Pipe trolley control method, electronic device and pipe trolley

Abstract

The application discloses a kind of control method of pipeline trolley, electronic equipment and pipeline trolley.It relates to the field of intelligent electronics, which comprises the following steps: when it is detected that the pipeline trolley is running in the pipeline, the first pressure value between the front wheel and the pipeline at the first time is obtained;The second pressure value between the front wheel and the pipeline at the second time is obtained;Based on the first pressure value and the second pressure value, the length adjustment mode corresponding to the first telescopic rod is determined;According to the length adjustment mode, the first telescopic rod is adjusted to obtain the adjusted telescopic rod position information;Based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope, the target adjustment mode of the second telescopic rod connected to the rear wheel of the pipeline trolley is determined;According to the target adjustment mode, the second telescopic rod is adjusted.The application solves the technical problem that the pipeline trolley in the related art cannot adapt to the change of road conditions and pipe diameter in the pipeline, which leads to the inconvenience of the trolley running in the pipeline.

Description

Technical Field

[0001] This invention relates to the field of intelligent electronics, and more specifically, to a control method, electronic device, and pipeline cart for a pipeline cart. Background Technology

[0002] In construction scenarios, there are often requirements for accessing pipes, such as pipe inspection and wiring. These operations are often inaccessible to workers. For example, in residential or commercial pipe installations, the small pipe diameter, lack of light inside the pipes, numerous bends, wall penetrations, and varying elevations limit the layout. This makes it difficult for workers to re-lay the pipes if the wiring is damaged and the wiring inside the pipes is removed.

[0003] Related technologies have proposed using a camera-equipped trolley for remote detection to address needs such as threading and inspection. However, due to the limitations of electromagnetic shielding in metal pipes, this trolley must drag a long cable to maintain control and power supply. Moreover, it cannot adapt well to factors such as pipe bends and changes in pipe diameter, resulting in the trolley not running smoothly inside the pipe.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a control method, electronic device, and pipeline trolley for a pipeline trolley, to at least solve the technical problem in the related art where the pipeline trolley cannot adapt to changes in pipeline conditions and pipe diameter, resulting in inconvenience in the trolley's operation within the pipeline.

[0006] According to one aspect of the present invention, a control method for a pipeline trolley is provided, comprising: when the pipeline trolley is detected to be traveling inside a pipeline, acquiring a first pressure value between the front wheel and the pipeline at a first moment based on a first pressure sensor that is in contact with the pipeline at the front wheel of the pipeline trolley, wherein a plurality of pressure sensors are mounted on the front wheel, the plurality of pressure sensors are evenly distributed on the edge side of the front wheel, the front wheel is connected to the body of the pipeline trolley via a first telescopic rod, and the rear wheel of the pipeline trolley is connected to the body of the pipeline trolley via a second telescopic rod, the first pressure sensor being the sensor in contact with the pipeline at the first moment; and acquiring a second pressure value based on the contact between the front wheel and the pipeline. The device acquires a second pressure value between the front wheel and the pipe at a second moment, wherein the second moment is a moment after the first moment during the pipe trolley's movement within the pipe; based on the first pressure value and the second pressure value, it determines the length adjustment method corresponding to the first telescopic rod; according to the length adjustment method, it adjusts the first telescopic rod to obtain the adjusted telescopic rod position information; based on the adjusted telescopic rod position information and the forward vector information of the pipe trolley collected by the gyroscope of the pipe trolley, it determines the target adjustment method of the second telescopic rod connected to the rear wheel of the pipe trolley; and it adjusts the second telescopic rod according to the target adjustment method.

[0007] According to another aspect of the present invention, a pipeline trolley is also provided, comprising: a vehicle body, two front wheels, two rear wheels, a main controller, two first telescopic rods, two second telescopic rods, and a gyroscope, wherein the two front wheels are connected to the vehicle body via corresponding first telescopic rods, and the two rear wheels are connected to the vehicle body via corresponding second telescopic rods; a plurality of pressure sensors are respectively installed on the two front wheels, and the plurality of pressure sensors are evenly distributed on the edge side of the front wheels; the gyroscope is connected to the main controller; the main controller is installed inside the vehicle body and is used to execute the control method of the pipeline trolley described in any one of the present invention.

[0008] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the control method of the pipeline cart as described in any one of the present invention.

[0009] In this embodiment of the invention, when a pipe trolley is detected traveling inside a pipe, a first pressure value between the front wheel and the pipe at a first moment is obtained based on a first pressure sensor that detects the front wheel of the pipe trolley contacting the pipe. The front wheel is equipped with multiple pressure sensors evenly distributed along its edge. The front wheel is connected to the body of the pipe trolley via a first telescopic rod, and the rear wheel is connected to the body of the pipe trolley via a second telescopic rod. The first pressure sensor is the one in contact with the pipe at the first moment. Based on a second pressure sensor that detects the front wheel contacting the pipe, a second pressure value between the front wheel and the pipe at a second moment is obtained. The second moment is a time after the first moment during the pipe trolley's travel inside the pipe. Based on the first pressure value and... The second pressure value determines the length adjustment method corresponding to the first telescopic rod; according to the length adjustment method, the first telescopic rod is adjusted to obtain the adjusted telescopic rod position information; based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope, the target adjustment method of the second telescopic rod connected to the rear wheel of the pipeline trolley is determined; the second telescopic rod is adjusted according to the target adjustment method, achieving the purpose of flexibly controlling the telescopic rod on the pipeline trolley based on the pressure change between the wheel and the pipeline, thereby improving the adaptability of the pipeline trolley to the pipeline environment and making the pipeline trolley travel more smoothly in the pipeline, thus solving the technical problem in related technologies that the pipeline trolley cannot adapt to changes in pipeline conditions and pipe diameter, resulting in inconvenience in the operation of the trolley in the pipeline. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0011] Figure 1 This is a flowchart of a control method for a pipeline trolley according to an embodiment of the present invention;

[0012] Figure 2 This is a schematic diagram of an optional pipe trolley traveling inside a pipe according to an embodiment of the present invention;

[0013] Figure 3 This is a schematic diagram of an optional telescopic rod structure according to an embodiment of the present invention;

[0014] Figure 4 This is a schematic diagram of an optional front wheel edge sensor distribution according to an embodiment of the present invention;

[0015] Figure 5 This is a schematic diagram of an optional pressure electrical signal according to an embodiment of the present invention;

[0016] Figure 6 This is a schematic diagram of an optional front wheel position change according to an embodiment of the present invention;

[0017] Figure 7 This is a schematic diagram of an optional front wheel pressure sensor distribution according to an embodiment of the present invention;

[0018] Figure 8 This is a schematic diagram of the front wheel exploration of an optional pipeline trolley according to an embodiment of the present invention;

[0019] Figure 9 This is a schematic diagram of an optional rear wheel telescopic rod angle adjustment according to an embodiment of the present invention;

[0020] Figure 10 This is a schematic diagram of the structure of a pipeline trolley according to an embodiment of the present invention;

[0021] Figure 11 This is a schematic diagram of the structure of a control device for a pipeline trolley according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to an embodiment of the present invention, a method for controlling a pipeline trolley is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a control method for a pipeline trolley according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0026] Step S102: When it is detected that the pipeline trolley is traveling inside the pipeline, the first pressure value between the front wheel and the pipeline at the first moment is obtained based on the first pressure sensor that contacts the pipeline with the front wheel of the pipeline trolley. The front wheel is equipped with multiple pressure sensors, which are evenly distributed on the edge side of the front wheel. The front wheel is connected to the body of the pipeline trolley through a first telescopic rod, and the rear wheel of the pipeline trolley is connected to the body of the pipeline trolley through a second telescopic rod. The first pressure sensor is the sensor that contacts the pipeline at the first moment.

[0027] Optionally, the pipeline trolley consists of a body, four telescopic rods, four pressure-sensing wheels, and a main controller (i.e., a central module). The four wheels include two front wheels and two rear wheels. The two front wheels are sensor wheel sets, each equipped with multiple pressure sensors evenly distributed across the front wheels. The four wheels are connected to the body via corresponding telescopic rods (i.e., the first and second telescopic rods). These telescopic rods have controllable extension sections and variable lengths. One end of each rod connects to a corresponding wheel, and the other end connects to the central module. The angle between the telescopic rod and the central module is variable. The telescopic rods are hollow and contain data cables. During the pipeline trolley's movement within the pipeline, all four wheels remain flush against the inner wall of the pipeline as it moves forward. Figure 2 This is a schematic diagram of an optional pipe trolley traveling inside a pipe according to an embodiment of the present invention, as shown below. Figure 2 As shown, W1 and W2 are the two front wheels of the pipe trolley, and W3 and W4 are the two rear wheels of the pipe trolley. The centerline of the pipe trolley roughly coincides with the centerline of the pipe. The front wheels (i.e., the sensing wheel set) are equipped with pressure sensors to reflect the contact point and pressure with the pipe wall. When any one of the multiple sensors comes into contact with the pipe wall, the pressure sensor will sense the corresponding pressure value and transmit the pressure value to the main controller in the form of electrical signal pulses. The changes in the pipe wall can be determined by the changes in the pressure value and the time interval of the pulses, and the length and angle of the telescopic rod can be adjusted to maintain good contact with the pipe wall in the direction of the trolley's movement.

[0028] For example, at the first sampling moment, the first pressure sensor on the front wheel comes into contact with the inner wall of the pipe. At this time, the first pressure sensor collects the pressure value between the front wheel and the inner wall of the pipe as the first pressure value, and sends the first pressure value to the main controller in the form of an electrical signal pulse.

[0029] Step S104: Based on the second pressure sensor that is in contact with the pipe, obtain the second pressure value between the front wheel and the pipe at the second moment. The second moment is the moment after the first moment when the pipe trolley is traveling in the pipe. The second pressure sensor is the sensor that is in contact with the pipe at the second moment.

[0030] Optionally, after the first pressure value of the pipe trolley in contact with the pipe is detected by the first pressure sensor, the pipe trolley continues to move forward, and the wheels of the pipe trolley rotate accordingly. When the next pressure sensor on the front wheel (i.e., the second pressure sensor) comes into contact with the inner wall of the pipe, the second pressure value between the front wheel and the inner wall of the pipe is collected by the second sensor, and the second pressure value is sent to the main controller in the form of an electrical signal pulse.

[0031] Step S106: Based on the first pressure value and the second pressure value, determine the length adjustment method corresponding to the first telescopic rod.

[0032] Optionally, when the pipeline trolley travels within a uniform pipeline, the pressure value collected by the front wheel sensor remains constant. Changes in the collected pressure value indicate a change in the pipeline environment (such as the pipeline's inner diameter). For example, when the pipeline's inner diameter narrows, the pressure sensed by the front wheel sensor increases due to pipeline compression, potentially hindering the trolley's movement; conversely, when the pipeline's inner diameter widens, the pressure sensed by the front wheel sensor decreases, potentially causing the front wheel to detach from the pipeline. By adjusting the length of the front wheel telescopic rod (i.e., the first telescopic rod) based on changes in the collected pressure value, the pipeline trolley can move smoothly within the pipeline.

[0033] In one optional embodiment, the length adjustment method corresponding to the first telescopic rod is determined based on the first pressure value and the second pressure value, including: when the second pressure value is greater than a preset first multiple of the first pressure value, the length adjustment method is determined to be: controlling the first telescopic rod to reduce the predetermined length, wherein the preset first multiple is greater than 1; when the second pressure value is less than a preset second multiple of the first pressure value, the length adjustment method is determined to be: controlling the first telescopic rod to increase the predetermined length, wherein the preset second multiple is less than 1.

[0034] Optionally, the preset first multiple may be 2 times, and the preset second multiple may be 1 / 2. The aforementioned predetermined length may be a length corresponding to one gear, and the predetermined length may be a predetermined multiple of the minimum adjustment length of the first telescopic rod. The predetermined multiple may be set independently according to the requirements of actual scenarios, and is not limited herein. Figure 3 is an optional schematic structural diagram of a telescopic rod according to an embodiment of the present invention, as shown in Figure 3 , K1 is the connector between the first telescopic rod (the structure of the second telescopic rod is the same as that of the first telescopic rod) and the induction wheel (front wheel), and K1 is connected to the center of the induction wheel. The first telescopic rod is divided into two sections, L1 and L2, where L2 is a fixed rod and L1 is a retractable rod that can be completely retracted into L2. When the second pressure value F(i) collected at the second sampling time i is greater than the first pressure value F(i-1) collected at the first sampling time i-1 by more than two times, that is, when F(i)>F(i-1)*2, the length of the first telescopic rod L1 is controlled to be decreased by one gear. When the second pressure value F(i) collected at the second sampling time i is less than 1 / 2 of the first pressure value F(i-1) collected at the first sampling time i-1, that is, when F(i-1) / 2>F(i), the length of the first telescopic rod L1 is controlled to be increased by one gear. When the length change of the first telescopic rod is not significant, that is, when the second pressure value F(i) at the second moment is between 1 / 2 and two times of the first pressure value F(i-1), that is, when F(i-1) / 2<F(i)<F(i-1)*2, the length of the first telescopic rod L1 remains unchanged.

[0035] Step S108: adjusting the first telescopic rod according to the length adjustment mode to obtain adjusted telescopic rod position information corresponding to the first telescopic rod.

[0036] Optionally, after obtaining the length adjustment mode, the first telescopic rod may be adjusted only based on the length adjustment mode, and an angle adjustment mode of the first telescopic rod may also be further obtained. Synchronous adjustment through length and angle can not only expand the adjustment range of the telescopic rod, but also improve the adjustment efficiency of the telescopic rod.

[0037] In an optional embodiment, when the front wheel is a rotating wheel, adjusting the first telescopic rod according to the length adjustment mode includes: determining the time difference between a first moment and a second moment; determining a first angle adjustment mode of the first telescopic rod based on the time difference; and adjusting the first telescopic rod according to the length adjustment mode and the first angle adjustment mode.

[0038] Optionally, when the pipe's inner diameter varies significantly, such as when the pipe diameter changes drastically, it may be impossible to ensure that the front wheel connects with the pipe's inner diameter even when the first telescopic rod is adjusted to its maximum length. Therefore, an angle adjustment can be added to the length adjustment mechanism. By simultaneously adjusting both length and angle, the adjustment range of the telescopic rod can be expanded, and its adjustment efficiency can be improved.

[0039] Optionally, if the front wheels are rotating wheels, three sensors can be evenly distributed on the edge of each front wheel. Figure 4 This is a schematic diagram of an optional front wheel edge sensor distribution according to an embodiment of the present invention, such as... Figure 2 and Figure 4 As shown, the circular dashed line represents the pipe cross-section, and the vertical dashed line represents the coincidence point between the pipe centerline and the pipe trolley centerline. Initially, all telescopic rods are of equal length. Pressure sensors Q1, Q2, and Q3 are carried on the edge of the front wheel, evenly distributed along its edge. The angles between each telescopic rod and the centerline direction are set to X1°, X2°, X3°, and X4°, respectively. The front wheel is a sensing wheel, which converts the sensed pressure into an electrical signal. This signal is transmitted through a cable inside the first telescopic rod to the digital signal processing module in the main controller. Since the pressure points on the sensing wheel are discrete points Q1, Q2, and Q3 evenly distributed on the circle, the pressure electrical signal obtained by the digital signal processing module under uniform pipe wall conditions is as follows: Figure 5 As shown in the figure, F0 represents the pressure from the pipe wall collected at the pressure point on the sensing wheel during uniform motion. In the figure, t1-t0=t2-t1=T0*1 / 3, where T0 is the wheel rotation period. It can be seen that the collected pulses are narrow pulses with a 1 / 3 period interval, and the collected pressure F (in Newtons) remains constant at F0. The pressure collected at the second sampling time t(i) is f(i).

[0040] Figure 6 This is a schematic diagram of an optional front wheel position change according to an embodiment of the present invention, such as... Figure 6 As shown, at a certain moment t(i)-t(i-1)>T0 / 3, the contact point of the pressure sensor at moment t(i) is later than the expected value T0 / 3. Therefore, the actual angle of the pipe wall increases. Even for trapezoidal pipe walls, the pipe wall increases uniformly, and the points collected on the sensing wheel are still discrete. Therefore, it can be... Figure 6 The continuously changing pipe wall is equivalent to a stepped discretely changing pipe wall. Similarly, a stepped discretely changing pipe wall model can be derived for both decreasing and constant pipe wall sizes. Figure 6The trapezoidal pipe diameter change in the left figure can be decomposed into the step change in the middle figure and the tangent point change analyzed only for the arc in the right figure. Y0 represents the rotation direction of the wheel. The middle figure shows that in order to maintain the contact between the wheel and the pipe wall, the L1 section needs to be extended. The right figure shows that when the pipe wall becomes larger or smaller, the tangent of contact between the wheel and the pipe wall will change from Y1 to Y2 and Y3, corresponding to time interval t(i)-t(i-1)>T0 / 3 and t(i)-t(i-1)<T0 / 3. Therefore, for the scenario where the pressure sensors are evenly distributed and the front wheel is rotatable, the pipe change can be judged by the time difference between two adjacent pressure value acquisitions, and this can be used as the adjustment basis for the angle change of the telescopic rod.

[0041] In an alternative embodiment, determining the first angle adjustment method of the first telescopic rod based on the time difference comprises: when the time difference is less than a preset duration, determining that the first angle adjustment method is: controlling the first telescopic rod to rotate a preset angle towards the direction close to the center line of the vehicle body; when the time difference is greater than the preset duration, determining that the first angle adjustment method is: controlling the first telescopic rod to rotate a preset angle towards the direction away from the center line of the vehicle body.

[0042] Alternatively, the foregoing preset duration is determined based on the rotation period of the front wheel and the number of pressure sensors arranged on the front wheel. Based on the rotation period of the front wheel and the number of pressure sensors, the time interval between two adjacent pressure signal acquisitions can be calculated under the condition that the front wheel rotates at a constant speed, and this time interval can be used as the preset duration to determine the rotation angle of the first telescopic rod. Taking three pressure sensors arranged on the front wheel as an example, the wheel rotation period is T0, and the corresponding preset duration can be T0 / 3. When the time difference between the second moment and the first moment is too small and less than T0 / 3, that is, t(i)-t(i-1)<T0 / 3, it indicates that the change trend of the pipe wall is as shown in Figure 6 Y3 in, which indicates that the pipe diameter is narrowed, and it is necessary to reduce the preset angle X1° towards the direction close to the center line; when the time difference between the second moment and the first moment is too large and greater than T0 / 3, that is, t(i)-t(i-1)>T0 / 3, it indicates that the change trend of the pipe wall is as shown in Figure 6 Y3 in, the pipe diameter becomes narrower, and it is necessary to increase the angle X1° towards the direction away from the center line; when the time difference between the second moment and the first moment is exactly T0 / 3, that is, t(i)-t(i-1)=T0 / 3, it indicates that the change trend of the pipe wall is as shown in Figure 6 Y1 in, the pipe diameter remains unchanged, and the angle X1° remains unchanged.

[0043] In one optional embodiment, when the front wheel is a fixed wheel, the first telescopic rod is adjusted according to the length adjustment method, including: determining the tangential direction between the second pressure sensor and the front wheel; determining a second angle adjustment method for the first telescopic rod according to the tangential direction; and adjusting the first telescopic rod based on the length adjustment method and the second angle adjustment method.

[0044] Optionally, when the pipe's inner diameter varies significantly, such as when the pipe diameter changes drastically, it may be impossible to ensure that the front wheel connects with the pipe's inner diameter even when the first telescopic rod is adjusted to its maximum length. Therefore, an angle adjustment can be added to the length adjustment mechanism. By simultaneously adjusting both length and angle, the adjustment range of the telescopic rod can be expanded, and its adjustment efficiency can be improved.

[0045] In one optional embodiment, the second angle adjustment method of the first telescopic rod is determined according to the tangent direction by controlling the first telescopic rod to be adjusted to the direction perpendicular to the tangent direction.

[0046] Optionally, when the front wheels are fixed and cannot rotate, eight pressure sensors can be evenly distributed on the edge of each front wheel, with each sensor responsible for sensing the pressure of a segment of an arc. Figure 7 This is a schematic diagram of an optional front wheel pressure sensor distribution according to an embodiment of the present invention, such as... Figure 7 As shown, eight pressure sensors correspond to eight arcs, E1, E2...E8, in the diagram. Each arc has a pressure sensor that detects the pressure from the pipe wall. Based on the pressure collected by the pressure sensors at the corresponding positions E1...E8, the midpoint of the arc is used as the location of the tangent point. The perpendicular direction of the tangent line corresponding to the tangent point is used as the adjustment direction of the first telescopic rod.

[0047] Step S110: Based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope of the pipeline trolley, determine the target adjustment method of the second telescopic rod connected to the rear wheel of the pipeline trolley.

[0048] In one optional embodiment, based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope of the pipeline trolley, the target adjustment method of the second telescopic rod connected to the rear wheel of the pipeline trolley is determined, including: determining the contour information of the pipeline based on the adjusted telescopic rod position information and the forward vector information, wherein the adjusted telescopic rod position information includes at least: the length of the telescopic rod and the angle relative to the first telescopic rod; determining the centerline of the pipeline based on the contour information; and controlling the adjustment of the telescopic rod length and / or the telescopic rod angle of the second telescopic rod so that the centerline of the pipeline trolley coincides with the centerline of the pipeline.

[0049] Optionally, the forward vector information obtained by the gyroscope may include, but is not limited to, the forward speed and direction of the pipeline trolley. Based on the position information of the adjusted telescopic rod corresponding to the front wheels (i.e., the length of the telescopic rod and its angle relative to the first telescopic rod), obtained through the front wheel exploration, and combined with the forward speed and direction of the pipeline trolley, the centerline position of the pipeline can be determined. By adjusting the length and angle of the telescopic rod of the rear wheels, the centerline of the pipeline trolley is aligned with the pipeline centerline. Through this method, the shape of the pipe wall is obtained through the front wheel exploration, and the rear wheels are controlled to adjust the telescopic rod accordingly, ensuring that the main controller of the pipeline trolley is always on the pipeline centerline, thereby guaranteeing the smooth movement of the pipeline trolley within the pipeline.

[0050] In one optional embodiment, controlling the extension length and / or angle of the second telescopic rod to make the centerline of the pipe trolley coincide with the centerline of the pipe includes: controlling the extension length of the second telescopic rod to make the centerline of the pipe trolley coincide with the centerline of the pipe while controlling the extension angle of the second telescopic rod to be adjusted to a direction perpendicular to the pipe diameter.

[0051] Optionally, as described in the foregoing embodiments, the outline of the pipeline can be obtained through the exploration of the front wheels, thereby acquiring the pipeline centerline at a new moment. The included angle of the second telescopic rods corresponding to the rear wheels W3 and W4 is set to be perpendicular to the pipeline diameter. Based on this, the increase in pipeline diameter is evenly distributed to the second telescopic rods L3 and L4 (where L3 is the telescopic rod corresponding to the rear wheel W3, and L4 is the telescopic rod corresponding to the rear wheel W4). The displacement component of the pipeline center displacement vector perpendicular to the forward direction is also evenly distributed to L3 and L4, so that the centerline of the pipeline trolley coincides with the pipeline centerline. By using the above method, the included angle of the second telescopic rods corresponding to the rear wheels W3 and W4 is set to be perpendicular to the pipe diameter. In this embodiment of the invention, the pressure of the second telescopic rod on the pipe wall is set to remain unchanged with extension and contraction. The gravitational component is superimposed on the pressure. However, since the directions of the second telescopic rods L3 and L4 are opposite, the gravitational components cancel each other out. The gravitational component only has an effect in the forward direction. Therefore, the motor provides power in the range of [G-Fs, G+Fs] to ensure the uniform speed of the trolley. Here, G represents the weight of the pipe trolley, and Fs represents the static friction force experienced by the pipe trolley during travel. The effect of the gravitational component is determined by the gyroscope, and the static friction force Fs is obtained from the pressure sensor, thereby controlling the horsepower of the motor.

[0052] Specifically, since the front wheels of the pipeline trolley know the included angle and the length of the front telescopic rod at every moment, as long as the wheels are not suspended in the air and there are values ​​on the pressure sensors, the specific values ​​of the pipeline outline explored by the front wheels can be obtained in real time. Figure 8 This is a schematic diagram of an optional pipeline trolley front wheel exploration according to an embodiment of the present invention, such as... Figure 8 As shown, during the movement of the pipeline trolley, the left front wheel can explore the left side of the pipeline wall, and the right front wheel can explore the right side of the pipeline wall. The center line of the pipeline (i.e., the center of the pipe wall) will change accordingly.

[0053] The main controller can be equivalent to the centerline position of the pipeline trolley (hereinafter referred to as the centroid) to simplify the calculation of physical force analysis. The algorithm for the two front wheels W1 and W2 of the pipeline trolley and the corresponding first telescopic rod is based on the premise that the centroid always moves towards the center of the pipe diameter at the new moment until the centroid coincides with the center of the pipe diameter at the new moment.

[0054] During the actual movement of the pipeline trolley, both the position of the trolley's center of gravity and the diameter of the pipeline will change. Given the outline of the pipeline ahead, W3 and W4 can both be set perpendicular to the pipe diameter. Figure 9 This is a schematic diagram of an optional rear wheel telescopic rod angle adjustment according to an embodiment of the present invention, as shown below. Figure 9 As shown in the simplified scenario where both rear wheels W3 and W4 are at 90°, meaning W3 and W4 are always perpendicular to the pipe diameter, the pressure is adjusted solely by the extension and retraction of telescopic rods L3 and L4, changing the centroid offset in the X direction. Assuming the displacement vector of the pipe trolley's centroid at two adjacent sampling moments is (△x, △y), and the change in pipe diameter is △U, this is accomplished by the adjusted telescopic rod length corresponding to rear wheel W3 being L3' = L3 + 1 / 2 * △x + 1 / 2 * △U, and the corresponding telescopic rod length corresponding to rear wheel W4 being L4' = L4 - 1 / 2 * △x + 1 / 2 * △U. That is, telescopic rods L3 and L4 each bear 1 / 2 of the total displacement and 1 / 2 of the pipe diameter increase. If L3 - 1 / 2 * △x ≤ 0, then L3 has reached its limit, telescopic rod L3 remains unchanged, and telescopic rod L4 changes △x; if L4 - 1 / 2 * △x ≤ 0, then telescopic rod L4 remains unchanged, and telescopic rod L3 changes △x.

[0055] The electric motor powers the pipe trolley, maintaining a constant speed. Therefore, the force analysis focuses on preventing the trolley from falling. The electric motor transmits power to the rear wheels W3 and W4, converting it into rolling friction to propel the trolley forward. This rolling friction is essentially static friction, Fs = μs * N, where μs is the coefficient of friction and N is the pressure on the pipe wall. Since this embodiment sets the pressure of the telescopic rods on the pipe wall constant, Fs is a constant. G represents the weight of the pipe trolley. The power is not constant; maximum power occurs during the vertical ascent, requiring static friction plus gravity, while minimum power occurs during the vertical descent, requiring gravity minus static friction. In this embodiment, the pressure exerted on the pipe diameter by the telescopic rods W3 and W4 is constant. Whether the pipe diameter is at its minimum or maximum, the telescopic rods exert the same pressure, resulting in constant static friction and simplifying the overall force analysis.

[0056] When the pipeline trolley does not ascend or descend vertically, but ascends at an inclination angle, gravity is decomposed in the direction perpendicular to the pipe diameter. The pressure of the telescopic rods on the pipe diameter remains unchanged, and the gravitational component will be added to this pressure to become the total pressure on the pipe diameter. However, the gravitational components of W3 and W4 are opposite in direction and equal in magnitude, which can cancel each other out. Therefore, the gravitational component contributes nothing to static friction. Through the above method, it can be ensured that the center line of the pipeline trolley always approaches the center line of the pipe diameter. It should be noted that, for pipe walls of different materials, the pressure of the telescopic rods on the pipe wall is set to an appropriate value, such that the pressure of a single telescopic rod on the pipe wall satisfies F₀<G (G is the weight of the trolley), which is used to simplify force calculation. Meanwhile, when the trolley descends vertically, gravity can also be used to provide part of the driving force, reducing the energy consumption of the motor.

[0057] Step S112, adjusting the second telescopic rod according to the target adjustment mode.

[0058] Optionally, based on the target adjustment mode, adaptively adjust the length and / or the angle of the second telescopic rod, so that the center line of the pipeline trolley coincides with the center line of the pipeline, ensuring that the pipeline trolley can travel normally in the pipeline.

[0059] Through the above steps S102 to S112, the purpose of flexibly controlling the telescopic rods on the pipeline trolley based on the change of pressure between the wheels and the pipeline can be achieved, thereby realizing the technical effect of improving the adaptability of the pipeline trolley to the pipeline environment and making the travel of the pipeline trolley in the pipeline smoother, and further solving the technical problem that the pipeline trolley in the related art cannot adapt to changes in road conditions and pipe diameter in the pipeline, resulting in inconvenient operation of the trolley in the pipeline.

[0060] Based on the above embodiments and alternative embodiments, the present invention proposes an optional control method for a pipeline trolley, which is applicable to a pipeline trolley composed of a vehicle body, four telescopic rods, four wheels, and a main controller (i.e., a central module). The four wheels include two front wheels and two rear wheels, wherein the two front wheels are an induction wheel set on which a plurality of pressure sensors are installed, and the plurality of pressure sensors are evenly distributed on the front wheels. The four wheels are connected to the vehicle body through corresponding telescopic rods, the telescopic rods (i.e., the first telescopic rod and the second telescopic rod) have a controllable telescopic part with variable length. One end of each telescopic rod is connected to four wheels, and the other end is connected to the central module. The included angle between the telescopic rod and the central module is variable. The interior of the telescopic rod is hollow, and data cables are arranged inside; the central module includes a digital signal processing module and a motor controller (which can control the extension and retraction of the telescopic rod, and the change of the included angle between the telescopic rod and the center line of the central module). The specific control of the pipeline trolley includes:

[0061] Step S1: first adjust the length of the compression rod and the angle of the telescopic rod corresponding to the front wheel, and simultaneously obtain the adjusted telescopic rod information, wherein the adjusted telescopic rod information includes telescopic rod length information and telescopic rod angle information, which is specifically as follows:

[0062] Step S11: the front wheel (i.e., the induction wheel set) is provided with a pressure sensor, which can reflect the contact point and pressure with the pipe wall. It may be a rotating wheel, that is, a rotatable wheel. Pressure value parameters are obtained from uniformly distributed pressure induction points, and transmitted to the central module in the form of electric signal pulses. The current change of the pipe wall is determined through the change of pressure value and the pulse interval time, and the length and included angle of the telescopic rod are adjusted to maintain good contact with the pipe wall in the advancing direction of the trolley. The specific adjustment method is as follows:

[0063] Taking the pipe trolley advancing in the pipe as an example: a first sensor in the pipe trolley contacts the pipe wall at a first time i-1 and collects a first pressure value, and a second sensor in the pipe trolley contacts the pipe wall at a second time and collects a second pressure value, wherein the second time is the time when the next sensor contacts the pipe wall after the first time. The adjustment of the length of the telescopic rod is implemented through the following method:

[0064] When the second pressure value F(i) collected at the second sampling time i is greater than twice the first pressure value F(i-1) collected at the first sampling time i-1, that is, when F(i) > F(i-1)*2, the first telescopic rod L1 corresponding to the front wheel is controlled to decrease the length by one gear. When the second pressure value F(i) collected at the second sampling time i is less than 1 / 2 times the first pressure value F(i-1) collected at the first sampling time i-1, that is, when F(i-1) / 2 > F(i), the first telescopic rod L1 is controlled to increase the length by one gear. When the length change of the first telescopic rod is small, that is, when the second pressure value F(i) at the second time is between half and twice the first pressure value F(i-1), that is, when F(i-1) / 2 < F(i) < F(i-1)*2, the length of the first telescopic rod L1 remains unchanged.

[0065] The adjustment of the angle of the telescopic rod is implemented through the following method:

[0066] Three pressure sensors are arranged on the front wheel, the rotation period of the wheel is T0, and the corresponding preset duration may be T0 / 3. When the time difference between the second time and the first time is too small and less than T0 / 3, that is, when t(i)-t(i-1) < T0 / 3, it indicates that the change trend of the pipe wall is as shown in Figure 6 Y3 in, indicating that the pipe diameter becomes narrower, and it is necessary to decrease the preset angle by X1° toward the direction close to the center line; when the time difference between the second time and the first time is too large and greater than T0 / 3, that is, when t(i)-t(i-1) > T0 / 3, it indicates that the change trend of the pipe wall is as shown in Figure 6 As shown in Y3, the pipe diameter becomes smaller and narrower, requiring an increase in angle X1° towards the direction away from the centerline; when the time difference between the second and first moments is exactly T0 / 3, i.e., t(i) - t(i-1) = T0 / 3, it indicates that the pipe wall changes as follows. Figure 6 As shown in Y1, the pipe diameter remains unchanged, and the angle X1° remains unchanged.

[0067] In step S12, the sensing wheel assembly can also be a fixed wheel, i.e., a wheel that does not rotate. The arc is evenly divided, and each pressure sensor is responsible for collecting the pressure on its corresponding arc segment. When any pressure sensor comes into contact with the pipe wall, that pressure sensor collects the pressure. The length of the telescopic rod is adjusted based on the change in the collected pressure value. The method for adjusting the length of the telescopic rod is the same as when the front wheel is a rotating wheel, and will not be repeated here. At the same time, the midpoint of the arc corresponding to the pressure sensor area is determined as the position of the tangent point, and the perpendicular direction of the tangent line corresponding to the tangent point is taken as the adjustment direction of the first telescopic rod.

[0068] Take the center point of the arc where the maximum value is located as the tangent point between the wheel and the pipe wall. Control the included angle of the telescopic rod so that the telescopic rod is perpendicular to that arc segment. The length control of the telescopic rod is the same as that of the rotating wheel. Determine whether the pipe wall narrows or widens based on the pressure value, and control the extension and retraction of the telescopic rod accordingly.

[0069] Based on the adjusted telescopic rod information and the forward vector information of the pipeline trolley collected by the gyroscope, the shape map of the pipe wall is obtained through the exploration of the front wheels, and the rear wheels are controlled to adjust the telescopic rod accordingly so that the central module is always on the center line of the pipeline.

[0070] The pipeline trolley provided in this invention can adjust the pressure of the telescopic rod to meet the pressure requirements of different forward directions, and adjust the length of the telescopic rod to accommodate different pipe diameters, thus removing the propulsion limitations of the trolley in various scenarios. Simultaneously, it utilizes the time-pressure value characteristics of sensors on the sensing wheel assembly to determine real-time pressure changes, and uses the telescopic rod adjustment to form a negative feedback loop, maintaining real-time controllable, adaptive, and stable pressure on the wheel assembly.

[0071] According to an embodiment of the present invention, a pipeline trolley embodiment for implementing the above-described pipeline trolley control method is also provided. Figure 10 This is a schematic diagram of the structure of a pipe cart according to an embodiment of the present invention, as shown below. Figure 10 As shown, the aforementioned pipeline trolley includes: a body 80, two front wheels 81, two rear wheels 82, a main controller 83, two first telescopic rods 84, two second telescopic rods 85, and a gyroscope 86.

[0072] The two front wheels 81 are connected to the vehicle body 80 via the corresponding first telescopic rod 84, and the two rear wheels 82 are connected to the vehicle body 80 via the corresponding second telescopic rod 85.

[0073] Multiple pressure sensors 811 are installed on each of the two front wheels 81, and the multiple pressure sensors 811 are evenly distributed on the edge side of the front wheels.

[0074] The gyroscope 86 is connected to the main controller 83;

[0075] The main controller 83 is installed inside the vehicle body and is used to execute the control method of the pipeline trolley as described above.

[0076] In this embodiment of the invention, a vehicle body 80, two front wheels 81, two rear wheels 82, a main controller 83, two first telescopic rods 84, two second telescopic rods 85, and a gyroscope 86 are installed on the pipeline trolley. The two front wheels 81 are connected to the vehicle body 80 via corresponding first telescopic rods 84, and the two rear wheels 82 are connected to the vehicle body 80 via corresponding second telescopic rods 85. Multiple pressure sensors 811 are installed on each of the two front wheels 81, and these pressure sensors are evenly distributed along the edge of the front wheels. The gyroscope 86 is connected to the main controller 83. The main controller 83 is installed inside the vehicle body and is used to execute the control method of the pipeline trolley as described above. This achieves the purpose of flexibly controlling the telescopic rods on the pipeline trolley based on the pressure changes between the wheels and the pipeline, thereby improving the adaptability of the pipeline trolley to the pipeline environment and making the pipeline trolley travel more smoothly within the pipeline. This solves the technical problem in related technologies where pipeline trolleys cannot adapt to changes in pipeline conditions and diameter, leading to inconvenience in pipeline operation.

[0077] Optional, as before Figure 2 As shown, the main controller can be understood as the central module of the pipeline trolley, and may include, but is not limited to, a digital signal processing module and a motor controller. The digital signal processing module is used for the conversion between digital signals and analog signals, and the motor controller can control the extension and retraction of the telescopic rod and the change of the angle between the telescopic rod and the center line of the central module.

[0078] It should be noted that in this application Figure 10 The specific structure of the pipe cart shown is only illustrative. In actual applications, the pipe cart in this application can be more advanced than... Figure 10 The pipe trolley shown has more or less structure.

[0079] It should be noted that any optional or preferred control method of the pipeline trolley in the above method embodiments can be executed or implemented in the pipeline trolley provided in this embodiment.

[0080] Furthermore, it should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the method embodiments, which will not be repeated here.

[0081] This embodiment also provides a control device for a pipeline trolley, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module" and "device" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0082] According to an embodiment of the present invention, an apparatus embodiment for implementing the above-described control method for a pipeline trolley is also provided. Figure 11 This is a schematic diagram of the structure of a control device for a pipeline trolley according to an embodiment of the present invention, as shown below. Figure 11 As shown, the control device for the aforementioned pipeline trolley includes: a first acquisition module 900, a second acquisition module 902, a first determination module 904, a first adjustment module 906, a second acquisition module 908, and a second adjustment module 910, wherein:

[0083] The aforementioned first acquisition module 900 is used to acquire a first pressure value between the front wheel and the pipe at a first moment based on a first pressure sensor that contacts the pipe with the front wheel of the pipe when the pipe trolley is detected to be traveling inside the pipe. The first number of pressure sensors are evenly distributed on the edge side of the front wheel. The front wheel is connected to the body of the pipe trolley through a first telescopic rod. The rear wheel of the pipe trolley is connected to the body of the pipe trolley through a second telescopic rod. The first pressure sensor is the sensor that contacts the pipe at the first moment.

[0084] The second acquisition module 902 is connected to the first acquisition module 900 and is used to acquire the second pressure value between the front wheel and the pipe at a second moment based on the second pressure sensor that is in contact with the pipe. The second moment is the moment after the first moment when the pipe trolley is traveling in the pipe. The second pressure sensor is the sensor that is in contact with the pipe at the second moment.

[0085] The first determining module 904 is connected to the second acquiring module 902 and is used to determine the length adjustment method corresponding to the first telescopic rod based on the first pressure value and the second pressure value.

[0086] The first adjustment module 906 is connected to the first determination module 904 and is used to adjust the first telescopic rod according to the length adjustment method to obtain the adjusted telescopic rod position information corresponding to the first telescopic rod.

[0087] The second acquisition module 908 mentioned above is connected to the first adjustment module 906 and is used to determine the target adjustment mode of the second telescopic rod connected to the rear wheel of the pipeline trolley based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope of the pipeline trolley.

[0088] The second adjustment module 910 is connected to the second acquisition module 908 and is used to adjust the second telescopic rod according to the target adjustment method.

[0089] In this embodiment of the invention, by setting a first acquisition module 900, a second acquisition module 902, a first determination module 904, a first adjustment module 906, a second acquisition module 908, and a second adjustment module 910, the purpose of flexibly controlling the telescopic rod on the pipeline trolley based on the change in pressure between the wheels and the pipeline is achieved. This improves the adaptability of the pipeline trolley to the pipeline environment, making the pipeline trolley travel more smoothly inside the pipeline. This solves the technical problem in related technologies where the pipeline trolley cannot adapt to changes in road conditions and pipe diameter inside the pipeline, resulting in inconvenience in the operation of the trolley inside the pipeline.

[0090] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0091] It should be noted that the first acquisition module 900, the second acquisition module 902, the first determination module 904, the first adjustment module 906, the second acquisition module 908, and the second adjustment module 910 mentioned above correspond to steps S102 to S112 in the embodiments. The instances and application scenarios implemented by the above modules and their corresponding steps are the same, but they are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can run in a computer terminal.

[0092] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the embodiments, and will not be repeated here.

[0093] The control device for the pipeline trolley described above may also include a processor and a memory. The first acquisition module 900, the second acquisition module 902, the first determination module 904, the first adjustment module 906, the second acquisition module 908, and the second adjustment module 910 are all stored in the memory as program modules. The processor executes the program modules stored in the memory to realize the corresponding functions.

[0094] The processor contains a core that retrieves the corresponding program modules from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0095] According to an embodiment of this application, an embodiment of a non-volatile storage medium is also provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein, when the program is running, it controls the device where the non-volatile storage medium is located to execute any of the above-mentioned control methods for the pipeline trolley.

[0096] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the non-volatile storage medium includes stored programs.

[0097] Optionally, during program execution, the device containing the non-volatile storage medium is controlled to perform the following functions: When the pipeline trolley is detected to be traveling inside the pipeline, based on a first pressure sensor indicating contact between the front wheels of the pipeline trolley and the pipeline, a first pressure value between the front wheels and the pipeline at a first moment is obtained. This first pressure value is obtained based on a first pressure sensor that detects contact between the front wheels and the pipeline. Multiple pressure sensors are installed on the front wheels, evenly distributed along their edges. The front wheels are connected to the pipeline trolley body via a first telescopic rod, and the rear wheels are connected to the pipeline trolley body via a second telescopic rod. The first pressure sensor is the one in contact with the pipeline at the first moment. Based on a second pressure sensor indicating contact between the front wheels and the pipeline, a second pressure value is obtained based on the pressure value between the front wheels and the pipeline at a second moment. The second pressure value between the pipes, where the second moment is the moment after the first moment during the pipe trolley's movement inside the pipe, and the second pressure sensor is the sensor in contact with the pipe at the second moment; based on the first and second pressure values, the length adjustment method corresponding to the first telescopic rod is determined; according to the length adjustment method, the first telescopic rod is adjusted to obtain the adjusted position information of the first telescopic rod; based on the adjusted position information of the telescopic rod and the forward vector information of the pipe trolley collected by the gyroscope of the pipe trolley, the target adjustment method of the second telescopic rod connected to the rear wheel of the pipe trolley is determined; the second telescopic rod is adjusted according to the target adjustment method.

[0098] According to an embodiment of this application, an embodiment of a processor is also provided. Optionally, in this embodiment, the processor is used to run a program, wherein the program executes any of the above-described control methods for the pipeline cart.

[0099] According to an embodiment of this application, an embodiment of a computer program product is also provided, which, when executed on a data processing device, is adapted to execute a program that initializes the control method steps of a pipeline trolley having any of the above-described steps.

[0100] Optionally, when the above-mentioned computer program product is executed on a data processing device, it is suitable to execute an initialization program with the following method steps: Upon detecting that the pipe trolley is traveling inside the pipe, based on a first pressure sensor where the front wheel of the pipe trolley is in contact with the pipe, a first pressure value between the front wheel and the pipe at a first moment is obtained, wherein multiple pressure sensors are installed on the front wheel, the multiple pressure sensors are evenly distributed on the edge side of the front wheel, the front wheel is connected to the body of the pipe trolley via a first telescopic rod, and the rear wheel of the pipe trolley is connected to the body of the pipe trolley via a second telescopic rod, and the first pressure sensor is the sensor in contact with the pipe at the first moment; based on the second pressure sensor where the front wheel is in contact with the pipe, a first pressure value is obtained... The second pressure value between the front wheel and the pipe at the second moment, where the second moment is the moment after the first moment during the pipe trolley's movement inside the pipe, and the second pressure sensor is the sensor in contact with the pipe at the second moment; based on the first and second pressure values, the length adjustment method corresponding to the first telescopic rod is determined; according to the length adjustment method, the first telescopic rod is adjusted to obtain the adjusted position information of the first telescopic rod; based on the adjusted position information of the telescopic rod and the forward vector information of the pipe trolley collected by the gyroscope of the pipe trolley, the target adjustment method of the second telescopic rod connected to the rear wheel of the pipe trolley is determined; the second telescopic rod is adjusted according to the target adjustment method.

[0101] This invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: Upon detecting that a pipe trolley is traveling inside a pipe, based on a first pressure sensor that detects contact between the front wheel of the pipe trolley and the pipe, a first pressure value between the front wheel and the pipe is acquired at a first moment. The front wheel has multiple pressure sensors installed on it, evenly distributed along its edge. The front wheel is connected to the pipe trolley body via a first telescopic rod, and the rear wheel is connected to the pipe trolley body via a second telescopic rod. The first pressure sensor is the one in contact with the pipe at the first moment. Based on the contact between the front wheel and the pipe... The second pressure sensor acquires the second pressure value between the front wheel and the pipe at a second moment, where the second moment is the time after the first moment during the pipe trolley's movement inside the pipe, and the second pressure sensor is the sensor in contact with the pipe at the second moment. Based on the first and second pressure values, the length adjustment method corresponding to the first telescopic rod is determined. According to the length adjustment method, the first telescopic rod is adjusted to obtain the adjusted position information of the first telescopic rod. Based on the adjusted position information of the telescopic rod and the forward vector information of the pipe trolley collected by the gyroscope of the pipe trolley, the target adjustment method of the second telescopic rod connected to the rear wheel of the pipe trolley is determined. The second telescopic rod is adjusted according to the target adjustment method.

[0102] The order of the above embodiments of the present invention is merely for description and does not represent the superiority or inferiority of the embodiments.

[0103] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of modules described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between modules, and may be electrical or other forms.

[0105] The modules described above as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0106] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0107] If the aforementioned integrated modules are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of this invention, 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 non-volatile storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned non-volatile storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0108] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a pipeline trolley, characterized in that, include: When it is detected that the pipeline trolley is traveling inside the pipeline, a first pressure value between the front wheel and the pipeline at a first moment is obtained based on a first pressure sensor that is in contact with the pipeline at the front wheel of the pipeline trolley. The front wheel is equipped with multiple pressure sensors that are evenly distributed on the edge side of the front wheel. The front wheel is connected to the body of the pipeline trolley via a first telescopic rod, and the rear wheel of the pipeline trolley is connected to the body of the pipeline trolley via a second telescopic rod. The first pressure sensor is any one of the multiple pressure sensors that is in contact with the pipeline at the first moment. Based on the second pressure sensor that is in contact with the pipe, a second pressure value between the front wheel and the pipe is obtained at a second moment, wherein the second moment is the moment after the first moment when the pipe trolley is traveling in the pipe, and the second pressure sensor is any one of the plurality of pressure sensors that is in contact with the pipe at the second moment; Based on the first pressure value and the second pressure value, determine the length adjustment method corresponding to the first telescopic rod; According to the length adjustment method, the first telescopic rod is adjusted to obtain the adjusted telescopic rod position information corresponding to the first telescopic rod; Based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope of the pipeline trolley, the pipeline centerline is determined, and the target adjustment method of the second telescopic rod connected to the rear wheel of the pipeline trolley is determined. The target adjustment method of the second telescopic rod is to make the centerline of the pipeline trolley coincide with the pipeline centerline. The second telescopic rod is adjusted according to the target adjustment method; Wherein, when the front wheel is a rotating wheel, adjusting the first telescopic rod according to the length adjustment method includes: determining the time difference between the first moment and the second moment; determining a first angle adjustment method for the first telescopic rod based on the time difference; and simultaneously adjusting the length and angle of the first telescopic rod according to the length adjustment method and the first angle adjustment method.

2. The method according to claim 1, characterized in that, The step of determining the length adjustment method corresponding to the first telescopic rod based on the first pressure value and the second pressure value includes: When the second pressure value is greater than a preset first multiple of the first pressure value, the length adjustment method is determined to be: controlling the first telescopic rod to reduce the predetermined length, wherein the preset first multiple is greater than 1; When the second pressure value is less than a preset second multiple of the first pressure value, the length adjustment method is determined to be: controlling the first telescopic rod to increase the predetermined length, wherein the preset second multiple is less than 1.

3. The method according to claim 1, characterized in that, The step of determining the first angle adjustment method of the first telescopic rod based on the time difference includes: If the time difference is less than a preset duration, the first angle adjustment method is determined to be: controlling the first telescopic rod to rotate a preset angle toward the centerline of the vehicle body; If the time difference is greater than the preset duration, the first angle adjustment method is determined to be: controlling the first telescopic rod to rotate the preset angle in a direction away from the center line of the vehicle body.

4. The method according to claim 1, characterized in that, When the front wheel is a fixed wheel, adjusting the first telescopic rod according to the length adjustment method includes: Determine the tangential direction between the second pressure sensor and the front wheel; Based on the tangent direction, determine the second angle adjustment method of the first telescopic rod; Based on the length adjustment method and the second angle adjustment method, the length and angle of the first telescopic rod are adjusted synchronously.

5. The method according to claim 4, characterized in that, The method for determining the second angle adjustment of the first telescopic rod based on the tangent direction is as follows: control the first telescopic rod to be adjusted to the direction perpendicular to the tangent direction.

6. The method according to any one of claims 1 to 5, characterized in that, The determination of the target adjustment method for the second telescopic rod connected to the rear wheel of the pipeline trolley, based on the adjusted telescopic rod position information and the forward vector information of the pipeline trolley collected by the gyroscope, includes: Based on the adjusted telescopic rod position information and the forward vector information, the contour information of the pipe is determined, wherein the adjusted telescopic rod position information includes at least: the length of the telescopic rod and the angle relative to the first telescopic rod; Based on the contour information, the centerline of the pipeline is determined; Control and adjust the length and / or angle of the second telescopic rod so that the centerline of the pipe trolley coincides with the centerline of the pipe.

7. The method according to claim 6, characterized in that, The control adjustment of the length and / or angle of the second telescopic rod to make the centerline of the pipe trolley coincide with the centerline of the pipe includes: With the extension rod angle of the second extension rod adjusted to be perpendicular to the pipe diameter, the extension rod length of the second extension rod is adjusted so that the center line of the pipe trolley coincides with the center line of the pipe.

8. A pipe trolley, characterized in that, include: The vehicle consists of a chassis, two front wheels, two rear wheels, a main controller, two first telescopic booms, two second telescopic booms, and a gyroscope. The two front wheels are connected to the vehicle body via corresponding first telescopic rods, and the two rear wheels are connected to the vehicle body via corresponding second telescopic rods; Multiple pressure sensors are installed on each of the two front wheels, and the multiple pressure sensors are evenly distributed on the edge side of the front wheels. The gyroscope is connected to the main controller; The main controller is installed inside the vehicle body and is used to execute the control method of the pipeline trolley according to any one of claims 1 to 7.

9. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the control method of the pipeline trolley according to any one of claims 1 to 7.

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