A multi-vehicle collaborative control method and device

Abstract

The present invention discloses a multi-vehicle collaborative control method and device. The method includes establishing an operation model of an inspection track and filling each process node of a hanging production line based on the actual height difference. A patrol model unit simulating a patrol inspection unit is carried on the operation model. All patrol model units within the monitorable range of a selected target node are acquired, and focus adjustment and parameter tuning are performed on the target node to generate adjustment data for the inspection units on the inspection track. The target node is a selected / queried process node. The adjustment data is sent to the corresponding inspection units on the inspection track, the adjustment data is executed, and the monitoring data of each process node in the target node is acquired and displayed. The present invention collaboratively controls the inspection trolleys running on the track, provides effective reference data for the operation progress of the production line based on the inspection data of associated processes, and ensures the orderly and smooth operation of the entire production line.

Description

Technical Field

[0001] This application relates to the technical field of inspection of hanging lines, and more specifically, to a multi-vehicle collaborative control method and device. Background Art

[0002] When inspection trolleys inspect a hanging production line, there are often multiple trolleys running on the track at the same time, each performing its corresponding task, and there is no effective connection and collaborative effect among the trolleys, and there will be no interference phenomenon in a simple single running track; however, in the monitoring process of a more complex production line, a single trolley is not sufficient to meet the real-time monitoring requirements, and multiple inspection trolleys in the system need to cooperate to complete the task. Multi-directional collaborative monitoring and inspection can help fully coordinate the supply and demand between various processes, reduce the risks of detention and empty warehouses. Therefore, it is very necessary to research and design a control method for multi-vehicle collaboration. Summary of the Invention

[0003] To solve the above problems, the embodiments of this application provide a multi-vehicle collaborative control method and device, which collaboratively control the inspection trolleys running on the track, and provide effective reference data for the operation progress of the production line based on the inspection data of related processes, ensuring the orderly and smooth operation of the entire production line.

[0004] In a first aspect, the embodiments of this application provide a multi-vehicle collaborative control method, and the method includes:

[0005] Establish an operation model of the inspection track, and fill each process node of the hanging production line based on the actual height difference; a patrol model unit simulating an inspection unit is carried on the operation model;

[0006] Obtain all patrol model units within the detectable range of the selected target node, perform focus adjustment and parameter tuning on the target node, and generate adjustment data for the inspection units on the inspection track; the target node is the selected / queried process node;

[0007] Send the adjustment data to the corresponding inspection unit on the inspection track, execute the adjustment data, and obtain and display the monitoring data of each process node in the target node.

[0008] Preferably, the establishment of the operation model of the inspection track and the filling of each process node of the hanging production line based on the actual height difference include:

[0009] Build a three-dimensional model of the inspection track based on the actual operation line of the inspection track, and carry a running patrol model unit on the three-dimensional model to form the operation model;

[0010] Based on the actual height difference between the inspection track and the hanging production line, fill the hanging production line into the operation model and mark each process node;

[0011] The inspection module carried in the operation model has a unique identifiable serial number, which is correspondingly associated with the inspection unit on the inspection track;

[0012] The real-time operation parameters of the inspection unit are loaded into the operation model, and the inspection module executes the corresponding operation parameters, and the operation parameters at least include the operation route and the operation speed.

[0013] Preferably, the selection of the target node includes:

[0014] Obtain the execution processes of each process node on the hanging production line;

[0015] Based on the execution process, establish a node mapping relationship between the associated process nodes;

[0016] When querying the selected process node, define the selected process node as the target node, and according to the node mapping relationship, the upstream node and the downstream node of the corresponding process node can be queried / called.

[0017] Preferably, the determination of the detectable range includes:

[0018] Obtain the process nodes in the target node;

[0019] Taking the process node as a reference, screen the track segments on the simulation track of the operation model that can directly observe the process node;

[0020] Based on the process node, divide the adjacent circles of the simulation track, and define the track segments on the adjacent circle tracks as experimental segments;

[0021] Calculate the length of the experimental segment, eliminate the experimental segments with lengths less than the standard value, and define the remaining experimental segments as the detectable range of the process node.

[0022] Preferably, obtaining all the inspection modules within the detectable range of the selected target node, performing focus parameter adjustment on the target node, and generating adjustment data of the inspection units on the inspection track includes:

[0023] The focus parameter adjustment includes two steps: parameter adjustment and focus. The parameter adjustment at least includes adjusting the shooting angle and operation parameters; the focus includes obtaining clear and complete image information;

[0024] Obtain the detectable range of the target node and obtain the real-time position information of each inspection module;

[0025] Detect the number of inspection modules within the detectable range and the relative position relationship based on the target node;

[0026] Complete the parameter adjustment for the target node:

[0027] If the number of inspection modules is less than two, call the inspection modules outside the detectable range into the detectable range and generate a call record, which includes the serial number of the called inspection module and the execution parameters during the call;

[0028] If the inspection modules within the detectable range are in the same track segment, adjust the front inspection module to enter the next track segment and generate a segment record, which includes the serial number of the adjusted inspection module and the execution parameters during the adjustment;

[0029] Complete the focusing of the target node: Based on the relative position between the target node and the track segment where the inspection module is located, adjust the data acquisition device carried by the inspection module to obtain the correct acquisition object and generate an angle adjustment record, which includes the serial number of the track segment and the corresponding inspection module and the relative shooting angle parameter;

[0030] Obtain the serial numbers of the inspection modules in the call record, segment record, and adjustment record, integrate them into an adjustment sequence, and associate and integrate the execution parameters of the call, the adjusted track segment, the execution parameters of the adjustment, and the relative shooting angle parameter as adjustment parameters with the adjustment sequence to generate the adjustment data.

[0031] Preferably, it further includes the focusing parameter adjustment of the associated process of the target node, and generates the associated data of the inspection unit for monitoring the associated process on the inspection track:

[0032] Obtain the associated process of the process node in the target node, and query the inspection modules within the detectable range of the associated process; the associated process includes an upstream node and a downstream node;

[0033] Detect the number of inspection modules within the detectable range and the relative position relationship based on the associated process;

[0034] Complete the parameter adjustment for the associated process:

[0035] If the number of inspection modules is less than two, call the inspection modules outside the detectable range into the detectable range and generate a call record, which includes the serial number of the called inspection module and the execution parameters during the call;

[0036] If the inspection units within the detectable range are within the same track segment, adjust the front inspection unit to enter the next track segment and generate a segment record, where the segment record includes the serial number of the adjusted inspection unit and the execution parameters during the adjustment process;

[0037] Complete the focusing of the associated process: Based on the relative position between the associated process and the track segment where the inspection unit is located, adjust the data acquisition device carried by the inspection unit to obtain the correct acquisition object and generate an angle adjustment record, where the angle adjustment record includes the track segment, the serial number of the corresponding inspection unit, and the relative shooting angle parameter;

[0038] Obtain the serial numbers of the inspection units in the call record, segment record, and adjustment record, integrate them into an associated adjustment sequence, and associate and integrate the execution parameters of the call, the adjusted track segment, the execution parameters of the adjustment, and the relative shooting angle parameter as associated adjustment parameters with the associated adjustment sequence to generate the associated data;

[0039] Use the associated data as the subsidiary execution parameters of the adjustment data and synchronously send them to the corresponding inspection unit on the inspection track.

[0040] Preferably, send the adjustment data to the corresponding inspection unit on the inspection track, execute the adjustment data, and obtain the monitoring data of each process node in the target node, including:

[0041] Obtain the adjustment data generated by the operation model, and detect the adjustment sequence and associated adjustment sequence of the inspection unit included in the adjustment data;

[0042] Based on the adjustment sequence, obtain the inspection units on the inspection track correspondingly to execute the adjustment parameters and associated adjustment parameters in the adjustment data;

[0043] Obtain the monitoring data collected by the inspection unit when executing the adjustment parameters, distinguish the monitoring data based on the target node and the node mapping relationship, and arrange and display the monitoring data of the associated process and the monitoring data of the target node.

[0044] Further, perform a secondary screening of the detectable range based on the actual inspection track:

[0045] Mark the experimental segments one by one on the inspection track, and collect data on the process nodes through the inspection unit;

[0046] The volume of the data collection is weighted according to the length of the experimental segment, and the minimum collection volume is greater than zero;

[0047] Based on the data collected within each experimental segment, eliminate the experimental segments where the monitoring effect does not meet the standards;

[0048] Define the experimental segments that meet the standards as the monitorable range of this process node.

[0049] Ensure the length of the track segment and the monitoring effect during the monitoring process.

[0050] Furthermore, adjust the real-time response status of the inspection unit during operation:

[0051] When the inspection unit has a monitoring task for a target node, determine whether the track segment where the inspection unit is located is within the monitorable range:

[0052] If not, it is a track operation section where monitoring cannot be implemented. This inspection unit can respond to other inspection and monitoring tasks and is in a free response state;

[0053] If so, it is a track operation section where detection can be implemented. This inspection unit only responds to the monitoring task of the current target node and is in an execution response state.

[0054] Furthermore, when the inspection unit adjusts the track segment, it preferably moves forward.

[0055] Furthermore, when adjusting the front inspection module unit to enter the next track segment, the rear inspection module unit can be kept temporarily stopped in the current track segment until the front inspection module unit enters the next track segment; at the same time, the inspection module units located behind the rear inspection module unit appropriately reduce the running speed or stop and wait.

[0056] Or, the front inspection module unit increases the running speed, and the rear inspection module unit reduces the running speed so that they enter different track segments respectively.

[0057] In a second aspect, the embodiments of the present application provide a multi-vehicle collaborative control device, and the device includes:

[0058] An inspection model module, which establishes an operation model of the inspection track and fills each process node of the hanging production line based on the actual height difference;

[0059] A parameter adjustment module, which acquires all inspection module units within the monitorable range of the selected target node, performs focus parameter adjustment on the target node, and generates adjustment data for the inspection module units on the inspection track;

[0060] A collaborative monitoring module, which sends the adjustment data to the corresponding inspection module unit on the inspection track, executes the adjustment data, acquires the monitoring data of each process node within the target node, and displays it.

[0061] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation manner of the first aspect are implemented.

[0062] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method provided in the first aspect or any possible implementation manner of the first aspect is implemented.

[0063] The beneficial effects of the present invention are as follows: The present application is a multi-vehicle cooperative control method and device, which is applied to the control system of inspection vehicles on a hanging production line. While monitoring the production process, based on the actual meaning of associated processes, it provides effective and reliable reference data for production line operations, ensuring the orderly and smooth operation of the entire production line and effectively avoiding downtime and production suspension. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0065] Figure 1 It is a schematic flowchart of a multi-vehicle cooperative control method provided by an embodiment of the present application;

[0066] Figure 2 It is a schematic structural diagram of a multi-vehicle cooperative control device provided by an embodiment of the present application;

[0067] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

[0069] In the following description, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of the present application. Different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more all other possible combinations of A, B, C, and D, even though such embodiments may not be explicitly recited in the following content.

[0070] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of the described elements without departing from the scope of the content of the present application. Various processes or components can be appropriately omitted, substituted, or added to each example. For example, the described method can be performed in a different order than the described order, and various steps can be added, omitted, or combined. In addition, the features described for some examples can be combined into other examples.

[0071] See Figure 1 , Figure 1 is a schematic flow diagram of a multi-vehicle collaborative control method provided by an embodiment of the present application. In the embodiment of the present application, the method includes:

[0072] S101. Establish an operation model of the inspection track and fill each process node of the hanging production line based on the actual height difference.

[0073] The execution subject of the present application can be the inspection control system and inspection trolley on the hanging production line. The inspection trolley is equipped with a data acquisition status. In the present application, it is described collectively as an inspection unit.

[0074] In the embodiment of the present application, an orbit model is built based on the actual operation line, spatial structure, etc. of the inspection track, and the model of the inspection unit, that is, the inspection model unit, is uploaded to form an operation model. For the trolley running in suspension, if it falls, it will cause minor damage such as crashing, or serious damage such as damaging the machine and injuring people. Therefore, simulating control on the operation model can effectively avoid the risk of trolley collision during the actual machine control process and avoid irreparable losses.

[0075] The operation status of the inspection model unit on the operation model can be synchronized with the real-time status of the inspection unit, so as to better simulate the actual operation status, effectively avoid possible impact phenomena, and at the same time, the operation status of each station on the hanging production line can be loaded onto the operation model and synchronously displayed at the corresponding process nodes.

[0076] In an implementable manner, step S101 includes:

[0077] Build a three-dimensional model of the inspection track based on the actual inspection track, and carry the corresponding inspection model unit to form the operation model;

[0078] Based on the actual height difference between the inspection track and the hanging production line, fill the hanging production line into the operation model and mark each process node;

[0079] The inspection model unit carried in the operation model has a unique identifiable serial number, which is correspondingly associated with the inspection unit on the inspection track;

[0080] Load the real-time operation parameters of the inspection unit into the operation model, and the inspection model unit executes the corresponding operation parameters, and the operation parameters at least include the operation route and the operation speed.

[0081] In the embodiment of the present application, the three-dimensional model of the inspection track and the inspection model unit should be designed in proportion to the actual size to avoid errors; the operation parameters of the inspection model unit are input by an external inspection system, and the inspection model unit and the inspection unit can correspond one by one to fully simulate the operation status in real time.

[0082] Specifically, the monitoring method is mainly based on shooting, and the shooting angle needs to be adjusted based on the actual height difference between the inspection track and the hanging production line and the relative position between the inspection unit and the process node. Therefore, when filling the hanging production line in the operation model of the present application, its relative drop height is consistent with the actual situation, so that the positional relationship between each process node and the inspection model unit can fully simulate the relative positional relationship between the inspection unit and the actual process node.

[0083] Exemplarily, the inspection model unit should have a unique identifiable serial number to maintain an effective corresponding relationship with the actual inspection unit. When loading the real-time operation parameters, the inspection model unit executes the corresponding operation parameters, and the actual operation status can be effectively restored. The operation parameters at least include the operation route and the operation speed.

[0084] The control parameters of the equipment carried by the inspection unit can be adjusted according to requirements, such as the rotation and focusing of the camera.

[0085] In the embodiment of the present application, the general position of the process node in the operation model is determined, and the position of the inspection model unit is time-varying, and its relative position is always in a changing state. If the camera wants to capture a high-quality picture, at least two basic steps are required: first, adjust the direction, and second, complete the focusing.

[0086] S102. Obtain all the inspection model units within the monitorable range of the selected target node, perform focusing parameter adjustment on the target node, and generate adjustment data of the inspection unit on the inspection track.

[0087] In the embodiments of the present application, the target node is the selected / queried process node. The selection of the target node can be actively selected by the staff or periodically selected according to the predetermined control strategy. After obtaining the selection information of the target node, the simulation adjustment can be performed according to the selected target node, so as to realize the monitoring and optimal control of the actual process node.

[0088] In an implementable manner, the selected target node can screen the relevance between process nodes based on the execution flow of the entire process, so as to determine the upstream node and downstream node of the target node, and directly mark the associated nodes that have an impact on or are affected by the target node, so as to facilitate the control of the production process. For the associated mapping of the target node, it specifically includes:

[0089] Obtain the execution flow of each process node on the hanging production line;

[0090] Establish a node mapping relationship between the associated process nodes based on the execution flow;

[0091] When querying the selected process node, define the selected process node as the target node, and the upstream node and downstream node of the corresponding process node can be queried / called according to the node mapping relationship.

[0092] It should be noted that during the production process, the process that affects the current node's process may be directly located at the previous node; it may also be located at a certain upstream node and is not continuous; the same is true for the affected process. Therefore, the monitoring and inspection by conventional means cannot effectively connect them, while the present application directly monitors the associated nodes based on the relevance between processes, can effectively obtain monitoring data, and provides reliable reference data for the smooth operation of the production line.

[0093] Based on the process node, the inspection units on the inspection track around it can directly monitor the process node. However, based on the actual situation, the hanging production line and other structures will cause certain blockages, resulting in blockages between the inspection unit and the process node when the inspection unit runs to a certain place on the inspection track, affecting the monitoring effect; therefore, it is necessary to determine a clear observable range to obtain an effective and good monitoring effect.

[0094] In a specific embodiment, the determination of the observable range specifically includes:

[0095] Obtain the process nodes in the target node;

[0096] Screen the track segments on the simulation track of the operation model that can directly observe the process node based on the process node;

[0097] Based on this process node, the simulated track is divided into adjacent circles, and the track segments belonging to the adjacent circle track are defined as experimental segments;

[0098] Calculate the length of the experimental segments, eliminate the experimental segments with lengths less than the standard value, and define the remaining experimental segments as the detectable range of this process node.

[0099] In the embodiment of the present application, the adjacent circle track is screened in the way of orthographic projection. Based on the actual situation, the inspection track mostly does not overlap with the process node, and the process nodes inside and outside the track circle can be directly screened by the way of orthographic projection.

[0100] Furthermore, regarding the length of the experimental segments, if the length is too short, it will affect the data acquisition effect and also improve the position determination accuracy of the inspection unit; therefore, the shorter experimental segments can be eliminated and the longer experimental segments can be retained.

[0101] In an implementable manner, the detectable range is secondarily screened based on the actual inspection track:

[0102] Mark the experimental segments on the inspection track one by one, and collect data on the process node through the inspection unit;

[0103] The volume of the data collection is weighted according to the length of the experimental segments, and the minimum collection volume is greater than zero;

[0104] Based on the data collected within each experimental segment, eliminate the experimental segments with monitoring effects not meeting the standards;

[0105] Define the experimental segments meeting the standards as the monitorable range of this process node.

[0106] Through the above method steps, it can ensure the monitoring effect of each track segment during the monitoring process of the inspection unit. This embodiment is designed based on the actual situation, can optimize and correct the simulation effect, and make the operation model closer to the actual situation.

[0107] In the embodiment of the present application, the focus parameter adjustment includes two steps: parameter adjustment and focusing. The parameter adjustment includes at least adjusting the shooting angle and operation parameters; the focusing includes obtaining clear and complete image information. Among them, the shooting angle is adjusted based on the relative position between the process node and the inspection unit, and the operation parameters are the operation controls made by the inspection unit during this process; the focusing is adjusted based on the distance between the inspection unit and the process node.

[0108] In an implementable manner, step S102 includes:

[0109] Obtain the monitorable range of the target node and obtain the real-time position information of each inspection module unit;

[0110] Detect the number of inspection units within the detectable range and based on the relative position relationship of the target node;

[0111] Complete parameter adjustment for the target node:

[0112] If the number of inspection units is less than two, call the inspection units outside the detectable range to enter the detectable range and generate a call record, which includes the serial number of the called inspection unit and the execution parameters during the call;

[0113] If the inspection units within the detectable range are within the same track segment, adjust the front inspection unit to enter the next track segment and generate a segment record, which includes the serial number of the adjusted inspection unit and the execution parameters during the adjustment;

[0114] Complete focusing on the target node: Based on the relative position between the target node and the track segment where the inspection unit is located, adjust the data acquisition device carried by the inspection unit to obtain the correct acquisition object and generate an angle adjustment record, which includes the serial number of the track segment and the corresponding inspection unit and the relative shooting angle parameter;

[0115] Obtain the serial numbers of the inspection units in the call record, segment record, and adjustment record, integrate them into an adjustment sequence, and associate and integrate the execution parameters of the call, the adjusted track segment, the execution parameters of the adjustment, and the relative shooting angle parameter as adjustment parameters with the adjustment sequence to generate the adjustment data.

[0116] In the embodiments of the present application, the monitoring of the target node is at least carried out by inspection units in two different track segments, which can be used for mutual comparison and verification. When the inspection units participating in the call enter the detectable range, the preferred running direction is forward.

[0117] The parameters executed by the inspection units within the detectable range during the process of parameter adjustment and focusing on the target node are all recorded and associated with the corresponding serial numbers for mapping to the corresponding inspection units for execution.

[0118] It can be understood that during the process of parameter adjustment, there are also some monitoring occlusion areas within the track section covered by the detectable range. When the inspection unit is running, it should avoid direct impact and can adaptively adjust the relative running speed to avoid impact.

[0119] According to the node mapping relationship, after selecting the target node, the corresponding upstream node and downstream node can be obtained synchronously. To coordinate and control the production progress of the pipeline, the associated processes can be monitored synchronously. It can be understood that the principle of monitoring the associated processes is the same as that of monitoring the target node.

[0120] In the embodiments of the present application, it further includes focusing parameter adjustment for the associated processes of the target node, generating associated data for the inspection units on the inspection track for monitoring the associated processes:

[0121] Obtain the associated processes of the process nodes in the target node, and query the inspection units within the monitorable range of the associated processes; the associated processes include upstream nodes and downstream nodes;

[0122] Detect the number of inspection units within the monitorable range and their relative position relationship based on the associated processes;

[0123] Complete the parameter adjustment for the associated processes:

[0124] If the number of inspection units is less than two, call the inspection units outside the monitorable range into the monitorable range and generate a call record, which includes the serial numbers of the called inspection units and the execution parameters during the call;

[0125] If the inspection units within the monitorable range are in the same track segment, adjust the front inspection unit to enter the next track segment and generate a segment record, which includes the serial number of the adjusted inspection unit and the execution parameters during the adjustment;

[0126] Complete the focusing for the associated processes: Based on the relative position between the associated processes and the track segments where the inspection units are located, adjust the data acquisition devices carried by the inspection units to obtain the correct acquisition objects and generate an angle adjustment record, which includes the serial numbers of the track segments and the corresponding inspection units and the relative shooting angle parameters;

[0127] Obtain the serial numbers of the inspection units in the call record, segment record, and adjustment record, integrate them into an associated adjustment sequence, and associate and integrate the call execution parameters, adjusted track segments, adjustment execution parameters, and relative shooting angle parameters as associated adjustment parameters with the associated adjustment sequence to generate the associated data;

[0128] Use the associated data as the subsidiary execution parameters of the adjustment data and send it synchronously to the corresponding inspection units on the inspection track.

[0129] In the embodiments of the present application, the associated data obtained at the associated node is integrated into the adjusted data obtained at the target node as an auxiliary execution parameter. When monitoring the operation of the execution target node on the inspection track, the associated node executes synchronously, and the monitoring results of the real-time state can be obtained synchronously, which helps the staff to perform data analysis.

[0130] In a specific embodiment, when the inspection module unit in front is adjusted to enter the next track segment, the inspection module unit behind can be kept temporarily stopped in the current track segment until the inspection module unit in front enters the next track segment; at the same time, the inspection module units located behind the inspection module unit behind appropriately reduce the running speed or wait temporarily.

[0131] Alternatively, the inspection module unit in front increases the running speed, and the inspection module unit behind reduces the running speed so that they enter different track segments respectively.

[0132] S103. Send the adjusted data to the corresponding inspection unit on the inspection track, execute the adjusted data, obtain the monitoring data of each process node in the target node, and display it.

[0133] In the embodiments of the present application, the adjusted data not only includes the execution data of the inspection unit at the target node, but also includes the execution data of the inspection unit at the associated node. Based on the production line process, the staff can quickly analyze the operation progress according to the displayed monitoring data and perform coordinated control, which helps the smooth operation of the production line and improves the intelligent control level of the production line.

[0134] In an implementable manner, step S103 includes:

[0135] Obtain the adjusted data generated by the operation model, and detect the adjustment sequence and associated adjustment sequence of the inspection module unit included in the adjusted data;

[0136] Based on the adjustment sequence, obtain the inspection unit on the inspection track correspondingly to execute the adjustment parameters and associated adjustment parameters in the adjusted data;

[0137] Obtain the monitoring data collected by the inspection unit when executing the adjustment parameters, distinguish the monitoring data based on the target node and the node mapping relationship, and arrange and display the monitoring data of the associated process and the monitoring data of the target node.

[0138] In the embodiments of the present application, when the monitoring data of the target node is displayed, it can be used as the central display. The monitoring data of the upstream associated process can be located on the left, and the monitoring data of the downstream associated process can be located on the right. The staff can view it by swiping independently.

[0139] Furthermore, during operation, the inspection unit adjusts its real-time response status:

[0140] When the inspection unit has a monitoring task for a target node, it determines whether the track segment where the inspection unit is located is within the detectable range:

[0141] If not, it is an inoperable track section for monitoring. This inspection unit can respond to other inspection and monitoring tasks and is in a free response state;

[0142] If so, it is an operable track section for detection. This inspection unit only responds to the monitoring task of the current target node and is in an execution response state..

[0143] It can be understood that other inspection and monitoring tasks may include regular inspection and monitoring tasks, monitoring tasks for other target nodes, etc.

[0144] In the embodiments of the present application, when the inspection unit executes a monitoring task, it can do so in a fragmented dot-like timeline without occupying the entire process, enabling a single inspection unit to sequentially execute multiple monitoring tasks.

[0145] Next, the multi-vehicle collaborative control device provided by the embodiments of the present application will be introduced in detail in combination with the attached Figure 2 , and the multi-vehicle collaborative control device provided by the embodiments of the present application will be introduced in detail. It should be noted that the multi-vehicle collaborative control device shown in the attached Figure 2 is used to execute the method of the embodiments of the present application. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown. For specific technical details not disclosed, please refer to the embodiments shown in the present application Figure 1 . Figure 1 Shown embodiments.

[0146] Please refer to Figure 2 , Figure 2 is a schematic structural diagram of a multi-vehicle collaborative control device provided by an embodiment of the present application. As Figure 2 shown, the device includes:

[0147] Inspection model module 201: Establish an operation model of the inspection track and fill in each process node of the hanging production line based on the actual height difference;

[0148] Parameter adjustment module 202: Obtain all inspection model units within the detectable range of the selected target node, perform focus parameter adjustment on the target node, and generate adjustment data for the inspection units on the inspection track;

[0149] Collaborative monitoring module 203: Send the adjustment data to the corresponding inspection unit on the inspection track, execute the adjustment data, obtain the monitoring data of each process node in the target node, and display it.

[0150] Those skilled in the art can clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. 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, where the hardware can be, for example, a Field-Programmable Gate Array (FPGA), an Integrated Circuit (IC), etc.

[0151] Each processing unit and / or module of the embodiments of this application can be implemented by an analog circuit that implements the functions described in the embodiments of this application, or can be implemented by software that executes the functions described in the embodiments of this application.

[0152] See Figure 3 , which shows a schematic structural diagram of an electronic device involved in the embodiments of this application. This electronic device can be used to implement Figure 1 the method in the illustrated embodiment. As Figure 3 shown, 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.

[0153] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0154] Among them, the user interface 303 may include a display screen (Display), a camera (Camera). Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0155] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0156] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and circuits to connect each part within the entire electronic device 300, and executes various functions of the terminal 300 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305. Optionally, the central processing unit 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The central processing unit 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301 and may be implemented separately by a single chip.

[0157] Among them, the memory 305 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, 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 for implementing the above-mentioned method embodiments, etc.; the data storage area may store the data involved in the above-mentioned method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned central processing unit 301. As Figure 3 shown, the memory 305, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and program instructions.

[0158] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; and the central processing unit 301 can be used to call the multi-vehicle collaborative control application program stored in the memory 305 and specifically perform the following operations:

[0159] Establish an operation model of the inspection track and fill each process node of the hanging production line based on the actual height difference;

[0160] Obtain all inspection modules within the monitorable range of the selected target node, perform focus adjustment parameters on the target node, and generate adjustment data for the inspection modules on the inspection track;

[0161] Send the adjustment data to the corresponding inspection module on the inspection track, execute the adjustment data, obtain the monitoring data of each process node in the target node, and display it.

[0162] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented. Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical discs, DVDs, CD-ROMs, microdrives, and magneto-optical discs, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nano-systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0163] It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0164] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] In several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0166] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or can 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.

[0167] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0168] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to enable 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 each embodiment of the present application. And the aforementioned memory includes: USB flash drives, read-only memories (ROM), random access memories (RAM), mobile hard disks, magnetic disks, or optical discs and other media that can store program codes.

[0169] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program. This program can be stored in a computer-readable memory. The memory can include: flash drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs, etc.

[0170] The above are only exemplary embodiments of the present disclosure, and the scope of the present disclosure cannot be limited thereby. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the present disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A multi-vehicle collaborative control method, characterized in that The method includes: Establish an operation model of the inspection track, and fill each process node of the hanging production line based on the actual height difference; a patrol model unit simulating the inspection unit is carried on the operation model; Obtain all the patrol model units within the monitorable range of the selected target node, perform focus parameter adjustment on the target node, and generate adjustment data for the inspection units on the inspection track; the target node is the selected / queried process node; specifically including: Obtain the monitorable range of the target node, and obtain the real-time position information of each patrol model unit; Detect the number of patrol model units within the monitorable range and their relative position relationship based on the target node; Complete the parameter adjustment for the target node: If the number of patrol model units is less than two, call the patrol model units outside the monitorable range into the monitorable range, and generate a call record, which includes the serial number of the called patrol model unit and the execution parameters during the call; If the patrol model units within the monitorable range are in the same track section, adjust the front patrol model unit to enter the next track section, and generate a section record, which includes the serial number of the adjusted patrol model unit and the execution parameters during the adjustment; Complete the focus on the target node: Based on the relative position between the target node and the track section where the patrol model unit is located, adjust the data acquisition device carried by the patrol model unit to obtain the correct acquisition object, and generate an angle adjustment record, which includes the track section and the serial number of the corresponding patrol model unit, and the relative shooting angle parameter; Obtain the serial numbers of the patrol model units in the call record, section record, and adjustment record, integrate them into an adjustment sequence, and associate and integrate the execution parameters of the call, the adjusted track section, the execution parameters of the adjustment, and the relative shooting angle parameter as adjustment parameters with the adjustment sequence to generate the adjustment data; Send the adjustment data to the corresponding inspection unit on the inspection track, execute the adjustment data, and obtain and display the monitoring data of each process node in the target node.

2. The method according to claim 1, wherein The establishment of the operation model of the inspection track and the filling of each process node of the hanging production line based on the actual height difference includes: Build a three-dimensional model of the inspection track based on the actual operation line of the inspection track, and carry the patrol model unit on the three-dimensional model to form the operation model; Based on the actual height difference between the inspection track and the hanging production line, fill the hanging production line into the operation model and mark each process node; The patrol model units carried in the operation model have unique identifiable serial numbers, which are corresponding and associated with the inspection units on the inspection track; Load the real-time operation parameters of the inspection units into the operation model, and the patrol model units execute the corresponding operation parameters, and the operation parameters at least include the operation route and the operation speed.

3. The method according to claim 1, characterized in that It also includes the associated mapping of the target node: Obtain the execution processes of each process node on the hanging production line; Establish a node mapping relationship between the process nodes with associations based on the execution processes; When the selected process node is queried, the selected process node is defined as the target node, and the upstream node and downstream node of the corresponding process node can be queried / called according to the node mapping relationship.

4. The method according to claim 1, wherein The determination of the detectable range includes: Obtaining the process nodes within the target node; Screening the track segments on the simulation track of the operation model that can directly observe the process nodes based on the process nodes; Based on the process nodes, dividing the adjacent circles of the simulation track, and defining the track segments on the adjacent circle tracks as experimental segments; Calculating the length of the experimental segments, removing the experimental segments with lengths less than the standard value, and defining the remaining experimental segments as the detectable range of the process nodes.

5. The method according to claim 4, wherein It also includes the focus parameter adjustment of the associated processes of the target node, generating the associated data of the inspection units on the inspection track for monitoring the associated processes: Obtaining the associated processes of the process nodes within the target node, and querying the inspection units within the detectable range of the associated processes; the associated processes include upstream nodes and downstream nodes; Detecting the number of inspection units within the detectable range and their relative position relationships based on the associated processes; Completing the parameter adjustment of the associated processes: If the number of inspection units is less than two, calling the inspection units outside the detectable range into the detectable range and generating a call record, where the call record includes the serial numbers of the called inspection units and the execution parameters during the call; If the inspection units within the detectable range are in the same track segment, adjusting the front inspection unit to enter the next track segment and generating a segment record, where the segment record includes the serial number of the adjusted inspection unit and the execution parameters during the adjustment; Completing the focus on the associated processes: Based on the relative position between the associated processes and the track segments where the inspection units are located, adjusting the data acquisition devices carried by the inspection units to obtain the correct acquisition objects and generating an angle adjustment record, where the angle adjustment record includes the track segments, the serial numbers of the corresponding inspection units, and the relative shooting angle parameters; Obtaining the serial numbers of the inspection units in the call record, segment record, and adjustment record, integrating them into an associated adjustment sequence, and associating and integrating the execution parameters of the call, the adjusted track segments, the execution parameters of the adjustment, and the relative shooting angle parameters as associated adjustment parameters with the associated adjustment sequence to generate the associated data; Taking the associated data as the attached execution parameters of the adjustment data and synchronously sending them to the corresponding inspection units on the inspection track.

6. The method according to claim 5, characterized in that Sending the adjustment data to the corresponding inspection units on the inspection track, executing the adjustment data and obtaining the monitoring data of each process node within the target node, including: Obtaining the adjustment data generated by the operation model, and detecting the adjustment sequence and associated adjustment sequence of the inspection units included in the adjustment data; Correspondingly obtaining the inspection units on the inspection track based on the adjustment sequence to execute the adjustment parameters and associated adjustment parameters in the adjustment data. Obtain the monitoring data collected by the inspection unit when executing the adjustment parameters, distinguish the monitoring data based on the target node and the node mapping relationship, and arrange and display the monitoring data of the associated process and the monitoring data of the target node.

7. A multi-vehicle collaborative control device, characterized in that, Applicable to a multi-vehicle collaborative control method as described in claim 1, the device includes: An inspection model module that establishes an operation model of the inspection track and fills each process node of the hanging production line based on the actual height difference; A parameter adjustment module that obtains all inspection model units within the monitorable range of the selected target node, performs focus parameter adjustment on the target node, and generates adjustment data for the inspection units on the inspection track; A collaborative monitoring module that sends the adjustment data to the corresponding inspection unit on the inspection track, executes the adjustment data, and obtains and displays the monitoring data of each process node within the target node.

8. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method as described in any one of claims 1-6.

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