CN112131442A

CN112131442A - Method, device, equipment and medium for detecting tracing result of tracing trolley

Info

Publication number: CN112131442A
Application number: CN202011309641.7A
Authority: CN
Inventors: 杨源; 王铭明; 曾鹏轩; 王宇航
Original assignee: Beijing Siming Qichuang Technology Co ltd
Current assignee: Beijing Siming Qichuang Technology Co ltd
Priority date: 2020-11-20
Filing date: 2020-11-20
Publication date: 2020-12-25
Anticipated expiration: 2040-11-20
Also published as: CN112131442B

Abstract

The disclosure relates to a method, a device, equipment and a medium for detecting a tracing result of a tracing trolley. The method for detecting the tracing result of the tracing trolley comprises the following steps: when the fact that the tracing trolley moves for a preset distance is detected, obtaining a target color value of a target color block where the tracing trolley is located, wherein the target color block is a color block in a tracing map where the tracing trolley runs; inquiring target tracing information corresponding to the target color value according to the corresponding relation between the color value and the tracing information; and determining the tracing result of the tracing trolley as successful tracing under the condition that the target tracing information meets the preset tracing condition. According to the embodiment of the disclosure, the automatic detection of the tracing result of the tracing trolley can be accurately and efficiently realized.

Description

Method, device, equipment and medium for detecting tracing result of tracing trolley

Technical Field

The present disclosure relates to the field of tracking vehicles, and in particular, to a method, an apparatus, a device, and a medium for detecting a tracking result of a tracking vehicle.

Background

In recent years, juvenile programming has been receiving increasing attention from parents of students and teachers at schools as a topical subject in the field of education. However, for children and teenagers to program learners, the concepts of sequential execution, numerical operations, logical judgment, etc. are often too abstract to be understood. The tracing trolley is used as a toy, abstract concept knowledge can be liked to play and task logic, and the tracing trolley is popular among students parents and school teachers.

At present, after a tracing trolley moves according to a track set by a student, the student and parents of the student need to manually judge the tracing result of the tracing trolley, if the content of a task is forgotten or the content of a map is not understood, the tracing result cannot be accurately judged, and then whether the track set by the student meets the requirement cannot be judged.

Disclosure of Invention

In order to solve the technical problems or at least partially solve the technical problems, the present disclosure provides a method, an apparatus, a device and a medium for detecting a tracking result of a tracking cart.

In a first aspect, the present disclosure provides a method for detecting a tracking result of a tracking cart, including:

when the fact that the tracing trolley moves for a preset distance is detected, obtaining a target color value of a target color block where the tracing trolley is located, wherein the target color block is a color block in a tracing map where the tracing trolley runs;

inquiring target tracing information corresponding to the target color value according to the corresponding relation between the color value and the tracing information;

and determining the tracing result of the tracing trolley as successful tracing under the condition that the target tracing information meets the preset tracing condition.

In a second aspect, the present disclosure provides a tracking result detecting device for a tracking cart, including:

the color value acquisition module is used for acquiring a target color value of a target color block of the tracing trolley when the tracing trolley is detected to move a preset distance, wherein the target color block is a color block in a tracing map driven by the tracing trolley;

the information inquiry module is used for inquiring the target tracing information corresponding to the target color value according to the corresponding relation between the color value and the tracing information;

the first determining module is used for determining that the tracing result of the tracing trolley is successful in tracing under the condition that the target tracing information meets the preset tracing condition.

In a third aspect, the present disclosure provides a tracking cart, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the method for detecting the tracking result of the tracking vehicle according to the first aspect.

In a fourth aspect, the present disclosure provides a storage medium, wherein instructions of the storage medium, when executed by a processor of a tracking vehicle, enable the tracking vehicle to perform the tracking result detection method of the tracking vehicle according to the first aspect.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the method, the device, the equipment and the medium for detecting the tracing result of the tracing trolley can acquire the target color value of the target color block of the tracing trolley on the driving tracing map when the tracing trolley is detected to move a preset distance, and can determine the target tracing information carried by the target color value based on the corresponding relation between the color value and the tracing information, so as to judge whether the target tracing information meets the preset tracing condition, and determine that the tracing result of the tracing trolley is successful in tracing under the condition that the target tracing information meets the preset tracing condition, thereby accurately and efficiently realizing the automatic detection of the tracing result of the tracing trolley, and avoiding the problem that the tracing result cannot be accurately judged due to the fact that task content is left or the content of the map is not understood when manual judgment occurs.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a view of a tracking scenario of a tracking cart according to an embodiment of the present disclosure;

fig. 2 is a schematic flow chart of a method for detecting a tracking result of a tracking cart according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow chart illustrating a method for detecting a tracking result of a tracking cart according to another embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a seek map provided by one embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a seek map provided by another embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a seek map provided by yet another embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a seek map provided by yet another embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a seek map provided by yet another embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a tracking result detecting device of a tracking cart according to an embodiment of the present disclosure;

fig. 10 is a schematic hardware structure diagram of a tracking cart according to an embodiment of the present disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.

The method for detecting the tracking result of the tracking trolley provided by the disclosure can be applied to the scene of fig. 1, and is specifically described in detail with reference to fig. 1.

Fig. 1 shows a scene diagram of a tracking car tracking according to an embodiment of the present disclosure. As shown in fig. 1, a tracking cart 101 may travel on a tracking map 102.

In some embodiments, the seek map 102 may include a plurality of tiles 103, and the plurality of tiles 103 may be arranged in an N × M checkerboard shape. Wherein N and M may be positive integers. For example, the seek map 102 shown in fig. 1 may include 16 color patches 103, and the 16 color patches 103 may form a 4 × 4 checkerboard shape.

In some embodiments, the tiles 103 may be rectangular tiles. In other embodiments, the color block 103 may also be a square color block, which is not limited herein.

In some embodiments, the tracking map 102 may include color patches 103 of at least two colors, one color corresponding to a color value. For example, the tracking map 102 shown in fig. 1 may include 5 color patches 103, each color in fig. 1 being represented by one fill pattern for ease of illustration.

In the embodiment of the disclosure, during the driving process of the tracking cart, the distance that the tracking cart 101 moves along the designated direction each time may be the side length of the color block 103 along the designated direction.

When the color block 103 is a rectangular color block, the distance of the tracking dolly 101 moving once along the length direction of the color block 103 may be the length of the color block 103; the distance of the tracking dolly 101 for each movement in the width direction of the patch 103 may be the width of the patch 103.

In the case that the color patch 103 is a square color patch, the length of the side of the color patch 103 may be equal to the distance that the tracking dolly 101 moves once along the length direction or the width direction of the color patch 103.

In the embodiment of the disclosure, the tracking cart 101 may move on the tracking map 102 according to a track set by a user, and during the movement of the tracking cart 101, the tracking cart 101 or an electronic device (not shown in the figure) communicating with the tracking cart 101 may automatically detect the tracking result of the tracking cart 101. The electronic device may be a mobile phone, a tablet computer, a notebook computer, a wearable device, or other devices with communication functions.

The method for automatically detecting the tracking result of the tracking trolley 101 may include:

when the fact that the tracking trolley 101 moves a preset distance is detected, for example, the tracking trolley 101 moves from any color block 103 to the adjacent color block 103, the target color value of the target color block on the traveling tracking map 102 of the tracking trolley 101 can be obtained, the target tracking information carried by the target color value can be determined based on the corresponding relation between the color value and the tracking information, whether the target tracking information meets the preset tracking condition or not can be further judged, and the tracking result of the tracking trolley 101 is determined to be successful in tracking under the condition that the target tracking information meets the preset tracking condition.

Therefore, in the embodiment of the disclosure, the automatic detection of the tracing result of the tracing trolley 101 can be accurately and efficiently realized, the tracing result does not need to be judged manually, and the problem that the tracing result cannot be accurately judged due to forgetting the task content or not understanding the content of the map when the manual judgment occurs is avoided.

According to the above scenario, the following describes a method for detecting a tracking result of a tracking cart according to an embodiment of the present disclosure with reference to fig. 2 to 8. In some embodiments, the tracking result detection method of the tracking cart may be performed by the tracking cart 101 shown in fig. 1. In other embodiments, the tracking result detection method of the tracking cart may also be performed by an electronic device in communication with the tracking cart 101 shown in fig. 1. The electronic device may be a mobile phone, a tablet computer, a notebook computer, a wearable device, or other devices with communication functions.

Fig. 2 is a schematic flow chart illustrating a method for detecting a tracking result of a tracking cart according to an embodiment of the present disclosure.

As shown in fig. 2, the method for detecting the tracking result of the tracking car may include the following steps.

S210, when the track-seeking trolley is detected to move a preset distance, acquiring a target color value of a target color block where the track-seeking trolley is located, wherein the target color block is a color block in a track-seeking map where the track-seeking trolley runs.

In the disclosed embodiment, the detecting that the tracking dolly moves the preset distance may include at least one of the following:

determining that the tracking trolley moves for a preset distance when detecting that the rotation angle acquired by a wheel encoder of the tracking trolley is equal to a preset angle;

and determining that the tracing trolley is detected to move for a preset distance under the condition of receiving the positioning line information acquired by the positioning sensor of the tracing trolley.

In some embodiments, the wheel of the tracking trolley is connected with a stepping motor, and the stepping motor is provided with a wheel encoder, so that the rotation angle of the stepping motor can be acquired through the wheel encoder in the process that the stepping motor drives the wheel to move, and the rotation angle of the stepping motor is taken as the rotation angle of the wheel. The moving distance of the wheel of the tracing trolley is fixed every time the wheel rotates for one circle, so that the moving distance of the tracing trolley can be detected through the rotating angle acquired by the wheel encoder.

In these embodiments, the angle that the wheel of the tracking car rotates when the tracking car moves the preset distance may be determined according to the moving distance of the wheel of the tracking car per rotation, and the angle is taken as the preset angle. And then in the moving process of the tracing trolley, when the wheel encoder acquires that the rotating angle of the wheels of the tracing trolley is equal to the preset angle, the fact that the tracing trolley moves for the preset distance can be determined, and then the rotating angle acquired by the wheel encoder is reset to continue the next detection.

In other embodiments, the wheels of the tracking cart may be directly connected to the wheel encoders, so that the rotation angle of the wheels may be acquired by the wheel encoders during the movement of the wheels. The moving distance of the wheel of the tracing trolley is fixed every time the wheel rotates for one circle, so that the moving distance of the tracing trolley can be detected through the rotating angle acquired by the wheel encoder.

In these embodiments, the method for determining that the tracking trolley is detected to move the preset distance is similar to the method for determining that the tracking trolley is detected to move the preset distance when the wheels of the tracking trolley are connected to the stepping motor, and the detailed description thereof is omitted here.

For example, under the condition that the color blocks are square color blocks, the moving distance of the tracing trolley can be determined by utilizing the wheel rotation condition of the tracing trolley, so that whether the tracing trolley moves a preset distance or not is automatically detected, the intelligence of the tracing trolley is improved, and the data processing amount is reduced.

In still other embodiments, each color block is further provided with a positioning line. The positioning line may be a center line of the color block, and the positioning line may also be an edge line of the color block, which is not limited herein. Under the condition that the positioning line is the center line of the color block, the center of the bottom of the vehicle body of the tracing trolley can be provided with a positioning sensor; and under the condition that the positioning line is a side line of the color block, the bottom of the head of the tracing trolley can be provided with a positioning sensor.

In one example, the location line may be a black line and the location sensor may be an infrared sensor. The infrared sensor can comprise an infrared transmitter and an infrared receiver, the infrared transmitter can transmit infrared rays to the surface of a tracing map on which the tracing trolley runs, the infrared receiver can receive infrared reflection rays fed back from the surface of the tracing map to obtain infrared reflection ray information, and whether positioning line information collected by a positioning sensor of the tracing trolley is received or not is determined according to the infrared reflection ray information. If the infrared reflection line information is that the infrared reflection line is received, determining that the positioning line information collected by the positioning sensor of the tracing trolley is not received; and if the infrared reflection line information is that the infrared reflection line is not received, determining that the positioning line information collected by the positioning sensor of the tracing trolley is received.

In another example, the location lines may be black lines and the location sensors may be photosensors. The principle of determining whether to receive the positioning line information acquired by the photoelectric sensor is similar to the principle of determining whether to receive the positioning line information acquired by the infrared sensor, and is not described herein again.

For example, under the condition that the color block is a rectangular color block, the moving distance of the tracing trolley can be determined by utilizing a positioning line arranged on the color block, and then whether the tracing trolley moves a preset distance or not can be automatically detected under the condition that the side length of the color block is changed, so that the intelligence of the tracing trolley is improved.

In still other embodiments, the rotation angle acquired by the wheel encoder of the tracking trolley and the positioning line information acquired by the positioning sensor can be used together to determine whether the tracking trolley is detected to move for the preset distance.

Specifically, when the rotation angle acquired by the wheel encoder of the tracking trolley is detected to be equal to the preset angle and the positioning line information acquired by the positioning sensor of the tracking trolley is received, the tracking trolley can be determined to move for the preset distance.

Therefore, whether the tracing trolley moves to a preset distance or not can be comprehensively judged by utilizing the wheel rotation condition of the tracing trolley and the positioning line arranged on the color block, and the accuracy of the detection result is further improved.

In some embodiments of the present disclosure, when the tracking dolly is detected to move a preset distance, the tracking dolly may be controlled to stop moving first, and then the target color value of the target color block where the tracking dolly is located is obtained.

For example, if the tracking result needs to be detected once after the tracking trolley moves the preset distance each time, the tracking trolley may be controlled to stop moving when the tracking trolley is detected to move the preset distance, then the target color value of the target color block where the tracking trolley is located is obtained, and the tracking result is determined based on the target color value.

In other embodiments of the disclosure, when the preset distance of movement of the tracing trolley is detected, the target color value of the target color block where the tracing trolley is located can be obtained while the tracing trolley is controlled to continue moving.

For example, if the seek result needs to be detected only after the seek cart completes the complete movement, when the seek cart is detected to move a preset distance, the seek cart is controlled to continue to move, and the target color value of the target color block where the seek cart is located is obtained, and after the seek cart completes the complete movement, the seek result is determined based on the target color value.

In the embodiment of the disclosure, the color sensor on the tracing trolley can be used for collecting the target color value of the target color block, and the target color value collected by the color sensor is obtained.

Alternatively, the color sensor may be a three-color sensor, e.g., an RGB color sensor; the color sensor may also be a tristimulus sensor, such as an XYZ color sensor, and is not limited herein.

And S220, inquiring target tracing information corresponding to the target color value according to the corresponding relation between the color value and the tracing information.

Specifically, the corresponding relationship between the color value and the tracing information may be preset, and then after the target color value is obtained, the target tracing information corresponding to the target color value is queried according to the preset corresponding relationship between the color value and the tracing information.

In the disclosed embodiment, the tracing information may include at least one of a character string and a chinese word.

Alternatively, the character string may include at least one of letters, numbers, operators, punctuation marks, and radicals of Chinese.

Alternatively, the chinese words may include at least one of real words and imaginary words.

And S230, determining that the tracking result of the tracking trolley is successful in tracking under the condition that the target tracking information meets the preset tracking condition.

Specifically, the preset seek condition may be a seek condition corresponding to a specific seek task, which will be described in detail later. In the moving process of the tracing trolley, the tracing result of the tracing trolley can be determined according to whether the target tracing information meets the tracing condition corresponding to the appointed tracing task, and the tracing result of the tracing trolley is determined to be successful in tracing under the condition that the target tracing information meets the preset tracing condition; and determining the tracing result of the tracing trolley as a tracing failure under the condition that the target tracing information does not meet the preset tracing condition.

In some embodiments of the present disclosure, the tracing task is designated as a preset task, and may also be a task sent to the tracing car by a user or another user (for example, the user is a student, and the other user may be a parent of the student) through voice or a mobile phone, which is not limited herein.

In some embodiments of the present disclosure, determining that the tracking result of the tracking cart is successful may further include:

and determining the tracing result of the tracing trolley as successful tracing under the condition that the historical tracing information corresponding to the historical color value acquired by the tracing trolley meets the preset tracing condition.

The historical color value can be a color value which is acquired by the tracing trolley in the moving process, and the historical tracing information is the tracing information corresponding to the historical color value inquired according to the corresponding relation between the color value and the tracing information.

Specifically, when it is determined that the target tracing information meets the preset tracing condition, it is further determined that all the historical tracing information meets the preset tracing condition, and the tracing result of the tracing trolley can be determined as the success of tracing.

Therefore, the method for determining the tracking result of the tracking trolley can be more flexible.

In the embodiment of the disclosure, when the track-seeking trolley is detected to move a preset distance, the target color value of the target color block on the track-seeking map where the track-seeking trolley is running is obtained, and the target track-seeking information carried by the target color value can be determined based on the corresponding relation between the color value and the track-seeking information, so that whether the target track-seeking information meets the preset track-seeking condition or not can be judged, and under the condition that the target track-seeking information meets the preset track-seeking condition, the track-seeking result of the track-seeking trolley is determined to be successful in tracking.

In some embodiments of the present disclosure, after determining the tracking result of the tracking cart, the tracking result may be output in the form of sound, light, or the like to prompt the user.

Under the condition of outputting the tracing result in a sound form, a loudspeaker on the tracing trolley can be controlled to output a prompt audio corresponding to the tracing result; under the condition of outputting the tracing result in a light form, the light array on the tracing trolley can be controlled to display according to the light display mode corresponding to the tracing result.

Therefore, the user can know the tracing result of the tracing trolley more intuitively, and the use experience of the user is improved.

In some embodiments of the disclosure, a user may design a moving track of the tracing trolley according to a specified tracing task, so that in a process that the tracing trolley moves according to the moving track designed by the user, a tracing result of the tracing trolley may be determined according to whether target tracing information satisfies a tracing condition, and in a case that the target tracing information satisfies a preset tracing condition, the tracing result of the tracing trolley is determined to be successful in tracing.

In some embodiments, a user may continuously perform a selection operation on a plurality of direction keys on a key array of the tracking cart according to a specified tracking task, so that the tracking cart receives moving directions corresponding to the plurality of direction keys, and obtains a moving direction sequence including a plurality of moving directions.

The selection operation may be a key operation, a touch operation, a click operation, and the like of the direction key on the key array by the user.

In other embodiments, the user may continuously send a plurality of direction instructions to the tracking car through voice or a mobile phone, so that the tracking car receives the moving directions corresponding to the plurality of direction instructions, and obtains a moving direction sequence including a plurality of moving directions.

In these embodiments, after receiving the user-input sequence of movement directions, the tracking dolly may move according to each movement direction in the sequence of movement directions.

In one example, the method for detecting the tracking result of the tracking cart may further include:

acquiring a moving direction to be executed, wherein the moving direction to be executed is a first non-executing moving direction in a moving direction sequence, and the moving direction sequence comprises a plurality of moving directions continuously input by a user;

under the condition that the movement direction to be executed is the first movement direction in the movement direction sequence, controlling the tracing trolley to move according to the movement direction to be executed;

under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is the same as the last executed movement direction in the movement direction sequence, controlling the tracing trolley to move according to the movement direction to be executed;

and controlling the tracking trolley to steer according to the movement direction to be executed under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is different from the last movement direction to be executed.

The tracking trolley can be taken as an executed moving direction according to the moving direction of the tracking trolley, and the tracking trolley can be taken as an unexecuted moving direction according to the moving direction of the tracking trolley. Specifically, a first unexecuted moving direction in the moving direction sequence may be obtained as a moving direction to be executed, and then it is determined whether the moving direction to be executed is a first moving direction in the moving direction sequence, if so, the tracking dolly may be controlled to move by a preset distance in accordance with the moving direction to be executed, if not, it may be determined whether the moving direction to be executed is the same as a last executed moving direction in the moving direction sequence, that is, whether the moving direction to be executed is the same as a moving direction adjacent to the moving direction in front thereof in the moving direction sequence, for example, the moving direction to be executed is a second moving direction in the moving direction sequence, it may be determined whether the moving direction to be executed is the same as a first moving direction in the moving direction sequence, if so, the tracking dolly may be controlled to move by the preset distance in accordance with the moving direction to be executed, if not, the tracking trolley can be controlled to turn to the movement direction to be executed.

In this example, the tracking vehicle may optionally be recorded as moving once per a preset distance of movement or per a turn. For example, if the tracking car can move ten times in one given task, with three turns being made, the tracking car can only move seven preset distances and acquire the color values of seven color patches.

In another example, the method for detecting the tracking result of the tracking cart may further include:

and under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is different from the last movement direction to be executed, controlling the tracing trolley to turn according to the movement direction to be executed, and controlling the tracing trolley to move according to the movement direction to be executed after turning.

The moving method of the tracking car in this example is similar to that in the previous example, and the difference is that the tracking car may be controlled to turn according to the movement direction to be executed first, and then the tracking car is controlled to move according to the movement direction to be executed after the tracking car turns to the direction, under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is not the same as the last movement direction to be executed, which is not described herein again.

Therefore, the user can design different tracing tracks corresponding to the designated tracing tasks for the tracing trolley by inputting the moving direction into the tracing trolley, and further realize the interaction with the tracing trolley.

Fig. 3 is a schematic flow chart illustrating a method for detecting a tracking result of a tracking cart according to another embodiment of the present disclosure.

As shown in fig. 3, the method for detecting the tracking result of the tracking car may include the following steps.

S310, when the track-seeking trolley is detected to move for the preset distance, acquiring a target color value of a target color block where the track-seeking trolley is located, wherein the target color block is a color block in a track-seeking map where the track-seeking trolley runs.

S310 is similar to S210 in the embodiment shown in fig. 2, and is not described herein again.

And S320, determining a target tracking mode of the tracking trolley.

The target tracking mode may be a tracking mode set by a user.

Specifically, the tracking trolley can be preset with a plurality of tracking modes, and a user can select among the plurality of tracking modes to enable the tracking trolley to be in the selected target tracking mode.

S330, acquiring the corresponding relation between the color value and the tracking information in the target tracking mode.

Specifically, the corresponding relationship between the color value and the tracking information corresponding to each tracking mode may be stored in advance, and after the target tracking mode where the tracking car is located is determined, the corresponding relationship between the color value and the tracking information corresponding to the target tracking mode is queried, so as to determine the target tracking information represented by the target color block in the target tracking mode based on the target color value.

And S340, inquiring target tracing information corresponding to the target color value according to the corresponding relation between the color value and the tracing information.

And S350, determining that the tracking result of the tracking trolley is successful in tracking under the condition that the target tracking information meets the preset tracking condition.

S340-S350 are similar to S220-S230 in the embodiment shown in fig. 2, and are not described herein again.

It should be noted that, in the embodiment of the present disclosure, the tracking condition corresponding to each tracking mode may be stored in advance, and then the preset tracking condition corresponding to the target tracking mode is queried in the plurality of tracking conditions, so as to determine the tracking result of the tracking cart in the target tracking mode.

Therefore, in the embodiment of the disclosure, different tracing modes can be designed for the tracing trolley, so that the tracing trolley can execute different tracing tasks, the use flexibility of the tracing trolley is improved, and the use experience of a user is further improved.

In some embodiments of the present disclosure, to improve the versatility of the tracking map, each color block in the tracking map on which the tracking cart travels may be printed with only colors, so that the tracking map may be applied to various tracking modes.

In other embodiments of the present disclosure, in order to further improve the user experience, each tracing mode may be configured with a tracing map, and each color block in each tracing map may be printed with a color and tracing information represented by the color block in the corresponding tracing mode.

In the following, the seek mode according to the embodiment of the present disclosure will be exemplarily described according to a specific example.

In some embodiments of the present disclosure, the tracing information may include at least one of a character string and a chinese word, and the character string may include at least one of a letter, a number, an operator, a punctuation mark, and a chinese radical.

In one example, the target seek mode may include a logical operation mode, and the seek condition may include that the seek information satisfies the target logical operation condition. And the target logical operation condition is a logical operation condition corresponding to the specified task.

Specifically, the logical operation condition may include an and condition, or at least one of a condition and an unconditional condition.

Taking the example that the tracing information includes the Chinese words "red", "yellow" and "purple", the task content may be that the tracing car passes through a red or yellow color block or that the tracing car passes through a non-purple color block, and the logical operation condition may include non-purple.

At this time, the tracing map may include a plurality of color patches, each of which is printed with one color.

FIG. 4 is a diagram illustrating a seek map provided by one embodiment of the present disclosure. As shown in fig. 4, the tracing map 401 may include 16 color blocks, and specifically may include 3 red color blocks 402, 3 yellow color blocks 403, 3 purple color blocks 404, and 7 white color blocks 405, where each color block corresponds to a color value. The color value corresponding to the red color block 402 corresponds to the Chinese word "red", the color value corresponding to the yellow color block 403 corresponds to the Chinese word "yellow", the color value corresponding to the purple color block 404 corresponds to the Chinese word "purple", and the color value corresponding to the white color block 405 corresponds to a null value.

The tracking dolly may issue a task to the user, for example, "let the tracking dolly pass through a red or yellow patch", and at this time, the logical operation condition may be non-purple. The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing searching trolley, after moving a preset distance, namely moving from one color block to an adjacent color block, the color value of the color block can be obtained, then whether the Chinese words corresponding to the color value are not purple is judged, if not, the tracing searching result can be determined to be the tracing failure, if yes, the Chinese words or the judgment result corresponding to the Chinese words are recorded, then the tracing searching trolley is controlled to continuously move until after the tracing searching trolley finishes moving, the Chinese words corresponding to the passed color block are determined not to be purple according to the recorded Chinese words or the judgment result, and then the tracing result can be determined to be the tracing success.

Optionally, the task may further specify a total number of movements of the tracking cart, so that the user designs the tracking track of the tracking cart according to the specified total number of movements.

In another example, the target tracking mode may include a tracking track mode, and the tracking condition may include that tracking information is present in the sequence of target tracking information. The target tracing information sequence is a tracing information sequence corresponding to the specified task.

Alternatively, the tracking information sequence may include a plurality of tracking information.

Taking the tracing information including the Chinese words "red", "yellow" and "purple" as an example, the task content may be that the tracing car passes through the red and yellow color blocks, and the tracing information sequence may include red and yellow.

With continued reference to fig. 4, the tracking dolly may issue a task to the user, for example, "let the tracking dolly pass through red and yellow color patches", at which point the tracking information sequence may include red and yellow. The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing searching trolley, after the tracing searching trolley moves to an adjacent color block from one color block every preset distance, the color value of the color block can be obtained, whether the Chinese words corresponding to the color value are any one of red and yellow is judged, if not, the tracing searching result can be determined to be the tracing failure, if yes, the Chinese words or the judgment result corresponding to the Chinese words are recorded, then the tracing searching trolley is controlled to continue to move, and after the tracing searching trolley finishes moving, the Chinese words corresponding to the passing color block are determined to be any one of red and yellow according to the recorded Chinese words or the judgment result, and the tracing result can be determined to be the tracing success.

In yet another example, the target tracking mode can include a tracking track mode, the tracking condition can include that tracking information is present in the sequence of target tracking information, and the tracking condition can further include that a position of the tracking information in the acquired tracking information is the same as a sequence position in the sequence of target tracking information.

Alternatively, the tracking information sequence may include a plurality of tracking information arranged in a specified order.

Taking the tracing information including the Chinese words "airport", "gas station" and "shop" as an example, the task content may be that the tracing car passes through color blocks indicating the airport, gas station and shop in sequence, and the tracing information sequence may include the airport, gas station and shop in sequence.

At this time, the tracing map may include a plurality of color patches, each of which has one color and tracing information indicated by the color patch printed therein.

FIG. 5 is a schematic diagram of a seek map provided by another embodiment of the present disclosure. As shown in fig. 5, the tracing map 501 may include 16 color blocks, and specifically may include 3 red color blocks 502, 3 yellow color blocks 503, 3 purple color blocks 504, and 7 white color blocks 505, where each color block corresponds to a color value. The color value corresponding to the red color block 502 corresponds to the Chinese word "shop" and a shop icon is printed in the red color block 502, the color value corresponding to the yellow color block 503 corresponds to the Chinese word "gas station" and a gas station icon is printed in the yellow color block 503, the color value corresponding to the purple color block 504 corresponds to the Chinese word "airport" and an airport icon is printed in the purple color block 504, and the color value corresponding to the white color block 505 corresponds to the Chinese word "open space".

The tracking vehicles may post tasks to the user, such as "letting the tracking vehicles pass through the airport, gas station, and store in sequence", in which case the tracking information sequence may include the airport, gas station, and store in sequence. The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing trolley, after moving a preset distance, namely moving from one color block to an adjacent color block, the color value of the color block can be obtained, then judging whether the Chinese words corresponding to the color value are any Chinese words in the tracing information sequence, if not, the tracing result can be determined as the tracing failure, if so, the Chinese word is recorded, then controlling the tracing trolley to move continuously until the tracing trolley finishes moving, determining whether the position of each Chinese word in the recorded Chinese words is the same as the sequence position in the tracing information sequence according to the recorded Chinese words, i.e. determining whether the recorded arrangement order of the chinese words is the arrangement order of the seek information sequence, if so, the seek result may be determined to be a seek success, and if not, the seek result may be determined to be a seek failure.

In yet another example, the target seek mode may include a pairing mode, and the seek condition may include the presence of seek information in the seek information to be matched. The tracing information to be matched is tracing information recorded in the moving process of the tracing trolley. When the target tracing information does not exist in the tracing information to be matched, recording the target tracing information as the tracing information to be matched; when the target seek information exists in the seek information to be matched, which may be the same as the target seek information, is deleted, and the number of matched seek information is added by 1.

In this example, optionally, in a case that the target tracking information satisfies the preset tracking condition, determining that the tracking result of the tracking cart is successful may specifically include:

setting the residual moving times of the tracing trolley as the preset times under the condition that the number of the matched tracing information is less than the preset number;

and determining the tracing result as successful tracing under the condition that the number of the matched tracing information is equal to the preset number.

Specifically, when the target tracing information exists in the tracing information to be matched, adding 1 to the number of matched tracing information, then judging whether the number of matched tracing information is equal to a preset number, if the number of matched tracing information is less than the preset number, determining that a tracing task is not finished, and setting the remaining moving times of the tracing trolley as preset times, wherein the preset times can be set as required; if the number of matched tracking information is equal to the preset number, the tracking result can be determined to be successful. Wherein the preset number can be set according to the requirement.

In this example, optionally, after querying the target tracing information corresponding to the target color value according to the corresponding relationship between the color value and the tracing information, the tracing result detecting method of the tracing dolly may further include:

under the condition that the target tracing information does not meet the tracing condition and the residual moving times are not zero, taking the target tracing information as new tracing information to be matched, and updating the residual moving times;

and determining that the tracking result is tracking failure under the condition that the target tracking information does not meet the tracking condition and the residual moving times are zero.

Specifically, when the target tracing information does not exist in the tracing information to be matched, whether the remaining moving times is zero or not can be judged, if not, the target tracing information can be recorded into new tracing information to be matched, and the remaining moving times is reduced by 1; if zero, the seek result may be determined to be a seek failure.

Taking the tracing information including the Chinese words "love", "medal" and "crown" as an example, the task content may be the pairing completed for a specified number of times. The designated times can be preset or can be set according to needs.

FIG. 6 shows a schematic diagram of a seek map provided by yet another embodiment of the present disclosure. As shown in fig. 6, the tracing map 601 may include 16 color blocks, and specifically may include 3 red color blocks 602, 3 yellow color blocks 603, 3 purple color blocks 604, and 7 white color blocks 605, where each color block corresponds to a color value. The color value corresponding to the red color block 602 corresponds to the Chinese word "crown" and the red color block 602 is printed with a crown icon, the color value corresponding to the yellow color block 603 corresponds to the Chinese word "medal" and the yellow color block 603 is printed with a medal icon, the color value corresponding to the purple color block 604 corresponds to the Chinese word "love heart" and the purple color block 604 is printed with a love heart icon, and the color value corresponding to the white color block 605 corresponds to a null value.

The tracking cart may issue a task to the user, for example, "let the tracking cart complete 6 pairings within 20 moves". The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing trolley, the initial remaining moving times of the tracing trolley can be 6, after the tracing trolley moves to an adjacent color block from one color block every preset distance, the color value of the color block can be obtained, whether the Chinese words corresponding to the color value exist in the Chinese words to be matched or not is judged, if yes, the number of the matched Chinese words is increased by 1, whether the number of the matched Chinese words is equal to 6 or not is judged, if yes, the tracing result can be determined to be successful in tracing, if not, the remaining moving times are reset to the initial remaining moving times, and then the tracing trolley is enabled to continue to move; if not, judging whether the residual moving times under the total moving times is 0, if so, determining that the track searching result is track searching failure, if not, recording the Chinese word as an unmatched Chinese word, then subtracting 1 from the residual moving times, and enabling the track searching trolley to continue to move.

In yet another example, the target seek mode may include a combination mode, and the seek condition may include that a combination result obtained based on the combination of the seek information is the target word. The target word may be a word in a built-in word bank, and the word may be a chinese word, an english word, or a word of another language, which is not limited herein.

Specifically, the target tracing information and at least one piece of tracing information to be matched, which is recorded before the target tracing information, can be combined according to an acquisition sequence, then whether the combined word is a word in a built-in word stock is judged, if so, the combined result can be determined to be the target word, and the tracing result is determined to be successful in tracing; if not, the combination result is determined not to be the target word, the target tracing information is recorded as new tracing information to be matched, if the remaining moving times is 0, the tracing result is determined to be tracing failure, if the remaining moving times is not 0, the remaining moving times is reduced by 1, and then the tracing trolley is continuously moved.

Optionally, after the combination result is determined to be the target word, the number of words of the combined target word may be increased by 1, then whether the number of words is equal to the preset number of words is judged, if so, the tracing result is determined to be successful in tracing, if not, the tracing information to be matched, which is combined with the target tracing information into a word, is deleted, the remaining number of movements is reduced by 1, and then the tracing trolley is continuously moved.

Taking the tracing information including the English letters "e", "g", and "y" as an example, the task content may be that the tracing car is allowed to combine 3 English words.

FIG. 7 illustrates a schematic diagram of a seek map provided by yet another embodiment of the present disclosure. As shown in fig. 7, the tracing map 701 may include 16 color blocks, and specifically may include 3 red color blocks 702, 3 yellow color blocks 703, 3 purple color blocks 704, and 7 white color blocks 705, where each color block corresponds to a color value. The color value corresponding to the red color block 702 corresponds to the English letter "y" and the English letter "y" is printed in the red color block 702, the color value corresponding to the yellow color block 703 corresponds to the English letter "g" and the English letter "g" is printed in the yellow color block 703, the color value corresponding to the purple color block 704 corresponds to the English letter "e" and the English letter "e" is printed in the purple color block 704, and the color value corresponding to the white color block 705 corresponds to the null value.

The tracking cart may issue a task to the user, for example, "let the tracking cart group 3 english words". The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing trolley, the total moving times of the tracing trolley can be 10, after each preset distance is moved, namely the tracing trolley moves from one color block to an adjacent color block, the color value of the color block can be obtained, then judging whether the English letters corresponding to the color value and at least one English letter to be matched recorded before the color value can be combined into a word in a built-in word bank according to the acquisition sequence, if so, adding 1 to the number of words of the combined words, judging whether the number of words is equal to 3, if so, determining that the tracing result is successful in tracing, if not, judging whether the residual moving times is 0, if not, subtracting 1 from the residual moving times, then deleting the English letters to be matched which are combined with the English letters to form words, and enabling the tracing trolley to continue moving, wherein if the number of the English letters is 0, the tracing result can be determined as the tracing failure; if not, judging whether the residual moving times is 0, if not, subtracting 1 from the residual moving times, recording the English letters as new English letters to be matched, then enabling the tracing trolley to continue to move, and if the residual moving times is 0, determining that the tracing result is the tracing failure.

In still other embodiments of the present disclosure, the target seek mode may include a mathematical computation mode, the seek information may include a character string, the character string may include at least one of a number and an operator, and the seek condition may include a result of computation based on the seek information being a target value. And the target value is a value corresponding to the specified task.

Specifically, an initial value, for example, 0, may be set, and then the target tracking information is calculated with a value calculated after moving a preset distance each time before the target tracking information, so as to obtain a calculation result.

Optionally, the task may further specify the total number of times of movement of the tracking car, so that the user designs the tracking track of the tracking car according to the specified total number of times of movement, that is, determines whether the calculation result of the tracking car after completing all movement is the target value.

Alternatively, the task may also specify a tracking start point and a tracking end point of the tracking car, that is, it is determined whether a calculation result after the tracking car moves from the tracking start point to the tracking end point is a target value, which is not limited herein.

Taking the tracing information including the character strings "+ 1", "× 2", and "3" as an example, the task content may be that the tracing car moves 10 times from the starting point to the end point to obtain a value of 8, the total number of movements may be 10, and the target value may be 8.

FIG. 8 illustrates a schematic diagram of a seek map provided by yet another embodiment of the present disclosure. As shown in fig. 8, the tracing map 801 may include 16 color blocks, and specifically may include 3 red color blocks 802, 3 yellow color blocks 803, 3 purple color blocks 804, 5 white color blocks 805, 1

blue color block

806, and 1 green color block 807, where each color block corresponds to a color value. A color value corresponding to the red color block 802 corresponds to a character string "3" and a character string "3" is printed in the red color block 802, a color value corresponding to the yellow color block 803 corresponds to a character string "x 2" and a character string "x 2" is printed in the yellow color block 803, a color value corresponding to the purple color block 804 corresponds to a character string "+ 1" and a character string "+ 1" is printed in the purple color block 804, a color value corresponding to the white color block 805 corresponds to a null value, a "start point" is printed in the blue color block 806 to indicate the position as a tracing start point to a user, and a "end point" is printed in the green color block 807 to indicate the position as a tracing end point to the user.

The tracking dolly may issue a task to the user, for example, "let the tracking dolly move 10 times from the starting point to the end point to get the value 8". The user can design the tracing track for the tracing trolley, so that the tracing trolley moves according to the tracing track designed by the user. In the moving process of the tracing trolley, the total moving times of the tracing trolley can be 10, the initial numerical value can be 0, after each preset distance is moved, namely after one color block is moved to an adjacent color block, the color value of the color block can be obtained, then the character string corresponding to the color value and the numerical value obtained after the character string moves the preset distance each time before the character string are judged to be calculated until the residual moving times are 0, the final calculation result is obtained, whether the final calculation result is 8 or not is judged, if yes, the tracing result can be determined to be the tracing success, and if not, the tracing result can be determined to be the tracing failure.

Therefore, in the embodiment of the disclosure, the tracing trolley can have different programming training scenes through different tracing modes of the tracing trolley, so that the programming learning interest of students can be improved, and concepts such as sequential execution, digital operation, logic judgment and the like can be easily understood.

In summary, in the embodiment of the disclosure, in the moving process of the tracing car, instead of simply helping the students identify the moving scene in the tracing map, the students can perform programming logic learning according to the moving scene in the tracing map, so that the tracing car can be applied to programming teaching, and after the students design the tracing track for the tracing car, in the moving process of the tracing car, the tracing result of the tracing car is automatically detected according to the color block in the tracing map, so as to automatically help the students and parents of the students to judge the tracing result of the tracing car, so that the students and parents of the students provide use experience which is easier to understand and use, and guide the students to deepen understanding, application and grasp of programming knowledge in the task execution process of similar playing, thereby better achieving the purpose of learning.

Fig. 9 is a schematic structural diagram illustrating a tracking result detecting apparatus of a tracking cart according to an embodiment of the present disclosure.

In some embodiments of the present disclosure, the apparatus shown in fig. 9 may be disposed within the tracking cart 101 shown in fig. 1. In other embodiments of the present disclosure, the apparatus shown in FIG. 9 may also be disposed within an electronic device that is in communication with the tracking cart 101 shown in FIG. 1. The electronic device may be a mobile phone, a tablet computer, a notebook computer, a wearable device, or other devices with communication functions.

As shown in fig. 9, the apparatus 900 for detecting a tracking result of a tracking cart may include a color value obtaining module 910, an information querying module 920, and a first determining module 930.

The color value obtaining module 910 may be configured to, when it is detected that the tracking bogie moves a preset distance, obtain a target color value of a target color block of the tracking bogie, where the target color block is a color block in a tracking map on which the tracking bogie is running.

The information query module 920 may be configured to query the target tracing information corresponding to the target color value according to the corresponding relationship between the color value and the tracing information.

The first determining module 930 may be configured to determine that the tracking result of the tracking cart is successful in tracking if the target tracking information satisfies the preset tracking condition.

In some embodiments of the present disclosure, the tracking result detecting apparatus 900 of the tracking cart may further include at least one of a second determining module and a third determining module.

The second determination module may be configured to determine that the tracking trolley is detected to move the preset distance when it is detected that the rotation angle acquired by the wheel encoder of the tracking trolley is equal to the preset angle.

The third determining module may be configured to determine that the tracking trolley is detected to move by the preset distance when the positioning line information acquired by the positioning sensor of the tracking trolley is received.

In some embodiments of the present disclosure, the apparatus 900 for detecting a tracking result of a tracking cart may further include a fourth determining module and a relationship obtaining module.

The fourth determination module can be configured to determine a target tracking mode in which the tracking vehicle is located.

The relation obtaining module can be used for obtaining the corresponding relation between the color value and the tracing information in the target tracing mode.

In some embodiments of the present disclosure, the tracing information may include at least one of a character string and a chinese word; wherein the character string may include at least one of letters, numbers, operator symbols, punctuation marks, and radicals of Chinese.

In some embodiments, the target seek mode may include a logical operation mode; wherein, the tracing condition may include that the tracing information satisfies the target logical operation condition.

In other embodiments, the target tracking mode may include a tracking track mode; wherein the tracking condition may include that tracking information is present in the target tracking information sequence.

In these embodiments, the tracking condition may further optionally include that the position of the tracking information in the acquired tracking information is the same as the sequence position in the target tracking information sequence.

In still other embodiments, the target seek mode may include a pairing mode; wherein the tracking condition may include that tracking information exists in the tracking information to be matched.

In these embodiments, the first determination module 930 may optionally include a first processing unit and a second processing unit.

The first processing unit may be configured to set the remaining number of movements of the tracking dolly to a preset number of times, in a case where the number of matched tracking information is less than the preset number.

The second processing unit may be configured to determine that the tracking result is a tracking success if the number of matched tracking information is equal to a preset number.

In these embodiments, the tracking result detecting device 900 of the tracking car may further include a fifth determining module, a number updating module, and a sixth determining module.

The fifth determining module may be configured to use the target tracing information as new tracing information to be matched, when the target tracing information does not satisfy the tracing condition and the remaining moving number is not zero;

the frequency updating module can be used for updating the residual moving frequency under the condition that the target tracing information does not meet the tracing condition and the residual moving frequency is not zero;

the sixth determining module may be configured to determine that the tracking result is a tracking failure if the target tracking information does not satisfy the tracking condition and the remaining number of moves is zero.

In still other embodiments, the target tracking mode may comprise a combined mode; the tracing condition may include that a combination result obtained based on the tracing information combination is a target word.

In other embodiments of the present disclosure, the target seek mode may include a mathematical computation mode, the seek information may include a string of characters, and the string of characters may include at least one of a number and an operator symbol; the tracking condition may include that a calculation result calculated based on the tracking information is a target value.

In some embodiments of the present disclosure, the apparatus 900 for detecting a tracking result of a tracking cart may further include a direction acquiring module, a first control module, a second control module, and a third control module.

The direction acquiring module may be configured to acquire a movement direction to be executed, where the movement direction to be executed is a first non-execution movement direction in a movement direction sequence, and the movement direction sequence includes a plurality of movement directions that are continuously input by a user.

The first control module can be used for controlling the tracing trolley to move according to the movement direction to be executed under the condition that the movement direction to be executed is the first movement direction in the movement direction sequence.

The second control module may be configured to control the tracking dolly to move in the movement direction to be performed when the movement direction to be performed is not the first movement direction and the movement direction to be performed is the same as the last movement direction performed in the sequence of movement directions.

The third control module can be used for controlling the tracking trolley to steer according to the movement direction to be executed under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is different from the last movement direction to be executed.

It should be noted that the tracking result detecting device 900 of the tracking cart shown in fig. 9 may perform each step in the method embodiments shown in fig. 2 and fig. 3, and implement each process and effect in the method embodiments shown in fig. 2 and fig. 3, which are not described herein again.

Fig. 10 is a schematic diagram illustrating a hardware structure of a tracking cart according to an embodiment of the present disclosure.

As shown in fig. 10, the tracking cart may include a processor 1001 and a memory 1002 having computer program instructions stored therein.

Specifically, the processor 1001 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.

Memory 1002 may include a mass storage for information or instructions. By way of example, and not limitation, memory 1002 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, magnetic tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 1002 may include removable or non-removable (or fixed) media, where appropriate. Memory 1002 may be internal or external to the integrated gateway device, where appropriate. In a particular embodiment, the memory 1002 is non-volatile solid-state memory. In a particular embodiment, the Memory 1002 includes Read-Only Memory (ROM). The ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (Electrically Erasable PROM, EPROM), Electrically Erasable PROM (Electrically Erasable PROM, EEPROM), Electrically Alterable ROM (Electrically Alterable ROM, EAROM), or flash memory, or a combination of two or more of these, where appropriate.

The processor 1001 reads and executes the computer program instructions stored in the memory 1002 to execute the steps of the tracking result detection method of the tracking cart provided by the embodiment of the disclosure.

In one example, the tracking cart may also include a transceiver 1003 and a bus 1004. As shown in fig. 10, the processor 1001, the memory 1002, and the transceiver 1003 are connected via a bus 1004 to complete communication with each other.

The bus 1004 includes hardware, software, or both. By way of example, and not limitation, a BUS may include an Accelerated Graphics Port (AGP) or other Graphics BUS, an Enhanced Industry Standard Architecture (EISA) BUS, a Front-Side BUS (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) BUS, an InfiniBand interconnect, a Low Pin Count (LPC) BUS, a memory Bus, a Micro Channel Architecture (MCA) Bus, a Peripheral Component Interconnect (PCI) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a Video Electronics Standards Association Local Bus (VLB) Bus, or other suitable Bus, or a combination of two or more of these. Bus 1004 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.

The disclosed embodiment also provides a storage medium comprising instructions, such as a memory 1002 comprising instructions, which can be executed by a processor 1001 of a tracking cart to perform the tracking result detection method of the tracking cart provided by the disclosed embodiment. Alternatively, the storage medium may be a non-transitory computer readable storage medium, for example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a Compact disc read only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting a tracing result of a tracing trolley comprises the following steps:

and determining that the tracing result of the tracing trolley is successful in tracing under the condition that the target tracing information meets the preset tracing condition.

2. The method of claim 1, wherein the detecting that the tracking cart is moving a preset distance comprises at least one of:

3. The method according to claim 1, wherein before querying the target tracing information corresponding to the target color value according to the corresponding relationship between the color value and the tracing information, the method further comprises:

determining a target tracing mode of the tracing trolley;

and acquiring the corresponding relation between the color value and the tracking information in the target tracking mode.

4. The method of claim 3, wherein the seek information comprises at least one of a string of characters and a Chinese word;

wherein the character string comprises at least one of letters, numbers, operation symbols, punctuation marks and Chinese radicals.

5. The method of claim 4, wherein the target seek mode comprises a logical operation mode;

wherein the tracing condition comprises that the tracing information meets the target logical operation condition.

6. The method of claim 4, wherein the target tracking mode comprises a tracking track mode;

wherein the tracking condition comprises that tracking information exists in a target tracking information sequence.

7. The method of claim 6, wherein the tracking condition further comprises a position of tracking information in the acquired tracking information being the same as a sequence position in the target tracking information sequence.

8. The method of claim 4, wherein the target tracking mode comprises a pairing mode;

wherein the tracing condition comprises that tracing information exists in the tracing information to be matched.

9. The method of claim 8, the determining that the tracking result of the tracking vehicle is a tracking success, comprising:

setting the residual moving times of the tracing trolley as preset times under the condition that the number of the matched tracing information is less than the preset number;

and determining that the tracing result is tracing success if the number of the matched tracing information is equal to the preset number.

10. The method of claim 8, wherein after querying the target tracing information corresponding to the target color value according to the corresponding relationship between the color value and the tracing information, the method further comprises:

under the condition that the target tracing information does not meet the tracing condition and the residual moving times are not zero, taking the target tracing information as new tracing information to be matched and updating the residual moving times;

and determining that the tracking result is tracking failure if the target tracking information does not meet the tracking condition and the residual moving times are zero.

11. The method of claim 4, wherein the target tracking pattern comprises a combination pattern;

and the tracing condition comprises that a combination result obtained based on the tracing information combination is a target word.

12. The method of claim 3, wherein the target seek mode comprises a mathematical computation mode, the seek information comprises a string of characters, the string of characters comprising at least one of a number and an operator;

wherein the tracing condition comprises that a calculation result calculated based on the tracing information is a target numerical value.

13. The method of claim 1, wherein the method further comprises:

acquiring a moving direction to be executed, wherein the moving direction to be executed is a first non-executed moving direction in a moving direction sequence, and the moving direction sequence comprises a plurality of moving directions continuously input by a user;

under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is the same as the last executed movement direction in the movement direction sequence, controlling the tracking trolley to move according to the movement direction to be executed;

and controlling the tracking trolley to steer according to the movement direction to be executed under the condition that the movement direction to be executed is not the first movement direction and the movement direction to be executed is not the same as the last movement direction to be executed.

14. A seek to trace result detection device of dolly includes:

and the first determining module is used for determining that the tracking result of the tracking trolley is successful in tracking under the condition that the target tracking information meets the preset tracking condition.

15. A tracking cart, comprising:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the tracking result detection method of the tracking trolley according to any one of claims 1 to 13.

16. A storage medium having instructions that, when executed by a processor of a tracking cart, enable the tracking cart to perform a tracking result detection method of the tracking cart of any one of claims 1 to 13.