CN116755450B

CN116755450B - Control method and device of line patrol trolley, electronic equipment and storage medium

Info

Publication number: CN116755450B
Application number: CN202310911834.7A
Authority: CN
Inventors: 高发煜; 王铭明; 贾强强; 陈向东
Original assignee: Beijing Siming Qichuang Technology Co ltd
Current assignee: Beijing Siming Qichuang Technology Co ltd
Priority date: 2023-07-24
Filing date: 2023-07-24
Publication date: 2024-04-09
Anticipated expiration: 2043-07-24
Also published as: CN116755450A

Abstract

The invention discloses a control method and device of a line inspection trolley, electronic equipment and a storage medium. The method is applied to a main controller of the line inspection trolley, the line inspection trolley further comprises at least two gray scale sensors, and the method comprises the following steps: when the line inspection trolley travels along a preset gray scale path line, acquiring the gray scale value of the gray scale path line, which is detected by the gray scale sensor and is positioned right below the gray scale sensor, in real time; determining the relative position of the line inspection trolley and the gray scale track line according to the obtained gray scale value; controlling the line patrol trolley according to the relative position; wherein the gray scale track line is composed of gray scale stripes with different gray scale values, and the gray scale value of the gray scale track line decreases from the center to the two sides. According to the scheme, the gray scale track line is used for replacing the existing pure black track line, and on the basis, the line inspection trolley can be ensured to have a smooth line inspection effect by combining a small number of gray scale sensors.

Description

Control method and device of line patrol trolley, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of artificial intelligence, in particular to a control method and device of a line inspection trolley, electronic equipment and a storage medium.

Background

The line patrol trolley refers to intelligent equipment capable of automatically travelling along a preset track line. Normally, a left sensor and a right sensor are arranged on the line inspection trolley, and when the line inspection trolley runs on a preset black track line, the left sensor senses the black track line, the line inspection trolley is controlled to steer to the right; when the right sensor senses a black track line, the line inspection trolley is controlled to turn left, so that the line inspection function is realized. However, this control method has certain disadvantages: the movement direction of the line inspection trolley is adjusted to be too rough, and the line inspection trolley can swing to a large extent.

Disclosure of Invention

The invention provides a control method and device of a line inspection trolley, electronic equipment and a storage medium.

According to an aspect of the present invention, there is provided a control method of a line inspection trolley, applied to a main controller of the line inspection trolley, the line inspection trolley further including at least two gray scale sensors, the method including:

when the line inspection trolley travels along a preset gray scale path line, acquiring the gray scale value of the gray scale path line, which is detected by the gray scale sensor and is positioned right below the gray scale sensor, in real time;

Determining the relative position of the line inspection trolley and the gray scale track line according to the obtained gray scale value;

and controlling the line patrol trolley according to the relative position.

According to another aspect of the present invention, there is provided a control device of a line inspection trolley, configured in a main controller of the line inspection trolley, the line inspection trolley further including at least two gray scale sensors, the device including:

the sensing data acquisition module is used for acquiring the gray value of the gray scale track line which is detected by the gray scale sensor and is positioned under the gray scale sensor in real time when the line patrol trolley runs along the preset gray scale track line;

the relative position determining module is used for determining the relative position of the line patrol trolley and the gray level track line according to the acquired gray level value;

and the control module is used for controlling the line patrol trolley according to the relative position.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the control method of the line patrol trolley according to the embodiment of the invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a control method for a line patrol dolly according to an embodiment of the present invention.

According to the technical scheme provided by the embodiment of the invention, the gray scale track line is used for replacing the existing pure black track line, and on the basis, the line inspection trolley can be ensured to have a smooth line inspection effect by combining a small number of gray scale sensors.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1a is a schematic diagram of a hardware structure of a line inspection trolley according to an embodiment of the present invention;

FIG. 1b is a schematic illustration of a gray scale trajectory provided in accordance with an embodiment of the present invention;

FIG. 1c is a schematic diagram of a line inspection trolley traveling along a gray scale trajectory provided in accordance with an embodiment of the present invention;

fig. 1d is a schematic flow chart of a control method of a line inspection trolley according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a control method of a line inspection trolley according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a control method of a line inspection trolley according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control device of a line inspection trolley according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device for implementing a control method of a line inspection trolley according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

In order to facilitate understanding of the present invention, first, a hardware configuration and a gradation trace line of the inspection carriage according to the present invention will be described.

Referring to fig. 1a, a schematic diagram of the hardware architecture of the line inspection trolley is shown. The line inspection trolley comprises a frame, a main controller, a line inspection circuit board (provided with at least two gray level sensors), left wheels, left motors, right wheels, right motors and universal balls/wheels. The frame is a body frame of the line inspection trolley and is used for bearing other component parts of the line inspection trolley; the main controller comprises a logic processor and a power supply, and can control logic processing and power supply; the main controller can control the left motor or the right motor to realize the control of the left wheel or the right wheel. The line inspection circuit board is also provided with a micro control unit MCU for gathering and packaging the gray values acquired by the gray sensors; a micro control unit MCU for distributing control signals is arranged in the main controller.

In order to ensure the line inspection effect of the line inspection trolley, one invention point of the scheme in the invention is to provide a new gray scale track line instead of the original pure black track line. In the scheme of the invention, the gray scale track line consists of gray scale stripes with different gray scale values, and the gray scale value of the gray scale track line decreases from the center to two sides. For example, see fig. 1b, which shows a schematic diagram of a gray scale trajectory, wherein the gray scale trajectory is divided into 4 gray scales (here gray scale selection 4 is only an example, and more gray scales can be selected to make the trolley travel more smoothly), the values are 100%, 75%, 50%, 25%, respectively, the gray scales decrease from the center to the two sides, and the symmetrical position gray scales are uniform. Specifically, the gray scale stripe A1 has the same gray scale value as the gray scale stripe A2, and the gray scale value defaults to 100%; the gray scale value of the gray scale stripe B1 is the same as that of the gray scale stripe B2, and defaults to 75%; the gray scale value of the gray scale stripe C1 is the same as that of the gray scale stripe C2, and defaults to 50%; the gradation stripe D1 has the same gradation value as the gradation stripe D2, and defaults to 25%. The width of each gray stripe is 6.0mm, and the width of each single material of the gray sensor (X1 and X2 in the figure) is 3.0mm.

On the basis of the gray track line being designed, the line inspection trolley travels along the gray track line, exemplarily, see fig. 1c, which shows a schematic diagram of the line inspection trolley traveling along the gray track line; and the control method in the process of the line inspection trolley can be seen in the following embodiment.

Example 1

Fig. 1d is a flowchart of a control method of a line inspection trolley, where the method may be applied to a scenario of controlling the line inspection trolley to inspect a line, typically, a scenario of using the line inspection trolley to deliver an article, and the method may be performed by a control device of the line inspection trolley, where the control device of the line inspection trolley may be implemented in a hardware and/or software form, and the control device of the line inspection trolley may be configured in an electronic device, for example, integrated in a main controller of the line inspection trolley that is programmable.

As shown in fig. 1d, the control method of the line inspection trolley includes:

s101, acquiring a gray value of a gray track line under a gray sensor detected by the gray sensor in real time when the line patrol trolley runs along the preset gray track line.

In this embodiment, in the process of travelling along the preset gray scale track line, the line inspection trolley can collect the gray scale value of the gray scale track line right below the gray scale sensor in real time through the gray scale sensor in the line inspection circuit board. And a micro control unit MCU for carrying out data packing and summarizing is also arranged in the line inspection circuit board, and through the micro control unit MCU, the gray values acquired by the gray sensors in real time can be packed and summarized and transmitted to a main controller of the line inspection trolley. That is, the main controller of the line inspection trolley can acquire the gray value acquired by the gray sensor from the MCU of the line inspection circuit board in real time.

S102, determining the relative position of the line patrol trolley and the gray scale track line according to the obtained gray scale value.

In this embodiment, since the default gray value of each gray stripe in the gray track line and the position of each gray stripe in the gray track line are known, when the main controller of the line inspection trolley obtains the gray value collected by the gray sensor, the collected gray value can be compared with the default gray value of each gray stripe, and the target gray stripe corresponding to the gray sensor can be determined according to the comparison result. For example, gray stripes with gray differences within a preset difference range are used as target gray adjustment; it should be noted that, because the gray level sensor has an error, and because external factors such as illumination, there is an error between the gray level value collected by the gray level sensor and the default gray level value of the gray level stripe, a preset error range (for example, ±10%) is set, so as to accurately determine which gray level stripe the gray level sensor collects; and determining the relative position of the line patrol trolley and the gray track line according to the position of the target gray stripe in the gray track line.

Illustratively, the gray value collected by the gray sensor is 70%, the default gray value of the gray stripes B1 and B2 is 75%, and the error is less than 10%, and the gray stripes B1 and B2 are determined as target gray stripes; and the positions of the gray stripes B1 and B2 in the gray track line are known, and the line inspection trolley is centered relative to the gray track line.

S103, controlling the line patrol trolley according to the relative position.

In an alternative implementation manner, if the line inspection trolley is determined to be centered relative to the gray scale track line according to the relative position, the movement direction of the line inspection trolley is not required to be adjusted, and the line inspection trolley is only required to be controlled to travel at the current speed;

in an alternative implementation manner, if the line inspection trolley is determined to be far left relative to the gray scale track line according to the relative position, the line inspection trolley is controlled to turn to the right by increasing the rotation speed of the left wheel; and repeating the steps S101-S102 in the process of controlling the line inspection trolley to steer to the right until the line inspection trolley is centered relative to the gray scale track line, stopping steering to the right, and continuing to travel according to the adjusted movement direction.

In an alternative implementation manner, if the line inspection trolley is determined to be right relative to the gray scale track line according to the relative position, the line inspection trolley is controlled to turn left by increasing the rotation speed of the right wheel; and repeating the steps S101-S102 in the leftward steering process until the line inspection trolley is centered relative to the gray scale track line, stopping leftward steering, and continuing to travel according to the adjusted movement direction.

According to the embodiment of the invention, on the basis of designing the gray scale track line, a small number of gray scale sensors are combined to ensure that the line inspection trolley has a smooth line inspection effect, so that the phenomenon of large-amplitude head swing of the line inspection trolley is avoided.

Example two

Fig. 2 is a flowchart of a control method of a line inspection trolley according to a second embodiment of the present invention. Referring to fig. 2, the method flow includes the steps of:

s201, when the line inspection trolley travels along a preset gray scale path line, gray scale values of the gray scale path line, which is detected by the gray scale sensor and is positioned right below the gray scale sensor, are obtained in real time.

Wherein the gray scale track line is composed of gray scale stripes with different gray scale values, and the gray scale value of the gray scale track line decreases from the center to the two sides. It should be noted that setting the gray value of the gray scale track line to decrease from the center to the two sides is only a preferred implementation scheme, and in addition, the gray value of the gray scale track line may also be set to increase from the center to the two sides; even can cooperate with the control program of the line patrol trolley, the gray level change sequence and the gradient value of the gray level track line can be freely customized; furthermore, gray scale stripes with different gray scale values can be arranged and combined randomly to form a gray scale track line, and a corresponding trolley control program is only required to be written according to the constructed gray scale track line. The number of gray level sensors in the line inspection trolley is at least two, and in this embodiment, two gray level sensors are set for illustration, specifically, the gray level sensors on the line inspection trolley are a first gray level sensor and a second gray level sensor respectively, and the installation position of the first gray level sensor is at the left side of the second gray level sensor. Based on this, the main controller determines the relative position of the inspection trolley and the gray track line according to the obtained gray value, and the process is referred to step S202.

S202, determining the relative position of the line inspection trolley and the gray scale track line according to the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor.

In the embodiment of the invention, the gray value of the gray track line is decreased from the center to the two sides, so that the larger the gray value acquired by the gray sensor is, the closer the gray sensor is to the middle position of the gray track line; conversely, the smaller the gray value acquired by the gray sensor, the closer the gray sensor is to the edge position of the gray track line. On the basis, different gray scale intervals are preset, and the position of the gray scale sensor relative to the gray scale track line, namely the relative position of the line patrol trolley relative to the gray scale track line, is determined according to the interval where the gray scale value acquired by the gray scale sensor is located.

In an alternative implementation, if the first gray value and the second gray value are both within a first preset gray interval, the line inspection trolley is determined to be in a first driving state, and in the first driving state, the line inspection trolley is centered relative to the gray track line. The first preset gray scale interval is selected to be (65%, 85% ], that is, the first preset gray scale interval is an interval with a gray scale value greater than 65% and less than or equal to 85%.

In an optional implementation scheme, if the first gray value and the second gray value are both in a second preset gray interval, determining that the line inspection trolley is in a second running state, and in the second running state, the line inspection trolley is separated from the gray track line; the second preset gray scale interval is optionally (0, 20% ], that is, the second preset gray scale interval is an interval with a gray scale value greater than 0 and less than or equal to 20%.

In an alternative implementation scheme, if the first gray value is in a third preset gray interval and the second gray values are both in a fourth preset gray interval, determining that the line inspection trolley is in a third running state, and in the third running state, shifting the line inspection trolley leftwards relative to the gray track line, wherein the shifting level is a first preset value; the third preset gray scale interval is (40%, 65% ], the fourth preset gray scale interval is (65%, 100% ], namely the third preset gray scale interval is an interval with gray scale value larger than 40% and smaller than or equal to 65%, the fourth preset gray scale interval is an interval with gray scale value larger than 65% and smaller than or equal to 100%, the offset level is used for measuring the offset degree of the line inspection trolley, the larger the value of the offset level is, the higher the offset degree is, and if the offset level is the first preset value, the slight deflection of the line inspection trolley is indicated.

In an optional implementation scheme, if the first gray value is in a fifth preset gray interval and the second gray values are all in a sixth preset gray interval, determining that the line inspection trolley is in a fourth running state, and in the fourth running state, shifting the line inspection trolley leftwards relative to the gray track line, wherein the shifting level is a second preset value; the fifth preset gray scale interval is selected from (20%, 40% ], the sixth preset gray scale interval is selected from (40%, 100% ], namely the fifth preset gray scale interval is an interval with gray scale value more than 20% and less than or equal to 40%, the sixth preset gray scale interval is an interval with gray scale value more than 40% and less than or equal to 100%, and the second preset value is more than the first preset value.

In an optional implementation scheme, if the first gray value is in a fourth preset gray interval and the second gray values are both in a third preset gray interval, determining that the line inspection trolley is in a fifth running state, and in the fifth running state, shifting the line inspection trolley rightward relative to the gray track line, wherein the shifting level is a first preset value;

in an optional implementation scheme, if the first gray value is in a sixth preset gray interval and the second gray values are both in a fifth preset gray interval, it is determined that the line inspection trolley is in a sixth running state, and in the sixth running state, the line inspection trolley is shifted rightward relative to the gray track line, and the shift level is a second preset value.

S203, controlling the line patrol trolley according to the relative position.

In the embodiment of the invention, the line inspection trolley is controlled to send control signals to the left motor and the right motor of the line inspection trolley, so that the left motor and the right motor drive the left wheel and the right wheel of the line inspection trolley to rotate according to the control signals, wherein the control signals can comprise a left wheel rotating speed control signal and a right wheel rotating speed control signal. In specific implementation, the main controller determines a left wheel speed control signal and a right wheel speed control signal according to the relative positions; the micro control unit MCU of the main controller is used for respectively transmitting the left wheel rotating speed control signal and the right wheel rotating speed control signal to the left motor and the right motor so as to control the left motor and the right motor to drive the left wheel and the right wheel to rotate according to the appointed rotating speed. The left wheel rotation speed control signal may be represented by CSL, and according to the different values, the CSL is classified into CSL0 (representing that the left wheel rotation speed is 0), CSL1 (representing that the left wheel rotation speed is 20 r/min), CSL2 (representing that the left wheel rotation speed is 50 r/min), and CSL3 (representing that the left wheel rotation speed is 80 r/min); the right wheel speed control signal may be expressed as CSR, and depending on the value, CSR is classified into CSR0 (indicating that the right wheel speed is 0), CSR1 (indicating that the right wheel speed is 20 r/min), CSR2 (indicating that the right wheel speed is 50 r/min), and CSR3 (indicating that the right wheel speed is 80 r/min).

In the embodiment of the invention, the line patrol trolley is controlled according to the relative position, and the line patrol trolley comprises the following control scheme:

and in a first control scheme, if the line inspection trolley is centered relative to the gray scale track line, the left wheel and the right wheel are controlled to travel at the same rotating speed. For example, if the line truck is centered with respect to the gray scale trajectory, the generated wheel control signal may be any one of the following combinations: a combination of CSL1 and CSR1, a combination of CSL2 and CSR2, a combination of CSL3 and CSR 3; the signals in the wheel control signal combination are distributed to the corresponding left motor or right motor through the micro control unit of the main controller so as to control the left wheel and the right wheel to travel at the same rotating speed.

And a second control scheme is that if the line inspection trolley is determined to be separated from the gray scale track line according to the relative position, the left wheel and the right wheel of the line inspection trolley are controlled to stop rotating. For example, if the line truck is off the gray scale trajectory, the generated wheel control signal is a combination of CSL0 and CSR 0; and the CSL0 and the CSR0 are respectively sent to the left motor and the right motor by a micro-control unit of the main controller so as to control the left wheel and the right wheel to stop rotating.

And a third control scheme, wherein if the line inspection trolley deviates leftwards relative to the gray scale track line and the deviation level is a first preset value, the rotation speed of the left wheel is controlled to be increased, and the rotation speed of the right wheel is controlled to be unchanged, so that the movement direction of the line inspection trolley is controlled. Because the offset level is the first preset value, the offset degree is smaller, the offset degree is slightly left at the moment, and the line inspection trolley can be adjusted to a position which is relatively centered with the gray scale track line only by controlling the left wheel to increase the rotating speed and controlling the right wheel to be unchanged in rotating speed. For example, if the line inspection trolley is offset to the left with respect to the gray scale track line, and the offset level is a first preset value, the generated wheel control signal may be a combination of CSL3 and CSR 2; wherein CSR2 is the rotation speed of the right wheel when the line patrol trolley is not deviated; the CSL3 and the CSR2 are respectively sent to the left motor and the right motor through a micro control unit of the main controller so as to control the acceleration of the left wheel and the rotation speed of the right wheel to be unchanged, and the line inspection trolley can be controlled to slowly steer to the right; in the steering process, a first gray value and a second gray value are obtained in real time, and when the first gray value and the second gray value are both in a first preset gray interval (when the line patrol trolley is centered relative to the gray track line), the left wheel and the right wheel are controlled to advance at the same rotating speed, namely, the left wheel and the right wheel are controlled according to a first control scheme.

And if the line inspection trolley deviates leftwards relative to the gray scale track line and the deviation level is a second preset value, the left wheel is controlled to increase the rotating speed, and the right wheel is controlled to decrease the rotating speed, and the deviation level is the second preset value, so that the deviation degree is larger, the line inspection trolley is obviously left, only the left wheel is controlled to increase the rotating speed, and the right wheel is controlled to decrease the rotating speed, so that the line inspection trolley is controlled to rapidly rotate rightwards. For example, if the line inspection trolley is offset to the left with respect to the gray scale track line and the offset level is a second preset value, the generated wheel control signal may be a combination of CSL3 and CSR 1; wherein CSR1 is smaller than the rotation speed of the right wheel when the line patrol trolley is not deviated; the CSL3 and the CSR1 are respectively sent to the left motor and the right motor through a micro control unit of the main controller so as to control the acceleration of the left wheel and the deceleration of the right wheel, and then the line inspection trolley can be controlled to rapidly steer right; and in the steering process, acquiring a first gray level value and a second gray level value in real time, and controlling according to a third control scheme when the first gray level value is in a third preset gray level interval and the second gray level value is in a fourth preset gray level interval (at the moment, the line inspection trolley is offset leftwards relative to the gray level track line and the offset level is the first preset value).

And a fifth control scheme, wherein if the line inspection trolley deviates rightwards relative to the gray scale track line and the deviation level is a first preset value, the rotation speed of the left wheel is controlled to be unchanged, and the rotation speed of the right wheel is controlled to be increased. Because the offset level is the first preset value, the offset level is smaller, and the offset level is slightly right at the moment, and the line inspection trolley can be adjusted to a position which is relatively centered with the gray scale track line only by controlling the wheel on the right side to increase the rotating speed and controlling the wheel on the left side to keep the rotating speed unchanged. For example, if the line inspection trolley is shifted rightward relative to the gray scale track line, and the shift level is a first preset value, the generated wheel control signal may be a combination of CSL2 and CSR 3; wherein CSL2 is the rotation speed of the left wheel when the line patrol trolley is not deviated; the CSL2 and the CSR3 are respectively sent to the left motor and the right motor through a micro control unit of the main controller so as to control the rotation speed of the left wheel to be unchanged and the rotation speed of the right wheel to be increased, and the line inspection trolley can be controlled to slowly steer left; in the steering process, a first gray value and a second gray value are obtained in real time, and when the first gray value and the second gray value are both in a first preset gray interval (when the line patrol trolley is centered relative to the gray track line), the left wheel and the right wheel are controlled to advance at the same rotating speed, namely, the left wheel and the right wheel are controlled according to a first control scheme.

And a sixth control scheme is that if the line inspection trolley deviates rightwards relative to the gray scale track line and the deviation level is a second preset value, the left wheel is controlled to reduce the rotating speed, and the right wheel is controlled to increase the rotating speed. Because the offset level is the second preset value, the offset level is larger, and the offset level is obviously right at the moment, only the rotation speed of the right wheel is controlled to be increased, and the rotation speed of the left wheel is controlled to be reduced, so that the line inspection trolley is controlled to rotate left rapidly. For example, if the line inspection trolley is shifted rightward relative to the gray scale track line, and the shift level is a second preset value, the generated wheel control signal may be a combination of CSL1 and CSR 3; wherein CSL1 is smaller than the rotation speed of the left wheel when the line patrol trolley is not deviated; the CSL1 and the CSR3 are respectively sent to the left motor and the right motor through a micro control unit of the main controller so as to control the left wheel to decelerate and the right wheel to accelerate, and then the line inspection trolley can be controlled to rapidly steer left; in the steering process, a first gray value and a second gray value are obtained in real time, the first gray value is in a fourth preset gray interval, the second gray values are all in a third preset gray interval (at the moment, the line inspection trolley is right-shifted relative to the gray track line, the shift level is the first preset value), and the control is carried out according to a fifth control scheme.

In the scheme of the embodiment, by utilizing the two gray level sensors and the gray level track line, the line inspection trolley can have a smooth line inspection effect, and the problem of large swing is avoided.

It should be noted that, if the first gray value and the second gray value are not in the preset gray interval (i.e., the first preset gray interval-the sixth preset gray interval), it is determined that the gray track line is dirty, the line inspection trolley is faulty, or the line inspection trolley is horizontally placed on the gray track line, where the line inspection trolley is horizontally placed on the gray track line means that an included angle between a line from the head to the tail of the line inspection trolley and the gray track line is a right angle, or the included angle is close to the right angle. The method comprises the steps of carrying out a first treatment on the surface of the According to a default wheel rotation speed (for example, a combination of CSL1 and CSR 1), controlling the line inspection trolley to travel for a preset time period (for example, 3 seconds), and then re-acquiring a first gray value and a second gray value; and if the acquired first gray level value and the acquired second gray level value are not in the preset gray level interval, controlling the line inspection trolley to stop moving.

Example III

Fig. 3 is an overall logic flow diagram of a distributed database data synchronization according to a third embodiment of the present invention. Referring to fig. 3, the method logic includes the following:

When the line inspection trolley travels along a preset gray scale track line, a first gray scale sensor X1 on a line inspection circuit board of the line inspection trolley acquires a first gray scale value a in real time; the second gray level sensor X2 acquires the second gray level value b in real time. And the MCU on the line inspection circuit board packages and gathers the first gray value a and the second gray value b, sends the first gray value a and the second gray value b to the main controller, and the main controller determines the relative positions of the line inspection trolley and the gray track line according to the first gray value a and the second gray value b and controls the line inspection trolley based on the relative positions. In specific control, a left wheel rotation speed control signal CSL and a right wheel rotation speed control signal CSR may be generated according to the relative positions; the micro control unit MCU of the main controller is used for respectively sending the CSL and the CSR to the left motor and the right motor, so that the left motor and the right motor control the left wheel and the right wheel to rotate according to the rotating speed control signal, the control of the moving direction of the line inspection trolley is realized, and the specific control process can be seen from the embodiment.

Through the logic, the line inspection trolley can be guaranteed to have a smooth line inspection effect, and the problem of large-amplitude swing is avoided.

Example IV

Fig. 4 is a schematic structural diagram of a control device for a line inspection trolley according to a fourth embodiment of the present invention, where the embodiment is applicable to a scenario in which the line inspection trolley is controlled to inspect a line. The device is configured in the main controller of the line inspection trolley, and the line inspection trolley further comprises at least two gray scale sensors, as shown in fig. 4, and the device comprises:

The sensing data acquisition module 401 is configured to acquire, in real time, a gray value of a gray scale trajectory line under the gray scale sensor detected by the gray scale sensor when the line patrol trolley travels along a preset gray scale trajectory line;

a relative position determining module 402, configured to determine a relative position of the line inspection trolley and the gray scale track line according to the obtained gray scale value;

the control module 403 is configured to control the line patrol trolley according to the relative position;

wherein the gray scale track line is composed of gray scale stripes with different gray scale values, and the gray scale value of the gray scale track line decreases from the center to the two sides.

In an alternative implementation manner, the gray level sensors are a first gray level sensor and a second gray level sensor respectively, and the installation position of the first gray level sensor is at the left side of the second gray level sensor;

the relative position determination module includes:

and the position calculation unit is used for determining the relative position of the line patrol trolley and the gray scale track line according to the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor.

In an alternative implementation, the location calculation unit is further configured to:

If the first gray value and the second gray value are both in a first preset gray interval, determining that the line inspection trolley is centered relative to the gray track line;

and if the first gray level value and the second gray level value are both in a second preset gray level interval, determining that the line inspection trolley is separated from the gray level track line.

if the first gray value is in a third preset gray interval and the second gray value is in a fourth preset gray interval, determining that the line inspection trolley deviates leftwards relative to the gray track line and the deviation level is the first preset value;

if the first gray value is in a fifth preset gray interval and the second gray values are all in a sixth preset gray interval, determining that the line inspection trolley is offset leftwards relative to the gray track line and the offset level is a second preset value;

if the first gray value is in a fourth preset gray interval and the second gray value is in a third preset gray interval, determining that the line inspection trolley deviates rightward relative to the gray track line and the deviation level is the first preset value;

If the first gray value is in a sixth preset gray interval and the second gray values are in a fifth preset gray interval, determining that the line inspection trolley deviates rightward relative to the gray track line and the deviation level is a second preset value.

In an alternative implementation, the line inspection trolley further comprises a left wheel and a right wheel;

the control module is also used for:

if the line patrol trolley is centered relative to the gray scale track line, controlling the left wheel and the right wheel to travel at the same rotating speed;

and if the line inspection trolley is separated from the gray scale track line, controlling the left wheel and the right wheel of the line inspection trolley to stop rotating.

In an alternative implementation, the control module is further configured to:

if the line inspection trolley deviates leftwards relative to the gray scale track line and the deviation level is a first preset value, controlling the left wheel to increase the rotating speed and controlling the rotating speed of the right wheel to be unchanged;

if the line inspection trolley deviates leftwards relative to the gray scale track line and the deviation level is a second preset value, controlling the left wheel to increase the rotating speed and controlling the right wheel to decrease the rotating speed;

If the line inspection trolley deviates rightwards relative to the gray scale track line and the deviation level is a first preset value, controlling the rotation speed of the left wheel to be unchanged and controlling the rotation speed of the right wheel to be increased;

and if the line inspection trolley deviates rightwards relative to the gray scale track line and the deviation level is a second preset value, controlling the left wheel to reduce the rotating speed and controlling the right wheel to increase the rotating speed.

In an alternative implementation, the apparatus further includes:

the problem determining module is used for determining that dirt exists on the gray track line, the line patrol trolley is faulty or the line patrol trolley is transversely placed on the gray track line if the first gray value and the second gray value are not in a preset gray interval;

the control and data acquisition module is used for re-acquiring a first gray value and a second gray value after controlling the line inspection trolley to travel for a preset duration according to a default wheel rotating speed;

and the judging and controlling module is used for controlling the line inspection trolley to stop moving if the re-acquired first gray level value and the re-acquired second gray level value are not in the preset gray level interval.

The control device of the line inspection trolley provided by the embodiment of the invention can execute the control method of the line inspection trolley provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example five

Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, performs a control method of the line patrol dolly.

In some embodiments, the control method of the line inspection trolley may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into the RAM13 and executed by the processor 11, one or more steps of the above-described control method of the line inspection trolley may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the control method of the line patrol trolley in any other suitable way (e.g. by means of firmware).

Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable cart control device, such that the computer programs, when executed by the processor, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a control method of line patrol dolly, characterized in that is applied to the main control unit of line patrol dolly, the line patrol dolly still includes two at least gray scale sensor, the method includes:

Controlling the line patrol trolley according to the relative position;

the gray scale track line consists of gray scale stripes with different gray scale values, and the gray scale value of the gray scale track line decreases from the center to two sides;

the gray level sensors are a first gray level sensor and a second gray level sensor respectively, and the installation position of the first gray level sensor is at the left side of the second gray level sensor;

according to the obtained gray value, determining the relative position of the line inspection trolley and the gray track line comprises the following steps:

determining the relative position of the line patrol trolley and the gray scale track line according to the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor;

the determining the relative position of the line inspection trolley and the gray scale track line according to the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor comprises the following steps:

2. The method of claim 1, wherein determining the relative position of the patrol trolley and the gray scale trajectory based on the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor comprises:

3. The method of claim 2, wherein the inspection trolley further comprises a left side wheel and a right side wheel;

according to the relative position, controlling the line patrol trolley, comprising:

4. The method of claim 1, wherein controlling the line patrol trolley according to the relative position comprises:

5. The method according to claim 1, wherein the method further comprises:

if the first gray level value and the second gray level value are not in the preset gray level interval, determining that dirt exists on the gray level track line, the line inspection trolley is faulty or the line inspection trolley is transversely placed on the gray level track line;

according to the default wheel rotation speed, the line inspection trolley is controlled to travel for a preset time period, and then a first gray value and a second gray value are obtained again;

and if the acquired first gray level value and the acquired second gray level value are not in the preset gray level interval, controlling the line inspection trolley to stop moving.

6. A control device of a line inspection trolley, characterized in that the control device is configured in a main controller of the line inspection trolley, the line inspection trolley further comprises at least two gray scale sensors, and the device comprises:

the control module is used for controlling the line patrol trolley according to the relative position;

the relative position determination module includes:

the position calculating unit is used for determining the relative position of the line patrol trolley and the gray scale track line according to the first gray scale value detected by the first gray scale sensor and the second gray scale value detected by the second gray scale sensor;

the position calculation unit is further configured to:

7. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

8. A computer readable storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-5.