WO2024001077A1 - Procédé et appareil de commande d'inspection de patrouille pour unité d'inspection de patrouille, et dispositif électronique - Google Patents

Procédé et appareil de commande d'inspection de patrouille pour unité d'inspection de patrouille, et dispositif électronique Download PDF

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Publication number
WO2024001077A1
WO2024001077A1 PCT/CN2022/139800 CN2022139800W WO2024001077A1 WO 2024001077 A1 WO2024001077 A1 WO 2024001077A1 CN 2022139800 W CN2022139800 W CN 2022139800W WO 2024001077 A1 WO2024001077 A1 WO 2024001077A1
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WO
WIPO (PCT)
Prior art keywords
inspection
patrol inspection
area
production line
density
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PCT/CN2022/139800
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English (en)
Chinese (zh)
Inventor
翁端文
褚如昶
吕新
Original Assignee
浙江衣拿智能科技股份有限公司
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Application filed by 浙江衣拿智能科技股份有限公司 filed Critical 浙江衣拿智能科技股份有限公司
Publication of WO2024001077A1 publication Critical patent/WO2024001077A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means

Definitions

  • the present application relates to the field of automatic control technology, specifically, to an inspection control method, device and electronic equipment for an inspection unit.
  • the produced clothes will be hung on hanging carriers, which will move and transport them on the tracks of each production line.
  • the production line track used to transport hanging vehicles is generally set up on the top of the factory room to prevent the clothing being transported from affecting the work of the production stations below the factory building.
  • embodiments of the present application provide an inspection control method, device and electronic equipment for an inspection unit.
  • embodiments of the present application provide an inspection control method of an inspection unit, which method includes:
  • Control the inspection unit to move according to a preset inspection path, and keep the current speed of the inspection unit as the inspection speed corresponding to the current inspection area.
  • At least two inspection areas are obtained based on the division of the factory layout information, including:
  • the total area of the factory building is equally divided to obtain at least two inspection areas, and the inspection area corresponding to each of the inspection areas is within a preset area range.
  • At least two inspection areas are obtained based on the division of the factory layout information, including:
  • the target factory building is divided based on each of the location information, and at least two inspection areas are obtained, and each of the inspection areas covers a complete production line.
  • separately calculating the density of the hanging rails in each of the inspection areas and determining the inspection speeds corresponding to each density of the hanging rails includes:
  • the density of the hanging rails is the ratio of the total area of equipment in the inspection area to the inspection area;
  • the method further includes:
  • the inspection shooting angle of the inspection unit is adjusted based on the type of production line equipment.
  • adjusting the inspection shooting angle of the inspection unit based on the type of production line equipment includes:
  • the inspection shooting angle of the inspection unit is continuously adjusted so that the camera of the inspection unit continues to face the equipment inspection center.
  • inventions of the present application provide an inspection control device for an inspection unit.
  • the device includes:
  • An acquisition module is used to obtain the factory layout information of the target factory building, and obtain at least two inspection areas based on the factory layout information;
  • a calculation module used to calculate the density of the hanging rails in each of the inspection areas, and determine the inspection speed corresponding to each density of the hanging rails;
  • the control module is used to control the inspection unit to move according to the preset inspection path and maintain the current speed of the inspection unit as the inspection speed corresponding to the current inspection area.
  • embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the first Method steps provided by any possible implementation manner of the aspect or the first aspect.
  • embodiments of the present application provide a computer-readable storage medium on which a computer program is stored.
  • the computer program When the computer program is executed by a processor, the computer program implements the first aspect or any possible implementation of the first aspect. method provided.
  • the inspection of the top production line is realized through image shooting by the inspection unit without manual participation, and different inspection areas are divided according to the actual layout of the factory building. Different inspection speeds are set for different inspection areas. For inspection areas with higher complexity, the inspection speed of the inspection unit will be lower. While ensuring the inspection efficiency of the inspection unit, it also ensures that the inspection unit Each production line can be fully inspected, and abnormal faults in the production line will not be detected due to too fast movement speed. The inspection effect is good.
  • Figure 1 is a schematic flow chart of an inspection control method of an inspection unit provided by an embodiment of the present application
  • Figure 2 is a schematic structural diagram of an inspection control device of an inspection unit provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • first and second are used for descriptive purposes only and shall not be understood as indicating or implying relative importance.
  • the following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined. Therefore, the present application can also be considered to include all possible combinations of the same and/or different embodiments described. Thus, if one embodiment contains features A, B, C, and another embodiment contains features B, D, then the application should also be considered to include all other possible combinations containing one or more of A, B, C, D embodiment, although this embodiment may not be explicitly documented in the following content.
  • Figure 1 is a schematic flowchart of an inspection control method of an inspection unit provided by an embodiment of the present application.
  • the method includes:
  • the execution subject of this application may be a cloud server.
  • the space size, structural layout, etc. of the factories used by different manufacturers are different.
  • the cloud server first needs to obtain the factory layout information of the target factory that currently needs to be inspected and controlled, so as to determine the space of the target factory. Lay out relevant information, and then divide the space of the target factory into inspection areas.
  • At least two inspection areas are obtained based on the plant layout information, including:
  • the total area of the factory building is equally divided to obtain at least two inspection areas, and the inspection area corresponding to each of the inspection areas is within a preset area range.
  • the inspection area can be divided in many ways, one of which is based on equal division, that is, the overall total area of the target factory is determined through the factory layout information, and then the number of areas is equally divided according to the total area of the factory. inspection area. Since the areas of different factory buildings will be different, in order to ensure the applicability of the division process to each factory building, the division will not be based on a fixed area, but an area range will be set. As long as the inspection area of the evenly divided inspection area is within Within the area range, it is considered that the divided inspection area and the number of inspection areas are appropriate.
  • At least two inspection areas are obtained based on the plant layout information, including:
  • the target factory building is divided based on each of the location information, and at least two inspection areas are obtained, and each of the inspection areas covers a complete production line.
  • the inspection area can be divided in many ways, and one of the ways is to divide the inspection area according to the production line.
  • the factory will be equipped with different production line equipment according to its own production needs. Different production line equipment also occupies different areas. Therefore, the factory layout information will be used to determine which production lines are set up in the target factory, as well as the location information of these production lines, and then divided based on these location information and the actual area occupied by the production lines. Inspection areas ensure that each inspection area covers a complete production line.
  • the inspection speed of the inspection unit should be reduced to ensure that it can conduct longer inspections of the complex production line. .
  • the density of the hanging rails in each inspection area will be calculated. The greater the density of the hanging rails, the more complex the structure of the production line in that area. According to the calculated density of the hanging rails, different inspection speeds will be set to ensure that the inspection unit can adjust its inspection speed for different production lines, so that the inspection unit will not waste time on production lines with simple structures. Even if you spend too much time inspecting, you will not inspect a production line with a complex structure too quickly and cause omissions.
  • step S102 includes:
  • the density of the hanging rails is the ratio of the total area of equipment in the inspection area to the inspection area;
  • the equipment area can be understood as the area occupied by the production line equipment on the top of the factory building. This area only includes the area occupied by the equipment itself. For example, the area of the non-production line area enclosed within the circular production line will not be included. within the equipment area.
  • the cloud server will calculate the equipment area of each production line, based on the total area of equipment in a certain inspection area (i.e., the sum of the areas of each equipment) and the inspection area of the inspection area (i.e., the inspection area The ratio of the total area occupied by the area) is used as the density of the hanging rail in the inspection area.
  • different corresponding inspection speeds will be set in the first database in advance for different density ranges, and the corresponding inspection speeds can be determined by querying the density range to which the calculated density of the hanging track belongs.
  • the inspection unit can be an inspection car.
  • the cloud server will control the inspection unit to move according to the preset inspection path, and always confirm the current inspection area where the inspection unit is located, and perform the inspection according to the aforementioned steps.
  • the calculation result determines the inspection speed corresponding to the current inspection area, so that the inspection unit moves in the current inspection area at its corresponding inspection speed to realize the adjustment of the moving speed of the inspection unit during the entire inspection process. , to ensure its inspection efficiency.
  • the method further includes:
  • the inspection shooting angle of the inspection unit is adjusted based on the type of production line equipment.
  • the production line closest to the inspection unit is the production line on which the inspection unit is currently inspecting.
  • the cloud server will confirm the current inspection production line of the inspection unit and determine the production line equipment type of the current inspection production line. Since the structures of production lines with different equipment types are different, the locations that need to be paid attention to during inspections are also different. Therefore, the cloud server will determine the current inspection focus of the inspection unit based on the type of production line equipment, and then conduct inspections of the inspection unit. Adjust the shooting angle.
  • adjusting the inspection shooting angle of the inspection unit based on the type of production line equipment includes:
  • the inspection shooting angle of the inspection unit is continuously adjusted so that the camera of the inspection unit continues to face the equipment inspection center.
  • an equipment inspection center will be set up in advance for each production line equipment.
  • the equipment inspection center is the key location that needs to be inspected during inspection of the production line.
  • the cloud server can query the preset second database to obtain the corresponding equipment inspection center. Then, the cloud server will directly and continuously adjust the shooting angle of the inspection unit, so that during the inspection process of the production line, the camera of the inspection unit will continue to face the equipment inspection center, so that the camera can be photographed with the equipment inspection center as the base point. Image information from all angles to avoid omissions in inspections.
  • the inspection control device of the inspection unit provided by the embodiment of the present application will be introduced in detail below with reference to FIG. 2 . It should be noted that the inspection control device of the inspection unit shown in FIG. 2 is used to execute the method of the embodiment shown in FIG. 1 of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown. , if the specific technical details are not disclosed, please refer to the embodiment shown in Figure 1 of this application.
  • Figure 2 is a schematic structural diagram of an inspection control device of an inspection unit provided by an embodiment of the present application. As shown in Figure 2, the device includes:
  • the acquisition module 201 is used to obtain the factory layout information of the target factory building, and obtain at least two inspection areas based on the factory layout information;
  • the calculation module 202 is used to calculate the density of the hanging rails in each inspection area, and determine the inspection speed corresponding to each density of the hanging rails;
  • the control module 203 is used to control the inspection unit to move according to the preset inspection path, and maintain the current speed of the inspection unit as the inspection speed corresponding to the current inspection area.
  • the acquisition module 201 includes:
  • a first determination unit configured to determine the total area of the target factory based on the factory layout information
  • the first dividing unit is used to equally divide the total area of the factory building to obtain at least two inspection areas, and the inspection area corresponding to each of the inspection areas is within a preset area range.
  • the acquisition module 201 includes:
  • a second determination unit configured to determine the location information of each production line in the target factory based on the factory layout information
  • the second dividing unit is used to divide the target factory building based on each of the location information to obtain at least two inspection areas, each of the inspection areas covering a complete production line.
  • the computing module 202 includes:
  • the first calculation unit is used to obtain the equipment area of each production line in the target factory building, and calculate the density of the hanging rails in each inspection area.
  • the density of the hanging rails is the total area of equipment in the inspection area. Ratio to inspection area;
  • the third determination unit is used to query the density range corresponding to the density of the suspension rail in the preset first database, and determine the inspection speed corresponding to the density range.
  • the device further includes:
  • Determining module used to determine the current inspection production line of the inspection unit, and determine the production line equipment type of the current inspection production line;
  • An adjustment module configured to adjust the inspection shooting angle of the inspection unit based on the type of production line equipment.
  • the adjustment module includes:
  • a query unit configured to query the equipment inspection center corresponding to the production line equipment type in the preset second database
  • An adjustment unit is used to continuously adjust the inspection shooting angle of the inspection unit so that the camera of the inspection unit continues to face the equipment inspection center.
  • the “units” and “modules” in this specification refer to software and/or hardware that can independently complete or cooperate with other components to complete specific functions.
  • the hardware can be, for example, a field-programmable gate array (Field-Programmable Gate Array, FPGA), integrated circuit (Integrated Circuit, IC) etc.
  • Each processing unit and/or module in the embodiments of this application can be implemented by an analog circuit that implements the functions described in the embodiments of this application, or by software that performs the functions described in the embodiments of this application.
  • the electronic device 300 may include: at least one central processing unit 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .
  • the communication bus 302 is used to realize connection communication between these components.
  • the user interface 303 may include a display screen (Display) and a camera (Camera), and the optional user interface 303 may also include a standard wired interface and a wireless interface.
  • Display display screen
  • Camera Camera
  • the optional user interface 303 may also include a standard wired interface and a wireless interface.
  • the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the central processing unit 301 may include one or more processing cores.
  • the central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305, Execute various functions of the terminal 300 and process data.
  • the central processor 301 can use digital signal processing (Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), Programmable Logic Array (Programmable Logic Array (PLA) in at least one form of hardware.
  • DSP Digital Signal Processing
  • FPGA Field-Programmable Gate Array
  • PDA Programmable Logic Array
  • the central processing unit 301 can integrate a central processing unit (CPU), a graphics central processing unit (Graphics Processing Unit (GPU) and modem, etc. One or a combination of several.
  • the CPU mainly handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content that needs to be displayed on the display; and the modem is used to handle wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processor 301 and may be implemented by a separate chip.
  • the memory 305 may include random access memory (Random Access Memory (RAM), which can also include read-only memory (Read-Only Memory).
  • the memory 305 includes non-transitory computer-readable media (non-transitory computer-readable storage medium).
  • Memory 305 may be used to store instructions, programs, codes, sets of codes, or sets of instructions.
  • the memory 305 may include a program storage area and a data storage area, where the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), Instructions, etc., used to implement each of the above method embodiments; the storage data area can store data, etc. involved in each of the above method embodiments.
  • the memory 305 may optionally be at least one storage device located away from the aforementioned central processor 301 .
  • memory 305 which is a computer storage medium, may include an operating system, a network communication module, a user interface module and program instructions.
  • the user interface 303 is mainly used to provide an input interface for the user and obtain data input by the user; and the central processor 301 can be used to call the inspection unit stored in the memory 305. Take control of the application and do the following:
  • Control the inspection unit to move according to a preset inspection path, and keep the current speed of the inspection unit as the inspection speed corresponding to the current inspection area.
  • This application also provides a computer-readable storage medium on which a computer program is stored, which implements the steps of the above method when executed by a processor.
  • the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives and magneto-optical disks, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory devices , magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
  • the disclosed device can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or may be Integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some service interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application can be integrated into one processing unit, each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above integrated units can be implemented in the form of hardware or software functional units.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable memory.
  • the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, It includes several instructions to cause a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application.
  • the aforementioned memory includes: U disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), mobile hard disk, magnetic disk or optical disk and other media that can store program code.
  • the program can be stored in a computer-readable memory.
  • the memory can include: flash memory. disk, read-only memory (Read-Only Memory, ROM), random access device (Random Access Memory (RAM), magnetic disk or optical disk, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • General Factory Administration (AREA)

Abstract

Procédé et appareil de commande d'inspection de patrouille pour une unité d'inspection de patrouille, et dispositif électronique. Le procédé consiste : à acquérir des informations de disposition d'installation d'une installation cible, et à effectuer une division en fonction des informations de disposition d'installation afin d'obtenir au moins deux zones d'inspection de patrouille (S101) ; à calculer une densité de rail de suspension de chaque zone d'inspection de patrouille, et à déterminer une vitesse d'inspection de patrouille correspondant à chaque densité de rail de suspension (S102) ; et à commander à une unité d'inspection de patrouille de se déplacer selon un trajet d'inspection de patrouille prédéfini, et à maintenir la vitesse en cours de l'unité d'inspection de patrouille en tant que vitesse d'inspection de patrouille correspondant à la zone d'inspection de patrouille en cours (S103). Différentes zones d'inspection de patrouille sont divisées en fonction de l'état de disposition réel d'une installation. Différentes vitesses d'inspection de patrouille sont définies pour différentes zones d'inspection de patrouille, et pour une zone d'inspection de patrouille présentant une complexité supérieure, la vitesse d'inspection de patrouille d'une unité d'inspection de patrouille est inférieure, ce qui permet d'assurer que l'unité d'inspection de patrouille effectue une inspection de patrouille relativement suffisante sur chaque ligne de production tout en garantissant l'efficacité d'inspection de patrouille de l'unité d'inspection de patrouille, ce qui permet d'éviter la situation dans laquelle une anomalie de la ligne de production ne peut pas être détectée en raison d'une vitesse de déplacement trop élevée, et ainsi l'effet d'inspection de patrouille est bon.
PCT/CN2022/139800 2022-07-01 2022-12-17 Procédé et appareil de commande d'inspection de patrouille pour unité d'inspection de patrouille, et dispositif électronique WO2024001077A1 (fr)

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Application Number Priority Date Filing Date Title
CN202210765118.8A CN115220445A (zh) 2022-07-01 2022-07-01 一种巡检单元的巡检控制方法、装置及电子设备
CN202210765118.8 2022-07-01

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CN115220445A (zh) * 2022-07-01 2022-10-21 浙江衣拿智能科技股份有限公司 一种巡检单元的巡检控制方法、装置及电子设备

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