Remote cable pipe-through machine robot device

Abstract

A kind of remote control cable pipe penetrating robot device, via obtaining image to be transmitted, according to the image to be transmitted, obtain several candidate transmission frequency bands, via the corresponding destination transmission bandwidth of candidate transmission frequency band, the destination criticality of candidate transmission frequency band is calculated, according to the destination criticality of candidate transmission frequency band, the destination transmission frequency band of image to be transmitted is determined from several candidate transmission frequency bands, according to the destination transmission frequency band, the transmission of image to be transmitted is executed;Via the corresponding destination transmission bandwidth of candidate transmission frequency band, the real transmission bandwidth of frequency band can be obtained, so that image is transmitted to each frequency band according to the proportion of real transmission bandwidth, prevent the hardware consumption or image accumulation when using frequency band, and according to the real transmission bandwidth, the destination transmission frequency band is determined, so that image can be transmitted to remote control device in real time.

Description

Technical Field

[0001] This invention belongs to the field of conduit-threading robot technology, specifically relating to a remote-controlled cable conduit-threading robot device. Background Technology

[0002] Modern power distribution pipelines can reach tens of thousands of meters in length and weigh thousands of tons. Power plants and industrial enterprises have complex and intricate pipeline systems, characterized by long lines, numerous bends, small inner diameters, and nested pipe diameters, posing significant challenges to cable laying and installation. Traditional conduit pullers are bulky, inconvenient to carry, and prone to breakage at the ends. Operation requires multiple people working together, pulling the conduit from both ends and making blind connections at the joints. The success rate is low and highly dependent on the experience and coordination of the operators, severely limiting on-site efficiency and wasting manpower.

[0003] Therefore, a type of conduit-threading robot has been developed to pass cables through power distribution pipes. When the conduit-threading robot passes through the power distribution pipe, a camera is often installed at the front of the robot to check whether there are foreign objects or rust in the power distribution pipe. If so, the conduit-threading robot must first withdraw, remove the foreign objects or rust, and then continue to perform the operation of passing the cable through the power distribution pipe.

[0004] Thus, while the robot is traversing the power distribution pipeline, the images of the pipeline captured by the camera must be transmitted to the remote control device for viewing. The transmission bandwidth of the frequency band used to transmit these images is a constant. This constant is often subjectively set and does not represent the actual image transmission bandwidth. If the constant is set too low, the frequency band cannot be used to transmit images efficiently, resulting in hardware and software overhead; if the constant is set too high, image congestion will occur, preventing real-time transmission to the remote control device. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes a remote-controlled cable conduit-threading robot device. This device acquires an image to be transmitted, obtains several candidate transmission frequency bands based on the image, calculates the target criticality of each candidate frequency band by calculating its corresponding target transmission bandwidth, and determines the target transmission frequency band for the image to be transmitted based on the target criticality. The image is then transmitted according to the target transmission frequency band. By calculating the target transmission bandwidth of the candidate frequency bands, the actual transmission bandwidth of the frequency band can be obtained, allowing the image to be transmitted to each frequency band according to the proportion of the actual transmission bandwidth. This prevents hardware and software losses or image aggregation when using frequency bands, and by determining the target transmission frequency band based on the actual transmission bandwidth, the image can be transmitted to the remote control device in real time.

[0006] The present invention employs the following technical solution.

[0007] A control method for a remote-controlled cable conduit-threading robot includes:

[0008] Step 1: The robot's control unit receives the remote control command from the remote control device. Then, the robot's control unit manipulates the robot's drive unit to enter the power distribution pipe to perform the cable threading operation.

[0009] Step 2: As the robot traverses the power distribution conduit, the camera collects images of the conduit in real time and transmits them to the robot's control unit;

[0010] Step 3: The robot's control unit transmits the image of the power distribution pipeline to the remote control device;

[0011] Step 4: The remote control device displays the received images. If the monitoring personnel find foreign objects or rust in the power distribution pipes in the images, they use the remote control device to make the robot exit the power distribution pipes, remove the foreign objects or rust, and then return to Step 1 to perform the operation.

[0012] Preferably, the method by which the robot's control unit transmits images from the power distribution pipeline to the remote control device operates on the robot's control unit, specifically including:

[0013] Step 3-1: Obtain the image to be transmitted;

[0014] Step 3-2: Obtain several candidate transmission frequency bands based on the image to be transmitted;

[0015] Step 3-3: Calculate the corresponding destination transmission bandwidth for the candidate transmission frequency bands;

[0016] Steps 3-4: Calculate the target criticality of the candidate transmission frequency bands based on their target transmission bandwidth;

[0017] Steps 3-5: Based on the target criticality of the candidate transmission frequency bands, determine the target transmission frequency band for the image to be transmitted from several candidate transmission frequency bands;

[0018] Steps 3-6: Transmit the images to be transmitted according to the target transmission frequency band.

[0019] Preferably, if a candidate transmission frequency band cannot be retrieved from the temporary storage based on the image to be transmitted, a new frequency band is constructed, which is then used as a new online frequency band, and the target transmission bandwidth of the frequency band is set to a pre-defined bandwidth threshold.

[0020] Preferably, the method in step 3-3 includes:

[0021] Step 3-3-1: Obtain the initial transmission bandwidth for the candidate transmission frequency band;

[0022] Step 3-3-2: Calculate the target transmission bandwidth of the candidate transmission frequency band based on the initial transmission bandwidth.

[0023] Preferably, the method in step 3-3-2 includes:

[0024] Step 3-3-2-1: If the initial transmission bandwidth is different from the current transmission bandwidth of the candidate transmission band, refresh the current transmission bandwidth of the candidate transmission band to calculate and obtain the target transmission bandwidth of the candidate transmission band.

[0025] Preferably, in step 3-3-2-1, if the initial transmission bandwidth of the candidate transmission band is different from the current transmission bandwidth of the candidate transmission band, that is, the candidate transmission band has a new transmission bandwidth, the current transmission bandwidth is refreshed with the initial transmission bandwidth to obtain the target transmission bandwidth of the candidate transmission band.

[0026] Preferably, the method in step 3-3-2 further includes:

[0027] Step 3-3-2-a: If the initial transmission bandwidth is the same as the current transmission bandwidth of the candidate transmission band, obtain the initial state of the candidate transmission band during transmission, refresh the current state of the candidate transmission band based on the initial state, and calculate the destination state of the candidate transmission band.

[0028] Step 3-3-2-b: Calculate the target transmission bandwidth of the candidate transmission frequency bands based on the target conditions of the candidate transmission frequency bands.

[0029] Preferably, in step 3-3-2-b, if the destination status of the candidate transmission frequency band is offline, the destination transmission bandwidth of the candidate transmission frequency band is set to NULL. A NULL destination transmission bandwidth indicates that the frequency band is offline and no images are transmitted. If the destination status of the candidate transmission frequency band is online, and it is a newly online status, the destination transmission bandwidth of the candidate transmission frequency band is set to a pre-defined bandwidth threshold, and images are transmitted using this pre-defined bandwidth. If the destination status of the candidate transmission frequency band is online, but not a newly online status, the current transmission bandwidth of the candidate transmission frequency band is used as its destination transmission bandwidth. When the initial transmission bandwidth is the same as the previous transmission bandwidth, and the destination status of the frequency band is online and not a newly online status, it indicates that the frequency band is valid. Because the frequency band transmission bandwidth is not refreshed, image transmission is still performed based on its current transmission bandwidth.

[0030] Preferably, the method in steps 3-4 includes:

[0031] Step 3-4-1: Obtain the initial criticality of the candidate transmission frequency band;

[0032] Step 3-4-2: Calculate the target criticality of the candidate transmission frequency band by adding the starting criticality of the candidate transmission frequency band to the target transmission bandwidth of the candidate transmission frequency band.

[0033] Preferably, in step 3-4-1, the initial criticality of the candidate transmission frequency band is NULL;

[0034] In step 3-4-2, if the initial criticality of the candidate transmission band is X1 and the destination transmission bandwidth of the candidate transmission band is T, then the destination criticality of the candidate transmission band is X = X1 + T.

[0035] Preferably, after identifying the target transmission frequency band, the initial criticality X1 of each candidate transmission frequency band is refreshed, that is, X1 = T. z -X1, where T z It is the total measurement of the target transmission bandwidth of several candidate transmission frequency bands.

[0036] A remote-controlled cable threading robot device, comprising:

[0037] Remote control device, robot, camera and wireless communication module;

[0038] The camera and wireless communication module located at the front of the robot are connected to the robot's control unit, and a cable is connected to the rear of the robot; the modules running on the robot's control unit include:

[0039] The system comprises: Module 1, which acquires the image to be transmitted; Module 2, which acquires several candidate transmission frequency bands based on the image to be transmitted; Module 1, which calculates the corresponding target transmission bandwidth of the candidate transmission frequency bands; Module 2, which calculates the target criticality of the candidate transmission frequency bands based on their target transmission bandwidth; Module 3, which identifies the target transmission frequency band of the image to be transmitted based on the target criticality of the candidate transmission frequency bands and the several candidate transmission frequency bands; and Module 4, which executes the transmission of the image to be transmitted based on the target transmission frequency band.

[0040] The beneficial effects of this invention are as follows: Compared with the prior art, this invention obtains an image to be transmitted, obtains several candidate transmission frequency bands based on the image to be transmitted, calculates the target criticality of the candidate transmission frequency bands by calculating the corresponding target transmission bandwidth, determines the target transmission frequency band of the image to be transmitted based on the target criticality of the candidate transmission frequency bands, and executes the transmission of the image to be transmitted based on the target transmission frequency band; by calculating the corresponding target transmission bandwidth of the candidate transmission frequency bands, the actual transmission bandwidth of the frequency band can be obtained, allowing the image to be transmitted to each frequency band according to the proportion of the actual transmission bandwidth, preventing hardware and software losses or image accumulation when using frequency bands, and determining the target transmission frequency band based on the actual transmission bandwidth allows the image to be transmitted to the remote control device in real time. Attached Figure Description

[0041] Figure 1 This is a partial flowchart of the control method for the remote-controlled cable conduit robot device described in this invention;

[0042] Figure 2 This is a partial component structure diagram of the remote-controlled cable conduit-threading robot device described in this invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, any other embodiments obtained by those skilled in the art without creative effort are all within the protection scope of this invention.

[0044] like Figure 1 As shown, the control method for a remote-controlled cable conduit-threading robot device according to the present invention includes:

[0045] Step 1: The robot's control unit receives the remote control command from the remote control device. Then, the robot's control unit manipulates the robot's drive unit to enter the power distribution pipe to perform the cable threading operation.

[0046] Step 2: As the robot traverses the power distribution conduit, the camera collects images of the conduit in real time and transmits them to the robot's control unit;

[0047] Step 3: The robot's control unit transmits the image of the power distribution pipeline to the remote control device;

[0048] Step 4: The remote control device displays the received images. If the monitoring personnel find foreign objects or rust in the power distribution pipes in the images, they use the remote control device to make the robot exit the power distribution pipes, remove the foreign objects or rust, and then return to Step 1 to perform the operation.

[0049] Currently, when a pipe-threading robot traverses an electrical distribution pipeline, the images captured by a camera must be transmitted to a remote control device for viewing. The transmission bandwidth of the frequency band used to transmit these images is a constant. This constant is often subjectively set and does not accurately represent the actual image transmission bandwidth. If the constant is set too low, the frequency band cannot be used to maximize image transmission, resulting in hardware and software overhead; if the constant is set too high, image congestion will occur, preventing real-time transmission to the remote control device.

[0050] Because frequency bands are often used to transmit images based on subjectively set transmission bandwidth requirements, and these subjectively set bandwidth requirements are often inaccurate, the frequency band cannot adjust its own transmission bandwidth according to the actual situation, resulting in hardware and software losses or image accumulation when using the frequency band. Therefore, this invention provides a control method for a remote-controlled cable conduit robot device. By calculating the target transmission bandwidth of the frequency band, the actual transmission bandwidth of the frequency band can be obtained, allowing the frequency band to actively adjust its own transmission bandwidth according to the actual situation of image transmission. This prevents hardware and software losses or image accumulation caused by the frequency band transmitting images based on subjectively set transmission bandwidth. Furthermore, the target transmission frequency band is determined based on the actual transmission bandwidth, so that the image can be transmitted to the remote control device in real time.

[0051] In a preferred but non-limiting embodiment of the present invention, the method by which the robot's control unit transmits images of the power distribution pipeline to the remote control device, running on the robot's control unit, specifically includes:

[0052] Step 3-1: Obtain the image to be transmitted; the image to be transmitted is the image of the power distribution pipeline.

[0053] Step 3-2: Obtain several candidate transmission frequency bands based on the image to be transmitted; the candidate transmission frequency bands are the frequency bands located between the robot's control unit and the remote control device used to transmit images.

[0054] Step 3-3: Calculate the corresponding destination transmission bandwidth for the candidate transmission frequency bands;

[0055] Steps 3-4: Calculate the target criticality of the candidate transmission frequency bands based on their target transmission bandwidth;

[0056] Steps 3-5: Based on the target criticality of the candidate transmission frequency bands, determine the target transmission frequency band for the image to be transmitted from several candidate transmission frequency bands;

[0057] Steps 3-6: Transmit the images to be transmitted according to the target transmission frequency band.

[0058] In step 3-3, the target transmission bandwidth is the actual transmission bandwidth of the image transmitted under the candidate transmission frequency band, which represents the actual amount of image transmitted in 1 minute during the image transmission of the candidate transmission frequency band. By calculating the target transmission bandwidth of the candidate transmission frequency band, the actual transmission bandwidth of the candidate transmission frequency band can be obtained.

[0059] In steps 3-4 and 3-5, the target criticality of each candidate transmission frequency band is calculated based on the target transmission bandwidth of each candidate transmission frequency band. Based on the target criticality of several candidate transmission frequency bands, the target transmission frequency band of the image to be transmitted is determined. The target transmission frequency band is the optimal frequency band for transmitting the image. The selection method can be to select the candidate transmission frequency band with the highest target criticality from several candidate transmission frequency bands as the target transmission frequency band of the image to be transmitted.

[0060] In steps 3-6, the image to be transmitted is transmitted within the destination transmission frequency band using the destination transmission bandwidth.

[0061] In a preferred but non-limiting embodiment of the present invention, if a candidate transmission frequency band cannot be retrieved from the temporary storage based on the image to be transmitted, a new frequency band is constructed, and this frequency band is used as a new online frequency band, and the target transmission bandwidth of this frequency band is set to a pre-set bandwidth threshold.

[0062] In a preferred but non-limiting embodiment of the present invention, the method of step 3-3 includes:

[0063] Step 3-3-1: Obtain the initial transmission bandwidth for the candidate transmission frequency band;

[0064] Step 3-3-2: Calculate the target transmission bandwidth of the candidate transmission frequency band based on the initial transmission bandwidth.

[0065] In step 3-3-1, because there are a considerable number of frequency bands, and each frequency band is equipped with several tasks, a separate program is used to collect the images transmitted by the frequency band, and then another program retrieves the images during transmission. Because JAVA programs offer diverse image formats, operate efficiently, and use a separate process for image processing, synchronous refreshing does not require locking, reducing program complexity, a JAVA program can be chosen as the program for collecting transmitted images. A timing module is set to retrieve the images during transmission via a constant time interval through the JAVA program.

[0066] The initial transmission bandwidth can be stored in the form of an image using the Image class in a JAVA program. When transmitting images in the frequency band, 1 second is a period within the total time period. The total image transmission volume of each period is the total image transmission volume of a total time period. At the beginning of each 1 minute, the total transmission volume of the previous sixty periods is the total image transmission volume of the previous 1 minute. The transmission volume of the previous 1 minute is the initial transmission bandwidth. The initial transmission bandwidth is passed to the Image class of the JAVA program. The Image class in the JAVA program stores the image in the form of [lfz:[gjfme:wbmvf]]. Here, the current 1 minute is lfz, the unique code of the frequency band is gjfme, and the transmission volume is wbmvf. If the frequency band code is frequency band one, it represents the transmission volume of frequency band one in the current 1 minute, which is the initial transmission bandwidth DK when frequency band one is transmitted. Also, each key is only useful within a pre-set time period. This pre-set time period is a constant time interval set by the timing module. If it exceeds the pre-set time interval, the image represented by lfz is considered to have timed out, and the JAVA program clears the timed-out image.

[0067] In a preferred but non-limiting embodiment of the present invention, the method of step 3-3-2 includes:

[0068] Step 3-3-2-1: If the initial transmission bandwidth is different from the current transmission bandwidth of the candidate transmission band, refresh the current transmission bandwidth of the candidate transmission band to calculate and obtain the target transmission bandwidth of the candidate transmission band.

[0069] In a preferred but non-limiting embodiment of the present invention, in step 3-3-2-1, if the initial transmission bandwidth of the candidate transmission band is different from the current transmission bandwidth of the candidate transmission band, that is, the candidate transmission band has a new transmission bandwidth, the current transmission bandwidth is refreshed with the initial transmission bandwidth to obtain the target transmission bandwidth of the candidate transmission band.

[0070] In a preferred but non-limiting embodiment of the present invention, the method in step 3-3-2 further includes:

[0071] Step 3-3-2-a: If the initial transmission bandwidth is the same as the current transmission bandwidth of the candidate transmission band, obtain the initial state of the candidate transmission band during transmission, refresh the current state of the candidate transmission band based on the initial state, and calculate the destination state of the candidate transmission band.

[0072] Step 3-3-2-b: Calculate the target transmission bandwidth of the candidate transmission frequency bands based on the target conditions of the candidate transmission frequency bands.

[0073] In step 3-3-2-a, if the initial transmission bandwidth of the candidate transmission band is the same as the current transmission bandwidth, the candidate transmission band will often be abnormal. The initial status of the candidate transmission band during transmission is obtained in another program. The initial status is the most recent status of the band. The current status of the candidate transmission band is refreshed based on the initial status to obtain the target status of the candidate transmission band.

[0074] In a preferred but non-limiting embodiment of the present invention, in step 3-3-2-b, if the target status of the candidate transmission frequency band is offline, the target transmission bandwidth of the candidate transmission frequency band is set to NULL. A target transmission bandwidth of NULL indicates that the frequency band is offline and no images are transmitted. If the target status of the candidate transmission frequency band is online, and it is a newly online status, the target transmission bandwidth of the candidate transmission frequency band is set to a pre-defined bandwidth threshold, and images are transmitted using this pre-defined bandwidth. If the target status of the candidate transmission frequency band is online, but not a newly online status, the current transmission bandwidth of the candidate transmission frequency band is set as its target transmission bandwidth. When the initial transmission bandwidth is the same as the previous transmission bandwidth, the target status of the frequency band is online and not a newly online status, indicating that the frequency band is valid. Because the frequency band transmission bandwidth is not refreshed, image transmission is still performed based on its current transmission bandwidth.

[0075] When the initial transmission bandwidth and the current transmission bandwidth are the same, the frequency band often becomes abnormal. By refreshing the frequency band status, abnormal frequency bands can be identified and images are not sent to abnormal frequency bands. In addition, continuous refreshing of the frequency band status can also identify and restore the reasonable frequency bands, thereby restoring the reasonable frequency bands to send images without manual intervention.

[0076] When transmitting the initial status of a frequency band, a listening method is used to transmit the initial status to another program; the listening is achieved using a timing task, that is, by using a timing module to set a constant time period, just like various distances The system listens for the initial status of the frequency band and transmits this information to another program. In Java, this program uses an Image class to store the initial status of the frequency band, which is [Frequency Band Code: Last Listening Time]. The last listening time uses the current time of the control unit. Similarly, a timing module is used to set a constant time period, and the initial status of the frequency band is obtained within the other program. Whether the frequency band is online or offline is determined by subtracting the initial status of the transmission (including the time the control unit transmits the image) from the current time (the time the remote control device obtains the transmitted image). The difference (the absolute value of the subtraction) is then used to determine the online / offline status. If the difference exceeds the pre-set time threshold, the frequency band is offline; if the difference does not exceed the time threshold, the frequency band is online. For example, the pre-set time threshold is... After obtaining the initial state of frequency band transmission through a separate procedure, if the difference between the last listening time in the initial state and the current acquisition time is higher than... In other words, if no transmission is detected in the frequency band after three consecutive listening cycles, the frequency band is considered offline; otherwise, it is considered online. Since the current transmission bandwidth of a newly online frequency band is NULL, after determining that a frequency band is online, its current transmission bandwidth can be checked to see if it is NULL, thus confirming whether the frequency band is newly online.

[0077] The transmission bandwidth of both the new online and offline frequency bands is NULL.

[0078] In a preferred but non-limiting embodiment of the present invention, the method of steps 3-4 includes:

[0079] Step 3-4-1: Obtain the initial criticality of the candidate transmission frequency band;

[0080] Step 3-4-2: Calculate the target criticality of the candidate transmission frequency band by adding the starting criticality of the candidate transmission frequency band to the target transmission bandwidth of the candidate transmission frequency band.

[0081] In a preferred but non-limiting embodiment of the present invention, in step 3-4-1, the initial criticality of the candidate transmission frequency band is NULL;

[0082] In step 3-4-2, if the initial criticality of the candidate transmission frequency band is X1 and the target transmission bandwidth of the candidate transmission frequency band is T, then the target criticality of the candidate transmission frequency band is X = X1 + T, and the target criticality of each candidate transmission frequency band can be calculated.

[0083] In a preferred but non-limiting embodiment of the present invention, after identifying the target transmission frequency band, the initial criticality X1 of each candidate transmission frequency band is refreshed, that is, X1 = T.z -X1, where T z It is the total measurement of the target transmission bandwidth of several candidate transmission frequency bands.

[0084] If the first image is transmitted within the first destination transmission band using destination transmission bandwidth one, and the subsequent image is transmitted within the second destination transmission band using destination transmission bandwidth two, and the ratio of destination transmission bandwidth one to destination transmission bandwidth two is T1:T2, then it is considered that the image is transmitted to destination transmission band one and destination transmission band two according to the T1:T2 ratio, allowing the image to be allocated according to the ratio of the destination transmission bandwidths; for example, the ratio of the destination transmission bandwidths of the three bands is 10. 3 5*10 2 10 2 Therefore, the ratio of images received by the three frequency bands is 2:1:0.2.

[0085] The control method of the remote-controlled cable conduit robot device provided by this invention involves obtaining an image to be transmitted, obtaining several candidate transmission frequency bands based on the image, calculating the target criticality of the candidate transmission frequency bands by calculating the corresponding target transmission bandwidth, determining the target transmission frequency band for the image to be transmitted based on the target criticality of the candidate transmission frequency bands, and transmitting the image to be transmitted according to the target transmission frequency band. By calculating the corresponding target transmission bandwidth of the candidate transmission frequency bands, the actual transmission bandwidth of the frequency band can be obtained, allowing the image to be transmitted to each frequency band according to the proportion of the actual transmission bandwidth. This prevents hardware and software losses or image accumulation when using frequency bands, and the determination of the target transmission frequency band based on the actual transmission bandwidth allows the image to be transmitted to the remote control device in real time.

[0086] like Figure 2 As shown, the remote-controlled cable threading robot device of the present invention includes:

[0087] Remote control device, robot, camera and wireless communication module; the remote control device can be a 4G mobile phone, the wireless communication module can be a 4G module, and the robot can be a miniature robot used as a tube-piercing robot.

[0088] The camera and wireless communication module located at the front of the robot are connected to the robot's control unit, and a cable is connected to the rear of the robot; the modules running on the robot's control unit include:

[0089] The system comprises: Module 1, which acquires the image to be transmitted; Module 2, which acquires several candidate transmission frequency bands based on the image to be transmitted; Module 1, which calculates the corresponding target transmission bandwidth of the candidate transmission frequency bands; Module 2, which calculates the target criticality of the candidate transmission frequency bands based on their target transmission bandwidth; Module 3, which identifies the target transmission frequency band of the image to be transmitted based on the target criticality of the candidate transmission frequency bands and the several candidate transmission frequency bands; and Module 4, which executes the transmission of the image to be transmitted based on the target transmission frequency band.

[0090] The beneficial effects of this invention are as follows: Compared with the prior art, this invention obtains an image to be transmitted, obtains several candidate transmission frequency bands based on the image to be transmitted, calculates the target criticality of the candidate transmission frequency bands by calculating the corresponding target transmission bandwidth, determines the target transmission frequency band of the image to be transmitted based on the target criticality of the candidate transmission frequency bands, and executes the transmission of the image to be transmitted based on the target transmission frequency band; by calculating the corresponding target transmission bandwidth of the candidate transmission frequency bands, the actual transmission bandwidth of the frequency band can be obtained, allowing the image to be transmitted to each frequency band according to the proportion of the actual transmission bandwidth, preventing hardware and software losses or image accumulation when using frequency bands, and determining the target transmission frequency band based on the actual transmission bandwidth allows the image to be transmitted to the remote control device in real time.

[0091] This disclosure may be a system, method, and / or computer program product. A computer program product may include a computer-readable appendix having computer-readable program instructions loaded thereon for causing a processor to achieve each aspect disclosed herein.

[0092] Computer-readable printed media can be tangible printed media capable of holding and printing instructions executed by a circuit. Computer-readable printed media can be—but is not limited to—electrical printed media, magnetic printed media, optical printed media, electromagnetic printed media, semiconductor printed media, or any suitable combination thereof. Further examples of computer-readable printed media (a non-exhaustive list) include: portable computer disks, hard disks, random access memory (RAM), read-only memory (RyM), erasable programmable read-only memory (EPRyM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (HD-RyM), digital multipurpose disk (DXD), memory sticks, floppy disks, mechanically encoded printed media, such as punch cards or recessed protrusions with instructions printed on them, or any suitable combination thereof. The computer-readable annotated medium used herein is not to be interpreted as the instantaneous message itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (like light pulses through power transmission cables), or electrical messages transmitted through wires.

[0093] The computer-readable program instructions expressed herein can be downloaded from computer-readable supplementary media to each computing / processing power line, or downloaded via a wireless network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external supplementary power line. The wireless network can include copper transmission cables, transmission line transmissions, wireless transmissions, routers, firewalls, switches, Wi-Fi device computers, and / or edge servers. A wireless network adapter card or wireless network port in each computing / processing power line receives the computer-readable program instructions from the wireless network and forwards the computer-readable program instructions to the computer-readable supplementary media stored in each computing / processing power line.

[0094] The computer program instructions used to execute the operations of this disclosure can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-associative instructions, microcode, firmware instructions, conditional values, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as ScalarQAL, H++, etc., and conventional procedural programming languages ​​such as H' language or similar programming languages. The computer-readable program instructions can be executed entirely on a client computer, partially on a client computer, as a single software package, or partially on a client computer and partially on a remote computing facility. Execution can be performed on-site or entirely on a remote computer or server. In the form involving a remote computer, the remote computer can connect to the client computer via any type of wireless network—including a local area network (LAb) or a wide area network (UAb)—or can connect to an external computer (such as using an Internet service provider to connect via the Internet). In some embodiments, electronic circuitry is customized using status values ​​of computer-readable program instructions, such as programmable logic circuits, field-programmable gate arrays (processing platforms), or programmable logic arrays (PLAs), which can execute computer-readable program instructions to achieve every aspect of cost disclosure.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent updates can still be made to the specific embodiments of the present invention without departing from the spirit and scope of the present invention, and any modifications or equivalent updates should be covered within the scope of protection of the claims of the present invention.

Claims

1. A control method for a remote-controlled cable threading robot device, characterized in that, include: Step 1: The robot's control unit receives the remote control command from the remote control device. Then, the robot's control unit manipulates the robot's drive unit to enter the power distribution pipe to perform the cable threading operation. Step 2: As the robot traverses the power distribution conduit, the camera collects images of the conduit in real time and transmits them to the robot's control unit; Step 3: The robot's control unit transmits the image of the power distribution pipeline to the remote control device; Step 4: The remote control device displays the received image. If the monitoring personnel find foreign objects or rust in the power distribution pipeline in the image, they use the remote control device to make the robot exit the power distribution pipeline, remove the foreign objects or rust, and then return to Step 1 to perform the operation. The method by which the robot's control unit transmits images of the power distribution pipeline to the remote control device operates on the robot's control unit and specifically includes: Step 3-1: Obtain the image to be transmitted; Step 3-2: Obtain several candidate transmission frequency bands based on the image to be transmitted; Step 3-3: Calculate the corresponding destination transmission bandwidth for the candidate transmission frequency bands; Steps 3-4: Calculate the target criticality of the candidate transmission frequency bands based on their target transmission bandwidth; Steps 3-5: Based on the target criticality of the candidate transmission frequency bands, determine the target transmission frequency band for the image to be transmitted from several candidate transmission frequency bands; Steps 3-6: Transmit the images to be transmitted according to the target transmission frequency band.

2. The control method for the remote-controlled cable threading robot device according to claim 1, characterized in that, If a candidate transmission frequency band cannot be retrieved from the temporary storage based on the image to be transmitted, a new frequency band is constructed, which is then used as a new online frequency band, and the target transmission bandwidth of the frequency band is set to a pre-defined bandwidth threshold.

3. The control method for the remote-controlled cable threading robot device according to claim 1, characterized in that, The method in step 3-3 includes: Step 3-3-1: Obtain the initial transmission bandwidth for the candidate transmission frequency band; Step 3-3-2: Calculate the target transmission bandwidth of the candidate transmission frequency band based on the initial transmission bandwidth.

4. The control method for the remote-controlled cable conduit-threading robot device according to claim 3, characterized in that, The method in step 3-3-2 includes: Step 3-3-2-1: If the initial transmission bandwidth is different from the current transmission bandwidth of the candidate transmission band, refresh the current transmission bandwidth of the candidate transmission band to calculate and obtain the target transmission bandwidth of the candidate transmission band.

5. The control method for the remote-controlled cable threading robot device according to claim 4, characterized in that, In step 3-3-2-1, if the initial transmission bandwidth of the candidate transmission band is different from the current transmission bandwidth of the candidate transmission band, that is, the candidate transmission band has a new transmission bandwidth, the current transmission bandwidth is refreshed with the initial transmission bandwidth to obtain the target transmission bandwidth of the candidate transmission band.

6. The control method for the remote-controlled cable threading robot device according to claim 4, characterized in that, The method in step 3-3-2 also includes: Step 3-3-2-a: If the initial transmission bandwidth is the same as the current transmission bandwidth of the candidate transmission band, obtain the initial state of the candidate transmission band during transmission, refresh the current state of the candidate transmission band based on the initial state, and calculate the destination state of the candidate transmission band. Step 3-3-2-b: Calculate the target transmission bandwidth of the candidate transmission frequency bands based on their target conditions; In step 3-3-2-b, if the destination status of the candidate transmission frequency band is offline, the destination transmission bandwidth of the candidate transmission frequency band is taken as... The target transmission bandwidth of the frequency band is This indicates that the frequency band is offline and no images will be transmitted. If the target status of the candidate transmission frequency band is online, and it is a new online status, the target transmission bandwidth of the candidate transmission frequency band is taken as the pre-set bandwidth threshold, and the image is transmitted using the pre-set bandwidth. If the target status of the candidate transmission frequency band is online and not a new online status, the current transmission bandwidth of the candidate transmission frequency band is taken as the target transmission bandwidth of the candidate transmission frequency band. When the initial transmission bandwidth is the same as the previous transmission bandwidth, the target status of the frequency band is online, and not a new online status, which means that the frequency band is reasonable. Since the frequency band transmission bandwidth is not refreshed, the image transmission is still performed according to its current transmission bandwidth.

7. The control method for the remote-controlled cable threading robot device according to claim 1, characterized in that, The method in steps 3-4 includes: Step 3-4-1: Obtain the initial criticality of the candidate transmission frequency band; Step 3-4-2: Calculate the target criticality of the candidate transmission frequency band by adding the starting criticality of the candidate transmission frequency band to the target transmission bandwidth of the candidate transmission frequency band.

8. The control method for the remote-controlled cable threading robot device according to claim 7, characterized in that, In step 3-4-1, the initial criticality of the candidate transmission frequency band is ; Within step 3-4-2, if the initial criticality of the candidate transmission frequency band is... The target transmission bandwidth of the candidate transmission frequency band is So, the criticality of the candidate transmission frequency band is... ; After identifying the target transmission frequency band, the initial criticality of each candidate transmission frequency band is determined. Refresh, that is ,here It is the total measurement of the target transmission bandwidth of several candidate transmission frequency bands.

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