. In some embodiments, the method for detecting the safety of the refueling truck further comprises the step of enabling a center console of the refueling truck to indicate that at least one vehicle interlocking device is not in a safe state through the following steps 201 to 203 at the time of step 102:

step 201, first position information and first name information of a vehicle interlocking device which is not in a safe state are obtained.

Wherein the first location information may reflect a location of the vehicle interlock device that is not in a safe state. The first location information may include, but is not limited to, a location of a vehicle interlock device that is not in a safe state. The first name information may indicate a name of the vehicle interlock device that is not in the safe state.

And step 202, determining position display points of the vehicle interlocking devices which are not in the safe state in all the vehicle interlocking devices according to the first position information.

In some embodiments, the fuelling vehicle safety detection method further comprises: the position display maps of all the vehicle interlocking devices are stored in advance so that each of the vehicle interlocking devices (failure points) that are not in a safe state is displayed later.

In some embodiments, step 202 may further include: when the vehicle interlocking device which is not in the safe state appears, according to the first position information, the position display point of the vehicle interlocking device which is not in the safe state is matched in the position display map. Therefore, the position of the vehicle interlocking device which is not in the safe state in the position display map can be displayed, and the vehicle interlocking device can be quickly found and displayed according to the position.

And step 203, displaying the first position information, the first name information and the position display point through a center console of the refueling truck. Therefore, the first position information can be displayed, the position display points and the name information of the first position information in all the vehicle interlocking devices can be displayed, and the vehicle interlocking devices which are not in the safe state can be conveniently and quickly found out.

FIG. 3 is a flow chart illustrating a process for determining whether a first vehicle interlock device is in a safe state according to one embodiment of the present application. The plurality of vehicle interlocking devices include a first vehicle interlocking device, and the step 102 of detecting whether the plurality of vehicle interlocking devices in the interlocking mechanism are in the safe state may include the following steps 111 to 112:

and step 111, acquiring an indicator light signal of an indicator light interlocked with the first vehicle interlocking device. The first vehicle interlock device may act as any particular malfunctioning vehicle interlock device. The indicator light signal may be a sound signal, a photoelectric signal, or a combined signal of the sound signal and the photoelectric signal.

And step 112, determining whether the first vehicle interlocking device is in a safe state or not according to the indicator light signal. In this way, the indicator lamp arranged beside the first vehicle interlocking device is interlocked with the first vehicle interlocking device, and the safety state of the first vehicle interlocking device can be directly reflected.

In some embodiments, this step 112 may further include: the method comprises the steps that an indicator light signal is obtained and is a signal for turning on the indicator light, and it is determined that a first vehicle interlocking device is not in a safe state; and determining that the first vehicle interlocking device is in a safe state when the acquired indicator light signal is a signal that the indicator light is not turned on.

FIG. 4 is a flow chart illustrating a process for determining whether a plurality of vehicle interlock devices are in a safe state according to one embodiment of the present application. In some embodiments, the step 102 of detecting whether the plurality of vehicle linkages in the linkage are in the safe state according to the automatic driving instruction may include the following steps 121 to 122:

and step 121, responding to the automatic driving instruction, and acquiring induction signals of the inductors arranged corresponding to the vehicle interlocking devices.

And step 122, determining whether the plurality of vehicle interlocking devices are in a safe state according to the sensing signals, wherein the sensors comprise inductive proximity switches arranged corresponding to the resettable interlocking devices and pressure sensors arranged corresponding to the interlocking devices with safety thresholds. Therefore, whether the plurality of vehicle interlocking devices are in the safe state or not can be determined through the inductive proximity switch and the pressure sensor sensing signals, and the accuracy of detecting whether the vehicle interlocking devices are in the safe state or not is improved.

FIG. 5 is a flow chart illustrating a process for determining whether a plurality of vehicle interlock devices are in a safe state according to one embodiment of the present application. In some embodiments, the method for detecting the safety of the fuelling vehicle further comprises the following steps 105 to 107:

105, acquiring an image in a cab if an operation instruction in the cab of the refueling truck is received; the operation indication is an indication of increasing the vehicle speed, an indication of braking and/or an indication of turning the steering wheel.

In some embodiments, this step 105 may further include: and acquiring an image in the cab through shooting equipment in the cab. The shooting device may be, but is not limited to, a camera, and may also be other devices capable of shooting.

In the embodiment of the application, the refueling truck can automatically drive to or off the stand of the airplane to be refueled according to the automatic driving path, so that if the refueling truck is not in a driving state, such as sitting on a driver seat and sleeping, the refueling truck can be artificially and unconsciously operated, which is called misoperation. However, because the driving situation is complex in the actual airport situation, the driving can be intervened manually, and the driving behavior of the manual conscious intervention is called correct operation, so that the cooperation of manual correct intervention and automatic driving can be realized, and the safety of the airport automatic driving is improved.

The operation instruction may be issued by a refueling operator in a cab of the refueling truck. This operation instruction may be a correct operation consciously by the filler or an unintended erroneous operation unconsciously by the filler, and may be determined in detail as follows.

And 106, if the operation instruction is determined to be the misoperation instruction according to the image, controlling the refueling truck to keep the current state.

The operation instruction is determined to be an instruction of misoperation, which indicates that the refueling truck does not neglect the operation consciously, and the refueling truck does not need to execute the operation.

Fig. 6 is a flowchart illustrating a process of determining that an operation indication is an indication of a malfunction according to an embodiment of the present application. In some embodiments, the step 106 may further include the following steps 131 to 132:

step 131, the pose of the refueler in the image is identified.

In some embodiments, the step 131 further comprises recognizing the pose of the fuel filler in the image via an image recognition algorithm. In some embodiments, the step 131 further includes obtaining an image, inputting the image into a pre-constructed neural network model, and outputting the pose information of the fuel filler, wherein the pre-constructed neural network model is: the method is characterized by comprising the following steps of training an artificial neural network by adopting sample data, wherein the sample data comprises samples with various postures of a refueling person and samples without postures of the refueling person. Therefore, the recognition accuracy of the neural network model can be improved, and the posture of the refueling person can be accurately recognized. Other gestures that can identify the fuel filler in the image are within the scope of the embodiments of the present application and are not limited in detail herein.

Step 132, if it is determined that the refueling operator is not in the driving posture according to the posture, determining that the operation instruction is misoperation; wherein the driving posture comprises holding the steering wheel by hand, opening eyes and wearing a safety belt. Thus, the accuracy of the identification of the misoperation can be improved through the image identification.

Wherein the eyes are open may determine whether the refueler is in a resting state or a driving state. The driving posture may also include, but is not limited to, whether the head is lifted, etc., which is not exemplified herein.

In some embodiments, step 132 may further include: if the situation that the oil filler is in the driving posture is determined according to the posture, acquiring a temperature signal of a temperature sensor arranged on a steering wheel; and if the temperature signal is smaller than the temperature threshold value, determining that the operation instruction is an instruction of misoperation. Therefore, the misoperation can be accurately identified by combining the temperature signal of the temperature sensor on the basis of the combined image.

In other embodiments, step 132 may further include: if the situation that the oil filler is in the driving posture is determined according to the posture, a first pressure signal of a pressure sensor arranged on a steering wheel is obtained; and if the first pressure signal is smaller than the first pressure threshold value, determining that the operation indication is an indication of misoperation. Therefore, the misoperation can be accurately identified by combining the pressure signal of the pressure sensor on the basis of the combined image. In some embodiments, the operation indication may be an indication of a malfunction according to a contact signal of a contact sensor provided to the steering wheel. Of course, the operation instruction may be determined as an instruction of an erroneous operation by combining the above two embodiments or three embodiments. The manner in which the operation instruction can be determined as the instruction of the erroneous operation is not limited in detail herein, and all the manners belong to the scope of the embodiments of the present application.

Wherein, the touch sensor can send out a touch signal when an object touches.

In other embodiments, a first pressure signal of a pressure sensor disposed on a steering wheel is acquired; acquiring a second pressure signal of a pressure sensor arranged on an accelerator pedal; acquiring a third pressure signal of a pressure sensor arranged on a brake pedal; and if the first pressure signal is smaller than the first pressure threshold value, the second pressure signal is smaller than the second pressure threshold value or the third pressure signal is smaller than the third pressure threshold value, the operation indication is determined to be correct operation. Therefore, the pressure sensor of the steering wheel, the pressure sensor of the accelerator pedal and the pressure sensor of the brake pedal can be combined, and the accuracy of operation indication identification is improved. Thus, even if the driver is determined to be in the driving posture based on the posture, there is a possibility that the driver does not perform a forceful operation and there is a possibility that there is an erroneous operation, and thus, it is possible to more accurately determine that the operation instruction is an erroneous operation.

Wherein the first pressure signal is less than the first pressure threshold, indicating that the force with which the operator holds the steering wheel is small and insufficient to operate the rotary steering wheel. The second pressure signal is less than a second pressure threshold, indicating that the force with which the accelerator pedal is depressed by the operator is low and insufficient to operate the accelerator pedal. The third pressure signal is less than a third pressure threshold, indicating that the force with which the operator steps on the brake pedal is low and insufficient to operate the brake pedal. The numerical values of the first pressure threshold, the second pressure threshold and the third pressure threshold in the embodiment of the present application may be the same or different, and the specific numerical values may be summarized according to actual measurement, which is not described in detail herein.

And step 107, if the operation instruction is determined to be the instruction of correct operation according to the image, controlling the refueling truck to execute the operation instruction. Therefore, whether the operation instruction is executed or not can be reflected in time when the human intervention is carried out, and the safety of the vehicle and the controllability of the human are improved.

In some embodiments, the above steps 105 to 107 may be performed when the fuelling vehicle in step 104 is automatically driven to or from the stand of the aircraft to be fuelled according to the autopilot path. In some embodiments, the above steps 105 to 107 may be performed after the brake on the fuelling vehicle is released if all of the plurality of vehicle interlocking devices are in the safe state in step 104, and the order of execution is not limited. As long as the processes from step 105 to step 107 can be realized, all of them belong to the protection scope of the embodiments of the present application.

Fig. 7 is a flow chart illustrating a determination that an operation indication is correct according to an embodiment of the present application. The method for detecting the safety of the refueling truck further comprises the following steps 301 to 304:

step 301, a first pressure signal of a pressure sensor arranged on a steering wheel is acquired.

Step 302, a second pressure signal of a pressure sensor arranged on an accelerator pedal is obtained.

And step 303, acquiring a third pressure signal of a pressure sensor arranged on a brake pedal.

In step 304, if the first pressure signal is not less than the first pressure threshold, the second pressure signal is not less than the second pressure threshold, and the third pressure signal is not less than the third pressure threshold, it is determined that the operation instruction is correct. Therefore, the pressure sensor of the steering wheel, the pressure sensor of the accelerator pedal and the pressure sensor of the brake pedal can be combined, and the accuracy of operation indication identification is improved.

In some embodiments, the method for detecting the safety of the fuelling vehicle comprises controlling the vehicle to run at a predetermined speed if the obtained operation instruction is an instruction to increase the vehicle speed. Thus, the running speed of the vehicle can be controlled, and the increased danger caused by the too fast running of the vehicle can be avoided.

This predetermined speed may be greater than the minimum speed of the fuelling vehicle and less than the intermediate one of the maximum speeds of fuelling. The method of detecting refuelling vehicle safety may also include, but is not limited to, controlling the vehicle to travel at a predetermined speed before obtaining the operational indication as an indication to increase the vehicle speed. Therefore, the device can move forward at a constant speed to avoid interference.

Fig. 8 is a flowchart illustrating a method for detecting fuel dispenser safety according to an embodiment of the present application. After step 104, the method for detecting the safety of the fuelling vehicle further comprises the following steps 401 to 403:

step 401, sending an operation instruction in a cab of a refueling truck to a dispatching center so that the dispatching center determines whether the operation instruction is an instruction of misoperation or not and generates corresponding response information; the operation indication is an indication of increasing the vehicle speed, an indication of braking and/or an indication of turning the steering wheel.

FIG. 9 is a flow diagram illustrating one embodiment of step 401 in FIG. 8. Step 401 may further include steps 141 through 143 as follows:

in step 141, an operation instruction in the cab of the fuelling vehicle is acquired. And 142, acquiring laser radar sensing information and/or monitoring images of the refueling truck according to the operation instruction. And step 143, sending the operation instruction, the information sensed by the laser radar and/or the monitoring image to a dispatching center so that the dispatching center can determine whether the operation instruction is an instruction of misoperation. Therefore, the information of the refueling truck with the operation indication on the refueling truck is sent to the dispatching center, so that the dispatching center can accurately determine whether the operation indication is correct or not. The monitoring image may be a monitoring image obtained by a photographing device inside the vehicle.

The information interaction between the refueling truck and the dispatching center is realized by adopting a communication module. In some embodiments, the communication module may be a 5G communication module, so that information transmission is more timely and efficient. For example, step 401 may further include sending the operation instruction to the scheduling center through the 5G communication module; step 401 may further include receiving response information through the 5G communication module. In other embodiments, the communication module may also be a 4G or 3G communication module. The larger the algebra of the communication module is, the more timely and efficient the communication message response is. The communication module may also be a wifi communication module. This is not exemplified.

In other embodiments, in some embodiments, step 401 may further include: the refueling truck control system obtains a monitoring image according to information sensed by a refueling truck laser radar and/or shooting equipment in the vehicle; and determining whether the operation indication is an indication of misoperation to generate corresponding response information. The process of determining the misoperation is the same as the process of determining the misoperation by the dispatching center, and the details are not described herein. The photographing apparatus may include, but is not limited to, a monitor.

In some embodiments, the process of the dispatch center determining whether the operation indication is an indication of a false operation is as follows: and if the operation instruction is received as a second operation instruction within the preset time, the operation instruction is determined to be a correct operation, and the response is performed. The preset time can be set according to the requirements of users, such as within 5 seconds. Therefore, the accuracy of judgment of the operation instruction can be improved through multiple operation instructions, so that better response is realized. Other processes for determining whether the operation indication is an indication of a misoperation belong to the protection scope of the embodiments of the present application, and are not exemplified herein.

In some embodiments, the process of the dispatch center determining the response information is as follows: and receiving the operation instruction, establishing a communication connection with a cab of the refueling truck, and directly interacting with a refueling operator to obtain response information. Therefore, the call connection can be established quickly, and the response efficiency is improved.

Step 402, response information is received.

Wherein the response information includes a response whether to execute the operation instruction.

And step 403, executing corresponding operation according to the response information. Therefore, whether the operation of human intervention is misoperation or not can be determined through the cooperation of the dispatching center.

In the embodiment of the application, if the response information is a response for executing the operation instruction, the corresponding operation instruction is executed. In the embodiment of the application, if the response information is a response that the operation instruction is not executed, the maintenance of the current state of the refueling truck is executed.

Fig. 10 is a flowchart illustrating control of a bowler to detour according to a detour route according to an embodiment of the present application. The method for detecting the safety of the refueling truck further comprises the following steps 501-503:

step 501, detecting whether a barrier of a refueling truck is a static object or a dynamic object.

The roadblock may be an object that may cause an obstacle to the driving of the refueling truck, and may include, but is not limited to, one or more of a pole, a signboard, a service worker, a patch cord, a road surface bulge, and the like.

In some embodiments, step 501 further includes capturing an image with a camera, and identifying the obstacle in the image through an image recognition algorithm. In some embodiments, the step 501 further includes acquiring an image, inputting the image to a pre-constructed neural network model, and outputting the obstacle, where the pre-constructed neural network model is: the method comprises the steps of training an artificial neural network by adopting sample data, wherein the sample data comprises airport pictures with various obstacles and airport pictures without obstacles. Therefore, the identification accuracy of the neural network model can be improved, and the barrier can be accurately identified. In other embodiments, step 501 further comprises detecting obstacles to the fuelling vehicle by a lidar. It is within the scope of the embodiments of the present application that the obstacle in the image can be identified in other ways, and is not limited in detail herein.

Step 502, if the barrier is a static object and is in the automatic driving path, a detour route is planned. The detour route can be determined according to the current position and the terminal point of the fuelling vehicle.

In some embodiments, the method for detecting the safety of the fuelling vehicle further comprises: if the roadblock is a dynamic object, estimating whether the fuelling vehicle meets the dynamic object; if the refueller is predicted to meet the dynamic object, planning a detour route; if the fuel truck is predicted not to meet the dynamic object, the current state of the fuel truck can be continuously maintained. In some embodiments, the method for detecting the safety of the fuelling vehicle further comprises: if the roadblock is a dynamic object, estimating whether the dynamic object is in the automatic driving path; if the estimated position is in the automatic driving path, planning a detour route; if it is not predicted to be within the autopilot path, the current state of the bowser may continue to be maintained.

And step 503, controlling the refueling truck to bypass according to the bypass route. Therefore, the road barrier can be effectively bypassed, and the refueling truck can timely pass.

Fig. 11 is a flow chart illustrating the determination of whether the barrier is a static object or a dynamic object as shown in fig. 10. In some embodiments, step 501 may further include steps 151-154 as follows:

and step 151, acquiring the 3D information of the roadblock.

In some embodiments, step 151 may further include, but is not limited to, obtaining 3D information of the barrier based on a positioning system, a laser point cloud map, a camera, a lidar, an Inertial Measurement Unit (IMU). The Positioning System may include, but is not limited to, one or more of Global Positioning System (GPS) Positioning, Global Navigation Satellite System (GNSS) and beidou satellite Positioning System.

And 152, determining the 3D position of the roadblock in the pre-established 3D map according to the 3D information.

In some embodiments, step 152 may further include determining a 3D location of the barrier in the pre-established 3D map by comparing the 3D information in the pre-established 3D map

And step 153, acquiring the return time of the roadblock for multiple times through the laser radar.

Step 154, determining whether the roadblock is a static object or a dynamic object according to the 3D position and the return time. Thus, the roadblock is more accurately determined according to the 3D information.

Step 154 in the present embodiment further comprises: determining that the 3D position of the roadblock in the pre-established 3D map is not changed within the return time, and determining that the roadblock is a static object; and determining that the 3D position of the roadblock in the pre-established 3D map changes within the return time, and determining that the roadblock is a dynamic object.

Fig. 12 is a flow chart illustrating the determination of whether the barrier is a static object or a dynamic object as shown in fig. 10. In other embodiments, step 501 may further include steps 161-163 of:

and 161, measuring the distance between the roadblock and the refueling truck by using a laser radar.

And step 162, acquiring an image of the roadblock through the shooting device.

And 163, determining whether the roadblock is a static object or a dynamic object according to the distance, the image of the roadblock and the speed of the refueling truck. Therefore, less information is obtained, and whether the roadblock is a static object or a dynamic object is determined more quickly.

Step 163 further comprises in the present embodiment: and through the speed of the refueling truck, the laser radar measures the distance between the roadblock and the refueling truck to determine the speed of the roadblock, if the speed of the roadblock is zero, the roadblock is a static object, and if the speed of the roadblock is not equal to zero, the roadblock is a dynamic object.

Fig. 13 is a flowchart illustrating a method for detecting fuel dispenser safety according to an embodiment of the present application. In some embodiments, after step 103 in fig. 1, the method for detecting the safety of the refueling truck further includes the following steps 601 to 603:

step 601, receiving a control command of brake release of a user when a plurality of vehicle interlocking devices are in a safe state.

In some embodiments, the control command may be issued without the bowler releasing the brake on the bowler after the bowler restores the plurality of vehicle interlocks to the safe state. In this way, the refueling operator finds that a plurality of vehicle interlocking devices are in a safe state, which indicates that all faults are relieved, but the refueling vehicle still cannot relieve braking, which indicates that manual intervention is needed. Therefore, the normal starting of the refueling truck can be ensured through the cooperation of human intervention and the refueling truck.

Step 602, sending the control instruction to a dispatching center so that the dispatching center establishes a communication connection with a cab of the refueling truck.

And step 603, if a pass permission command issued by the dispatching center is received, the brake of the refueling truck is released. Therefore, the dispatching center is in communication connection with the cab of the refueling truck, faults caused by machines are better processed in time, and the refueling truck is controlled to drive to the parking position of the airplane to be filled or drive away from the parking position of the airplane to be filled according to the automatic driving path.

Fig. 14 is a block diagram illustrating a fuel dispenser safety detection system 700 according to an embodiment of the present application. The fuelling vehicle safety detection system 700 comprises one or more processors 701 for implementing a fuelling vehicle safety detection method as described above.

In some embodiments, the fuelling vehicle security detection system 700 can include a computer readable storage medium 709, the computer readable storage medium 709 can store a program that can be invoked by the processor 701, and can include a non-volatile storage medium. In some embodiments, the fuelling vehicle safety detection system 700 can include a memory 708 and an interface 707. In some embodiments, the fuelling vehicle safety detection system 700 can also include other hardware depending on the application.

The computer-readable storage medium 709 of the embodiment of the present application stores thereon a program for implementing the fueling vehicle safety detection method as described above when executed by the processor 701.

This application may take the form of a computer program product that is embodied on one or more computer-readable storage media 709 (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-readable storage media 709 includes permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer-readable storage media 709 include, but are not limited to: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by a computing device.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Claims

1. A refueller safety detection method is characterized by comprising the following steps:

2. The bowser safety detection method of claim 1, wherein the plurality of vehicle interlock devices comprises a first vehicle interlock device, and the detecting whether the plurality of vehicle interlock devices in the interlock mechanism are in a safe state comprises:

and/or the presence of a gas in the gas,

3. The fuelling vehicle safety detection method of claim 1, wherein the plurality of vehicle interlock devices comprises a resettable interlock device and an interlock device having a safety threshold, wherein the resettable interlock device comprises a platform refuel joint, a reel refuel joint, a pit hose lift, a loading arm, a platform hose cantilever, a static conductive ground clamp, a platform aircraft tank cap box, a reel aircraft tank cap box, a power takeoff, a lift platform, and/or an interlock;

4. The fuelling vehicle safety detection method of claim 3, wherein the detecting whether a plurality of vehicle linkages in a linkage are in a safe state based on the autopilot command comprises:

5. The method as claimed in claim 1, wherein if the plurality of vehicle interlock devices are in a safe state and the brake on the refueling truck is released, the method further comprises:

6. The fuelling vehicle safety detection method of claim 5, wherein the determining, from the image, that the operation indication is a false operation comprises:

identifying a pose of the filler in the image;

and/or the presence of a gas in the gas,

7. The fuel truck safety detection method according to claim 1, wherein after the braking of the fuel truck is released if the plurality of vehicle interlock devices are all in the safe state, the fuel truck safety detection method further comprises:

receiving the response information;

and executing corresponding operation according to the response information.

8. The method for detecting the safety of the fuelling vehicle according to claim 7, wherein the obtaining of the operation instruction in the cab of the fuelling vehicle and sending the operation instruction to a dispatch center comprises: acquiring an operation instruction in a cab of the refueling truck; acquiring information and/or monitoring images sensed by a laser radar of the refueling truck according to the operation instruction; sending the operation instruction, the information sensed by the laser radar and/or the monitoring image to a dispatching center so that the dispatching center determines whether the operation instruction is an instruction of misoperation or not;

the receiving the response information includes:

and receiving the response information through the 5G communication module.

9. The fuelling vehicle safety detection method of claim 1, further comprising:

and controlling the refueling truck to detour according to the detour route.

10. A fuelling vehicle safety detection system, comprising one or more processors for implementing a fuelling vehicle safety detection method according to any one of claims 1 to 9.