Control system, control method and device of inspection equipment

Abstract

The invention belongs to the technical field of inspection equipment control systems, and discloses an inspection equipment control system, method and device, and the system comprises a difficulty recognition module, a path density adjustment module, a state monitoring module, a boundary compensation module and a control linkage module. According to the method, a trend included angle is obtained through numerical value change analysis of a track section structure, an angle matching ratio is introduced to realize dynamic adjustment of a path section interval, a three-period sequence is constructed in cooperation with gyroscope data to extract main direction change, disturbance rhythm change is accurately captured, disturbance amplitude is extracted through a minimum interval distance trend, and the disturbance accuracy is improved. A time axis turning position is reconstructed by combining data of a path trigger, a boundary offset reference is positioned, linkage control of the distance between path points and an average path is realized, a processing logic establishes a multi-dimensional linkage relation of path adjustment, disturbance identification and boundary compensation, and path response flexibility and equipment operation stability under environment change are enhanced. And the inspection precision and adaptability in a high-disturbance scene are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection equipment control systems. Specifically, it relates to a control system, a control method, and a device for inspection equipment. Background Art

[0002] The field of inspection control technology involves the research and development of the control process, operation mechanism, and execution method of automated inspection equipment, and relates to the technical content of periodically or real-time inspecting the operating state of equipment, environmental changes, and target areas; the core content of this technical field includes the execution logic of inspection tasks, the planning method of equipment movement paths, the acquisition mechanism of inspection information, and the control strategy of the inspection process; the overall technical field realizes the automatic inspection operation of target areas or equipment in different application scenarios through integrating a sensor drive system, a path control system, a data recording device, and a remote control interface, and supports task adaptation and execution in various operating environments.

[0003] The patent application number is: CN201810246797.1, which discloses an inspection equipment, a control method, and a control device for the inspection equipment. The inspection equipment can travel in a lane, and the lane has at least one lane line. The control method includes: collecting the environmental image around the inspection equipment; identifying the lane line from the environmental image; determining the distance between the inspection equipment and the lane line; determining the deviation between the inspection equipment and a preset path in the lane according to the distance between the inspection equipment and the lane line; and controlling the inspection equipment to approach the preset path according to the deviation.

[0004] In the process of performing inspection, the above-mentioned existing inspection equipment has technical matters such as task setting, operation path control, and information acquisition and execution. Specifically, the traveling direction and route of the equipment are planned by setting inspection instructions, the movement of the equipment is controlled by integrating a displacement drive component, the target state information is obtained through an image acquisition unit or a temperature sensing unit, and then the collected information is triggered by instructions and the task is advanced through a preset control logic, so as to complete the execution process of the inspection action in a program control manner.

[0005] In the process of executing inspection tasks, the existing technology mainly relies on preset instructions and static path planning for path control, lacks the ability to dynamically adjust small changes between path segments, resulting in slow response in high-frequency disturbance environments; the equipment operation status is mostly analyzed based on sensor data within a single cycle, and it is impossible to form trend recognition for continuous cycles, and it is easy to miss small change information in complex structural areas, affecting the real-time judgment of the operation difficulty; the inspection path lacks sensitivity and adjustment mechanism when dealing with sudden interference, and the path spacing cannot be adaptively adjusted under drastic changes in environmental disturbances, which can easily cause equipment displacement offset and task imbalance; the identification of path boundaries is too dependent on static geographic information, and the turning point changes fail to form a fine compensation mechanism in the time dimension, resulting in the path trigger mechanism being inaccurate in non-continuous scenarios; for example, in the scenario of sudden changes in the gap of insulator components or continuous switching of signal node frequency bands, traditional path control fails to effectively adjust the inspection spacing, which ultimately causes the equipment to move frequently and repeatedly, increasing energy consumption and path deviation risks; the existing technology has significant deficiencies in the dimensions of path adjustment, disturbance recognition and boundary control, and it is difficult to meet the stable inspection needs in a dynamically changing environment. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings of the prior art and propose a control system, control method and device for inspection equipment; it is capable of controlling the inspection equipment, enhancing the flexibility of path response and the stability of equipment operation under environmental changes, and improving the inspection accuracy and adaptability in high disturbance scenarios.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: A control system for inspection equipment, the system comprising: The difficulty identification module obtains the number of abnormal pixel clusters in the structural area of ​​the track section, the minimum and maximum difference between the insulator components, and the number of frequency band switching of the signal amplification node, and subtracts them from the previous data, analyzes the angle between the current and previous two cycle values, and generates the difficulty trend change angle; The path density adjustment module extracts the path spacing and angle matching table set by the track segment structure according to the change angle of the difficulty trend, locates the interval to which the angle belongs, extracts the corresponding ratio and multiplies it with the basic spacing, and generates the path segment spacing adjustment length after comparing the calculation result with the upper and lower limits of the path spacing; The state monitoring module adjusts the length according to the path segment spacing, obtains the acceleration fluctuation amplitude and change times recorded by the onboard gyroscope, constructs a three-cycle time series and extracts the main direction change value, analyzes the minimum interval distance between adjacent peaks in the change graph, extracts the minimum interval distance value when it is continuously shortened, and generates the path segment dynamic disturbance change amplitude; The boundary compensation module extracts the continuous periodic positioning point path recorded by the path trigger and the device moving distance according to the dynamic disturbance change amplitude of the path segment, analyzes the turning point positions on the time axis, and obtains the boundary trigger offset reference position.

[0008] The following is a further optimization of the above technical solution of the present invention: The difficulty recognition module includes: The pixel anomaly calculation sub-module obtains the number of abnormal pixel clusters of the inspection device in the track segment structure area in the current cycle, calls the number of abnormal pixel clusters in the previous cycle and the previous two cycles, judges the direction of the difference between the current cycle and the previous cycle, and between the previous cycle and the previous two cycles, calculates the included angle of the two groups of directions, and generates the abnormal pixel direction angle; The component gap evaluation sub-module obtains the minimum gap value and the maximum difference between the insulator components in the current cycle according to the abnormal pixel direction angle, subtracts the minimum gap value and the maximum difference in the previous cycle respectively, judges its increase and decrease direction, calculates the included angle with the direction in the previous two cycles, and generates the component difference change angle; The trend angle analysis sub-module calls the component difference change angle, obtains the number of frequency band switching fluctuations of the signal amplification node in the current cycle, subtracts the number of frequency band switching times in the previous cycle and the previous two cycles and then judges the direction, establishes an included angle operation for the three groups of direction relationships, and obtains the difficulty trend change angle.

[0009] Further optimization: The specific calculation formula for obtaining the number of frequency band switching fluctuations of the signal amplification node in the current cycle is: ; Wherein, represents the number of frequency band switching fluctuations of the signal amplification node in the current cycle, represents the total number of signal amplification nodes in the current cycle, represents the th signal amplification node's frequency band switching times in the current cycle, represents the th signal amplification node's frequency band switching times in the previous cycle, represents the th signal amplification node's frequency band switching times in the previous two cycles.

[0010] Further optimization: The path density adjustment module includes: The trend angle recognition sub-module, based on the difficulty trend change angle, obtains the continuous paragraph interval of the angle change, detects the angle change direction and amplitude value in each interval, judges the type of the change trend to which the angle belongs, and then locates the current angle value according to the path spacing and angle matching table set by the track segment structure, and generates the angle trend matching interval; The matching ratio extraction sub-module calls the angular trend matching interval, extracts the path spacing ratio corresponding to the angle according to the path spacing ratio setting corresponding to the interval in the angle matching table, calls the basic path spacing set in the track segment structure, and performs a multiplication operation with the extracted path spacing ratio to generate a path spacing calculation value; The spacing length generation sub-module calls the path spacing calculation value, calculates the path segment spacing adjustment length according to the upper and lower limits of the path spacing set in the track segment structure, compares the path spacing calculation value with the upper and lower limits of the path spacing respectively, judges whether the path spacing calculation value is between the upper and lower limits of the path spacing, and if not, adjusts it to the nearest boundary value to generate the path segment spacing adjustment length.

[0011] Further optimization: The specific calculation formula for calculating the path segment spacing adjustment length is: ; Wherein, represents the path segment spacing adjustment length, represents the path spacing calculation value of the i-th segment, represents the track weight factor of the i-th segment, represents the minimum allowable value set for the path spacing, represents the maximum allowable value set for the path spacing, represents the total number of path segments, represents the difference between the path spacing calculation value of the j-th segment and its set ideal spacing.

[0012] Further optimization: The state monitoring module includes: The path segment spacing adjustment sub-module extracts the acceleration record content of the airborne gyroscope according to the path segment spacing adjustment length, extracts the maximum and minimum values of the acceleration fluctuation amplitude based on the numerical range of the acceleration fluctuation within each path segment, calculates the fluctuation amplitude difference, counts the number of fluctuations exceeding the difference in the acceleration fluctuation curve, and generates the acceleration fluctuation amplitude and change number value; The acceleration fluctuation extraction sub-module calls the acceleration fluctuation amplitude and change number value, divides the time change record of the acceleration fluctuation into three cycle periods, extracts the numerical change of the main direction within each period, and analyzes the minimum spacing between adjacent wave peaks according to the distribution change curve of the main direction numerical value on the time axis to obtain the main direction change interval distance value; The dynamic disturbance amplitude generation sub-module judges whether the minimum spacing between adjacent wave peaks continues to shorten according to the main direction change interval distance value, extracts the minimum spacing value in the data with a shortening trend, corresponds the minimum spacing value to the path segment position, combines the previously extracted acceleration fluctuation amplitude content, and establishes a description set of the path segment disturbance change amount to generate the path segment dynamic disturbance change amplitude.

[0013] Further optimization: The boundary compensation module includes: The perturbation extraction sub-module obtains the dynamic perturbation change amplitude of the path segment, combines the continuous cycle positioning point path recorded by the path trigger and the moving distance of the device within the corresponding cycle, calls the time period difference between the dynamic perturbation change amplitude of the path segment and the device moving distance within the continuous cycle, filters out the continuous time intervals where the perturbation change amplitude exceeds the path perturbation threshold, and generates perturbation time intervals; The path classification sub-module, based on the perturbation time intervals, calls the continuous point coordinate sequences marked in the cycle positioning point path, calculates the index positions of the points where the direction changes in the path, combines the time intervals corresponding to the points in the time series with the perturbation time intervals for intersection judgment, extracts all the turning point indexes where the intersection holds, and generates a path turning point index sequence; The offset positioning sub-module, according to the path turning point index sequence, calls the original device positioning point sequence and the cycle index section recorded by the trigger, locates the positioning time points corresponding to the turning points in the device path, filters the Euclidean distances between the original positioning coordinates corresponding to the time points and the positions recorded by the trigger, judges the coordinate points where the distance is greater than the path offset judgment reference value, and generates a boundary trigger offset reference position.

[0014] Further optimization: The system further includes: The control linkage module calculates the distance between path points based on the boundary trigger offset reference position, compares it with the maximum trigger offset length. If the difference between the distance between path points and the maximum offset length exceeds the range, it calculates the average length between the current path segment and the path length of the previous cycle, and generates a path segment linkage configuration length; The control linkage module includes: The path distance calculation sub-module, based on the boundary trigger offset reference position, obtains the position information of the start and end path points of the current path segment, calls the distance data between adjacent coordinate points of the path points, accumulates to obtain the total length of the current path segment, calculates the difference with the path segment length of the previous cycle, and generates a path segment distance difference; The offset length judgment sub-module calls the path segment distance difference and the maximum trigger offset length data, judges whether the difference between the distance between path points and the maximum offset length exceeds the offset tolerance range, filters out the path segments of the exceeded part, calculates the ratio of the path segment distance difference to the number of path segments, and generates a path segment average length; The linkage configuration generation sub-module, according to the path segment average length, obtains the path segment number and the linkage configuration parameter index, traverses the path segment numbers to generate a list of matching linkage configuration length values, establishes the corresponding relationship between the path segment numbers and the configuration length values, and generates a path segment linkage configuration length.

[0015] The present invention also provides a control method for an inspection device, which is executed based on the above-mentioned control system for an inspection device, and includes the following steps: S1: Obtain the number of abnormal pixel clusters, the minimum gap value between components, the maximum difference between components, and the number of frequency band switches. Subtract the current cycle data from the previous cycle, combine the difference data of the previous two cycles, calculate the geometric angle of direction change, and generate the difficulty trend change angle. S2: Based on the difficulty trend change angle, extract the proportional value in the corresponding interval of the path spacing and angle matching table, multiply it by the basic path spacing value, compare the calculation result with the upper and lower limits of the path spacing, and obtain the adjusted length of the path segment spacing. S3: According to the adjusted length of the path segment spacing, construct a three-cycle sequence of the acceleration fluctuation amplitude and the number of changes, identify the maximum change in the main direction, analyze the change trend of the interval between adjacent wave peaks, extract the minimum interval distance value, and generate the dynamic disturbance change amplitude of the path segment. S4: Invoke the dynamic disturbance change amplitude of the path segment, analyze the path of the positioning point and the moving distance of the device, identify the turning points of the trajectory, extract the path point positions in the densely changing section, and generate the boundary trigger offset reference position. S5: Invoke the boundary trigger offset reference position, obtain the distance between path points, compare the maximum trigger offset length, and when it exceeds the range, calculate the average value of the total length of the current and previous cycle path segments, and generate the linked configuration length of the path segment.

[0016] The present invention also provides a control device for an inspection device, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the above-mentioned control method for the inspection device is implemented.

[0017] The present invention adopts the above technical solutions and has at least the following beneficial effects: 1. The present invention analyzes the numerical changes of the track segment structure to obtain the trend angle, introduces the angle matching ratio to realize the dynamic adjustment of the path segment spacing, constructs a three-cycle sequence in combination with the gyroscope data to extract the main direction change, accurately captures the disturbance rhythm change, extracts the disturbance amplitude through the minimum interval distance trend, reconstructs the turning position of the time axis in combination with the path trigger data, locates the boundary offset reference, realizes the linked control of the distance between path points and the average path, and the processing logic establishes a multi-dimensional linkage relationship of path adjustment, disturbance recognition, and boundary compensation, enhancing the path response flexibility and the operation stability of the device under environmental changes, and improving the inspection accuracy and adaptability in high-disturbance scenarios.

[0018] The present invention will be further described below with reference to the drawings and embodiments. Description of the Drawings

[0019] Figure 1 It is the control system flowchart of the embodiment of the present invention; Figure 2 It is the flowchart of each sub-module in the embodiment of the present invention; Figure 3 This is the flowchart of the steps of the control method in the embodiment of the present invention. Detailed implementation manners

[0020] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention; in addition, in the description of the present invention, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0022] Please refer to Figure 1 , a control system for an inspection device includes: The difficulty recognition module obtains the number of abnormal pixel clusters in the track section structure area of the inspection device, the minimum gap value and the maximum difference between insulator components, and the number of signal amplification node frequency band switches, subtracts them from the previous section of data respectively, analyzes the angle between the current and the numerical directions of the previous two cycles, and generates a difficulty trend change angle; The path density adjustment module extracts the path spacing and angle matching table set for the track section structure according to the difficulty trend change angle, locates the interval to which the angle belongs, extracts the corresponding ratio and multiplies it by the basic spacing, and after comparing the calculation result with the upper and lower limits of the path spacing, generates an adjustment length for the path section spacing; The state monitoring module obtains the acceleration fluctuation amplitude and the number of changes recorded by the airborne gyroscope according to the adjustment length of the path section spacing, constructs a three-cycle time series and extracts the main direction change value, analyzes the minimum interval distance between adjacent wave peaks in the change graph line, and extracts the minimum interval distance value when it continuously shortens, and generates a dynamic disturbance change amplitude for the path section; The boundary compensation module extracts the continuous cycle positioning point path and the device moving distance recorded by the path trigger according to the dynamic disturbance change amplitude of the path section, analyzes the turning point position on the time axis, and obtains the boundary trigger offset reference position; The control linkage module triggers an offset reference position based on the boundary, calculates the distance between path points, and compares it with the maximum trigger offset length. If the difference between the distance between path points and the maximum offset length exceeds the range, the average length between the current path segment and the path length of the previous cycle is calculated for use in the inspection work of the inspection equipment to generate the linkage configuration length of the path segment.

[0023] The difficulty trend change angle includes the number of abnormal pixel clusters, the minimum gap value, the maximum difference, the number of frequency band switches, and the numerical direction included angle; the path segment spacing adjustment length includes the path spacing, the angle matching table, the ratio, and the basic spacing; the path segment dynamic disturbance change amplitude includes the acceleration fluctuation amplitude, the number of changes, the three-cycle time series, the main direction change value, the minimum distance between adjacent wave peaks, and the minimum distance value; the boundary trigger offset reference position includes the continuous cycle positioning point path, the equipment movement distance, and the time axis turning point position; the path segment linkage configuration length includes the distance between path points, the maximum trigger offset length, and the average length of the path segment.

[0024] Please refer to Figure 2 , the difficulty recognition module includes: The pixel anomaly calculation sub-module obtains the number of abnormal pixel clusters in the current cycle of the inspection equipment in the track segment structure area, calls the number of abnormal pixel clusters in the previous cycle and the previous two cycles, judges the direction of the difference between the current cycle and the previous cycle, and the previous cycle and the previous two cycles, calculates the included angle between the two groups of directions, and generates the abnormal pixel direction angle.

[0025] In the track segment structure area of the inspection equipment, first obtain the number of abnormal pixel clusters in the current cycle. Extract abnormal pixel points from the track structure image through an image processing algorithm. A pixel cluster is composed of adjacent abnormal pixel points, and these pixel points are clustered through a set distance threshold. Assume that the number of abnormal pixel clusters in the current cycle is 10, in the previous cycle is 8, and in the previous two cycles is 6. Use these data to calculate the differences between the current cycle and the previous cycle, and the previous cycle and the previous two cycles. Judge the direction according to the difference. If the difference is positive, it is the increasing direction. If the difference is negative, it is the decreasing direction. Then calculate the direction included angle between the differences of the current cycle and the previous cycle, and the previous cycle and the previous two cycles. For example, if the difference direction between the current cycle and the previous cycle is increasing (+2), and the difference direction between the previous cycle and the previous two cycles is decreasing (-2), and the included angle between them is 180 degrees, which means that the change trend of the abnormal pixel clusters is opposite and the angle is large. These angle values provide important change trend information for subsequent analysis, and finally generate the abnormal pixel direction angle of the current cycle as the basis for the next judgment and adjustment.

[0026] The component gap evaluation sub-module calls the abnormal pixel direction angle, obtains the minimum gap value and the maximum difference between insulator components in the current cycle, subtracts the minimum gap value and the maximum difference in the previous cycle respectively, judges the increasing or decreasing direction, calculates the included angle with the directions in the previous two cycles, and generates the component difference change angle.

[0027] The component gap evaluation sub-module first calls the above abnormal pixel direction angle, obtains the minimum gap value and the maximum difference of the insulator components at the signal amplification node in the current cycle, and these values are obtained from the real-time data of the measurement sensor; assume that the minimum gap value in the current cycle is 0.3mm and the maximum difference is 5mm, and the minimum gap value in the previous cycle is 0.4mm and the maximum difference is 4.5mm; calculate the differences between the minimum gap value and the maximum difference and those in the previous cycle, which are -0.1mm and +0.5mm respectively; at this time, the increasing or decreasing directions of the gap values are judged as decreasing (minimum gap) and increasing (maximum difference), and the included angle is calculated according to the change trends in the previous two cycles; for example, if the minimum gap changed to increase (+0.1mm) in the previous two cycles, the included angle with the decreasing direction (-0.1mm) in the current cycle is 180 degrees; the change trend of the maximum difference is increasing (+0.5mm), if it changed to increase (+0.4mm) in the previous two cycles, then the included angle between the two is smaller; according to these included angles, the component difference change angle is generated, indicating the gap change trend and magnitude of the insulator components, and is further used to evaluate the working state of the components.

[0028] The trend angle analysis sub-module calls the component difference change angle, obtains the number of frequency band switching fluctuations at the signal amplification node in the current cycle, subtracts the number of frequency band switching times in the previous cycle and the previous two cycles and then judges the direction, establishes an included angle operation for the three groups of direction relationships, and obtains the difficulty trend change angle.

[0029] The specific calculation formula for obtaining the number of frequency band switching fluctuations at the signal amplification node in the current cycle is: ; Among them, represents the number of frequency band switching fluctuations at the signal amplification node in the current cycle, represents the total number of signal amplification nodes in the current cycle, represents the th signal amplification node's number of frequency band switching times in the current cycle, represents the th signal amplification node's number of frequency band switching times in the previous cycle, represents the th signal amplification node's number of frequency band switching times in the previous two cycles.

[0030] In the formula represents the current cycle The number of frequency band switching fluctuations of the internal signal amplification node; by normalizing the number of nodes to solve the frequency band switching situation of each node . , , and represent the number of frequency band switches of the node in the current cycle, the previous cycle, and the two previous cycles respectively; this data is usually obtained through a network traffic monitoring system to ensure accuracy and meet real-time requirements.

[0031] The specific value is determined by the monitoring data. Assume: There are 10 signal amplification nodes in the current cycle; ; ; .

[0032] The calculation formula steps are as follows: 1. Calculate the difference value of the frequency band switching of each node, that is ; 2. For each node, calculate the absolute value difference of the frequency band switching between two cycles, that is ; 3. The calculation result of each node is weighted by to prevent the denominator from being zero; 4. Sum up the calculation results of all nodes and divide by the total number of nodes ; 5. Take the absolute value of the result to ensure positivity; Specific calculation example: For node 1, the calculation process is: ; Similar calculations are performed for nodes 2 to 10, and then all the results are added up and divided by 10; Finally, through the weighted average of all nodes, is obtained; this result indicates the volatility of the number of frequency band switches of all nodes in the current cycle. This measurement of volatility provides insights into the dynamic adjustment of the network state; this value reflects the overall stability and change trend of the frequency band switching, which is crucial for further analyzing network performance and formulating adjustment measures.

[0033] Please refer to Figure 2 , the path density adjustment module includes: Based on the angle of change of the difficulty trend, the trend angle recognition sub-module obtains the continuous paragraph interval of the angle change, detects the direction and amplitude value of the angle change in each interval, determines the type of change trend to which the angle belongs, and then locates the current angle value according to the path spacing and angle matching table set by the track segment structure to generate an angle trend matching interval.

[0034] The trend angle recognition sub-module takes the angle change of the track segment in the time series as the input. First, the system extracts consecutive intervals with significant angle changes from the collected data. For example, during the track laying process, the equipment continuously climbs uphill within five minutes, and the angle increases by 2 degrees, 4.5 degrees, 6 degrees, 9 degrees, 11 degrees, and 13 degrees per minute respectively. By setting an angle fluctuation threshold of 3 degrees, the system compares the angle change at each time point with that of the previous time point. When the threshold is continuously exceeded, it is recognized as a trend segment. The above-mentioned time period is identified as a trend segment. Then, the system judges the direction of the angle change within this segment. If the angle continues to rise, the direction is upward. Further, the total amplitude of the angle increase is statistically calculated. From the initial 2 degrees to the final 13 degrees, the cumulative increase is 11 degrees. This increase will be compared with the preset standard. For example, if the set increase exceeds 10 degrees, it is a strong upward trend, and this segment is classified as a "strong upward trend". Then, the current angle value of 13 degrees is located in the angle and path spacing matching table set by the system. If the defined path spacing interval corresponding to 10 degrees to 15 degrees in the table is 1.5 meters to 2.0 meters, the current angle matches this interval, and the system outputs the corresponding path spacing matching interval for this segment as 1.5 to 2.0 meters.

[0035] The matching ratio extraction sub-module calls the angle trend matching interval, extracts the path spacing ratio corresponding to the angle according to the path spacing ratio set for the interval in the angle matching table, calls the basic path spacing set in the track segment structure, and performs a multiplication operation with the extracted path spacing ratio to generate a path spacing calculation value.

[0036] After receiving the path spacing matching interval corresponding to the angle trend, the matching ratio extraction sub-module first reads the recommended path spacing value corresponding to this interval. For example, the current angle matching interval is 10 to 15 degrees, and the corresponding recommended path spacing is 1.75 meters. Then, the basic path spacing value is extracted from the track segment structure data. Assuming the set basic path spacing is 1.2 meters, the system calculates the path spacing ratio to be approximately 1.46 based on their proportional relationship. Subsequently, this path spacing ratio is used as a reference factor for calculation with the basic path spacing, that is, taking 1.2 meters as the unit and scaling it up to 1.75 meters as the calculated path spacing corresponding to the current angle. Throughout the process, the corresponding relationship among the recommended path spacing, the basic path spacing, and the ratio comes from the pre-established matching table. The system completes data extraction and calculation through table lookup to generate the final path spacing calculation value as the input for the subsequent module.

[0037] The spacing length generation sub-module calls the path spacing calculation value, calculates the path segment spacing adjustment length according to the upper and lower limits of the path spacing set in the track segment structure, compares the path spacing calculation value with the upper and lower limits of the path spacing respectively, determines whether the path spacing calculation value is between the upper and lower limits of the path spacing, and if not, adjusts it to the nearest boundary value to generate the path segment spacing adjustment length.

[0038] The specific calculation formula for calculating the path segment spacing adjustment length is: ; Where represents the path segment spacing adjustment length, represents the path spacing calculation value of the i-th segment, represents the track weight factor of the i-th segment, represents the minimum allowable value of the path spacing setting, represents the maximum allowable value of the path spacing setting, represents the total number of path segments, represents the difference between the path spacing calculation value of the j-th segment and its set ideal spacing.

[0039] Formula details and formula calculation derivation process: This formula is used to determine the path segment spacing adjustment length , and the dynamic calculation based on multiple parameters ensures that the path spacing remains within the preset limits; the following is a detailed explanation of parameter acquisition and formula calculation: represents the path spacing calculation value of the i-th segment; the total number of path segments is set to ; assume that the data obtained through on-site measurement are 2.1m, 2.3m, 2.2m, 2.5m, 2.4m respectively; represents the weight factor of the i-th track; the weight factor is set based on the usage frequency of this track segment and its importance to the overall structure; for example, the weight factor can be determined through traffic flow data and maintenance records; the weight factors are set to 1.0, 0.8, 1.2, 0.9, 1.1 respectively; and represent the minimum and maximum allowable values of the path spacing; according to safety standards and engineering design specifications, , ; represents the difference between the path spacing calculation value of the j-th segment and its set ideal spacing; the ideal spacing is taken as the average of the minimum and maximum values, that is ; thus obtaining the difference .

[0040] Calculation process: First, calculate the weighted average path spacing: ; Calculate the geometric mean of the pitch range: ; Determine the sum of squares of the mean differences: ; Calculate the adjusted length of the path segment pitch: ; The calculation result shows that the calculated adjusted length significantly deviates from the ideal pitch, indicating that the currently set weights and the calculated path pitch values need to be further adjusted to ensure compliance with safety standards; this numerical result is further used to adjust the pitch of each track segment to ensure the reasonable distribution and safe operation of the overall structure.

[0041] Please refer to Figure 2 , the status monitoring module includes: The path segment pitch adjustment sub-module extracts the acceleration record content of the on-board gyroscope according to the adjusted length of the path segment pitch, extracts the maximum and minimum values of the acceleration fluctuation amplitude based on the numerical range of the acceleration fluctuation within each path segment, calculates the difference in the fluctuation amplitude, counts the number of fluctuations exceeding the difference in the acceleration fluctuation curve, and generates the acceleration fluctuation amplitude and change number values.

[0042] The path segment spacing adjustment sub-module obtains the path segment spacing adjustment length. First, it extracts the starting and ending point coordinates of each path segment in the path data, and then calculates the physical length of each path segment through the straight-line distance between three-dimensional coordinates. For example, if the starting point of a certain path segment is (2, 5, 0) and the ending point is (5, 9, 0), the length is obtained as approximately 5 meters based on the distance relationship between spatial points. All path segments are processed in this way in batches to form a path segment length data sequence. Subsequently, the path segment lengths are judged. The length adjustment range standard is set as follows: path segments shorter than 2 meters are short path segments, and those longer than 5 meters are long path segments. For short segments, they are merged with the previous and next path segments or processed by time reconstruction and compression. For long segments, intermediate nodes are added through uniform interpolation and multiple sub-path segments are re-divided. For example, a 9-meter path segment can be split into three 3-meter sub-path segments. Then, the time range of each path segment is aligned with the time stamps in the acceleration data, and the three-axis acceleration data within the corresponding time range is extracted. If the path segment time is from 10 seconds to 15 seconds and the acceleration recording frequency is once per second, then 6 groups of acceleration records within this time period are extracted. After that, the difference between the maximum and minimum values in each acceleration record is used as the fluctuation amplitude, and the change in the acceleration direction difference between adjacent time points is used as the judgment condition for the number of fluctuations. Each time the change direction is converted, it is counted as one fluctuation. For example, if the data change sequence is 0.3, 0.5, 0.2, 0.4, 0.6, 0.7, the number of fluctuations is counted as 3 times. This information forms a structured record in units of each path segment. The example result is: path segment number 1, acceleration fluctuation amplitude is 0.5, and the number of acceleration fluctuations is 3 times.

[0043] The acceleration fluctuation extraction sub-module calls the acceleration fluctuation amplitude and change number values, divides the time change record of the acceleration fluctuation into three periods, extracts the numerical changes in the main direction within each period, and analyzes the minimum distance between adjacent wave peaks based on the distribution change graph of the main direction values on the time axis to obtain the main direction change interval distance value.

[0044] The acceleration fluctuation extraction sub-module calls the acceleration fluctuation amplitude and the number of change values, and equally divides the overall time period. For example, the total time of 60 seconds is divided into three cycle segments, each cycle being 20 seconds. After the acceleration data within the cycle is assigned to the corresponding cycle segment according to the time stamp, the main direction extraction process is carried out. The method is to respectively count the change amplitude or variance value of the acceleration data in the x, y, and z directions, and select the direction with the largest change as the main direction. For example, if the change amplitude of the x-axis is the most obvious within cycle 1, then the main direction is the x-axis. Then, the change data of the acceleration in this direction over time is extracted, and a line graph or trend graph of the acceleration over time is plotted. All obvious local peak points are identified from the graph, and the time positions of these peak points are recorded. The adjacent peak time intervals are calculated to obtain the interval time series of the main direction change. For example, three peak points at 3 seconds, 8 seconds, and 13 seconds are identified within cycle 1, so the intervals are 5 seconds and 5 seconds. The main direction interval times of all three cycles are recorded and summarized, and the minimum interval time of each cycle is taken out respectively. For example, it is 5 seconds for cycle 1, 4 seconds for cycle 2, and 6 seconds for cycle 3. Finally, the average minimum interval time is calculated as a reference index for the main direction change interval distance value in this section of data.

[0045] The dynamic disturbance amplitude generation sub-module determines whether the minimum distance between adjacent wave peaks continues to shorten according to the main direction change interval distance value, extracts the minimum distance value in the data with a shortening trend, corresponds the minimum distance value to the path segment position, and combines the previously extracted acceleration fluctuation amplitude content to establish a description set of the disturbance change amount of the path segment, generating the dynamic disturbance change amplitude of the path segment.

[0046] The dynamic disturbance amplitude generation sub-module determines whether there is a continuous decreasing trend in the wave peak spacing within three cycles based on the aforementioned main direction change interval distance value. By recording the main direction wave peak time intervals within each cycle in sequence and performing successive difference operations, a change trend sequence is formed. If it is 6 seconds, 5 seconds, 4 seconds for cycle 1, 5 seconds, 4 seconds, 3 seconds for cycle 2, and 4 seconds, 3 seconds, 2 seconds for cycle 3, it indicates that the main direction wave peak spacing shows a continuous shortening trend. Under this premise, the minimum distance value is extracted from the cycle with a continuous shortening trend. For example, the minimum in cycle 3 is 2 seconds. The wave peak time point corresponding to this minimum distance value is located in the specific time period, and then it is mapped to the path segment index through the time mapping method. For example, if the 2-second wave peak appears within the time of path segment 3, it is marked as a high disturbance path segment. Then, combined with the acceleration fluctuation amplitude information of each previous path segment, such as the fluctuation amplitude of path segment 3 being 0.8, a disturbance change description structure of "path segment number - acceleration fluctuation amplitude - main direction minimum distance value" is formed. Finally, it is recorded as: path segment 3 - 0.8 - 2 seconds. This structure can be used as the dynamic disturbance amplitude of the path segment for subsequent data analysis or structure judgment.

[0047] Please refer to Figure 2 and the boundary compensation module includes: The perturbation extraction sub-module obtains the dynamic perturbation change amplitude of the path segment, combines the continuous periodic positioning point paths recorded by the path trigger and the moving distance of the device within the corresponding period, calls the time period difference between the dynamic perturbation change amplitude of the path segment and the moving distance of the device within the continuous period, filters out the continuous time intervals where the perturbation change amplitude exceeds the path perturbation threshold, and generates perturbation time intervals.

[0048] The perturbation extraction sub-module first obtains the positioning path data of the device within multiple consecutive periods through the path trigger. These data are stored in the form of the spatial coordinates of the device at different moments, records the movement trajectory of the device between the starting point and the ending point of each period, and the moving distance of the device within each period can be obtained by combining these trajectories. For example, if the device collects a position point every 1 second, 10 positioning points can be obtained within 10 seconds, and then the moving distance between every two points is calculated in turn, and the sum is the total moving distance within the period. At the same time, it is recorded whether the moving direction of the device changes violently. If the direction change of adjacent path segments within two consecutive periods is very large, it usually indicates a significant change in the device state; the displacement conditions within each path segment are summarized, and by comparing the path change trends within each period, the change amplitude of the perturbation within each time period is extracted, and then the dynamic perturbation curve is obtained; for example, in a certain workshop, when the AGV cart moves along a fixed route, its path change should be relatively stable. If the path jitters significantly or changes frequently during a certain period, the perturbation value of this period will increase significantly; after normalizing the perturbation amplitude within each period of time, the system statistically analyzes the fluctuation degree of the perturbation value within the continuous time period, and compares all the perturbation values with the preset perturbation threshold. The perturbation threshold is set according to the working environment of the device. For example, it can be set to 1.5 meters per second in a complex operation area and 0.5 meters per second in a standard area. By analyzing the results, find out those time periods where the perturbation amplitude is greater than the threshold. For example, when the perturbation amplitude within three seconds continuously exceeds 1.5 meters per second, it can be determined as a perturbation abnormal area, and the system records the corresponding start and end times to form a perturbation time interval, such as (12 seconds to 15 seconds), as the output result of this paragraph.

[0049] Based on the perturbation time interval, the path classification sub-module calls the continuous point coordinate sequences marked in the periodic positioning point path, calculates the index positions of the points where the direction changes suddenly in the path, combines the time intervals corresponding to these points in the time series with the perturbation time interval for intersection judgment, extracts all the turning point indexes where the intersection holds, and generates a path turning point index sequence.

[0050] After obtaining the perturbation time interval, the path classification sub-module starts to analyze the path data of the device. It sorts the periodically recorded device coordinate points in chronological order to form continuous trajectory segments, and analyzes the direction change of each segment among these segments. The method is to check whether there is a large direction mutation in the path formed by three consecutive coordinate points. For example, if the moving direction before and after a point changes from horizontal to vertical, it can be considered that a direction mutation has occurred. Such changes are common when the device turns or operates abnormally. When a direction mutation is detected, the system will record the point index number at the mutation position, such as the 10th, 15th, and 21st points. Subsequently, the timestamps of these mutation points are intersected with the previously identified perturbation time interval to screen out the mutation points that occur within the perturbation time period. If the time corresponding to a certain mutation point happens to be within the perturbation time interval, such as the 15th point appears in the perturbation period from the 12th to the 15th second, then this point is included in the path turning point index sequence. For example, the device moves to points (10, 10), (20, 10), and (20, 20) in a certain path in sequence. The direction mutation at the second point in this sequence is a right-angle turn, and the direction mutation amplitude is obvious. This point is the turning point. Then, it is judged whether its time appears in the identified perturbation period. If the condition is met, it is used as a key turning point in the path. Finally, the system outputs the set of all point index numbers that meet the conditions, such as [10, 15, 21] as the path turning point index sequence.

[0051] The offset positioning sub-module locates the positioning time points corresponding to the turning points in the device path according to the path turning point index sequence, calls the original device positioning point sequence and the cycle index section recorded by the trigger, screens the Euclidean distance between the original positioning coordinates corresponding to the time points and the positions recorded by the trigger, and judges the coordinate points with a distance greater than the path offset judgment reference value to generate the boundary trigger offset reference position.

[0052] The offset positioning sub-module extracts the corresponding positioning time points and coordinate information of these points from the original device positioning data according to the obtained path turning point index sequence, such as [10, 15, 21], and retrieves the position coordinates recorded within the same time period from the path trigger. It compares the differences between the actual positioning positions of the device and the positions recorded by the path trigger one by one, and uses the concept of Euclidean distance for difference estimation. However, in words, it is to calculate the spatial distance between two points; if the distance between the device positioning coordinates and the path trigger coordinates of a turning point is greater than the set offset judgment reference value, it is determined that there is a significant offset phenomenon at this point. This offset judgment reference value is usually set in combination with device accuracy and environmental requirements. For example, it can be set to 1.0 meter for a high-precision positioning system, and 2.0 meters for general industrial scenarios; for example, the coordinates of the 15th positioning point of a device are (105, 200), while the path trigger records that the device should be at (102, 198) at this moment. The distance between the two points is calculated to be 3.6 meters through distance measurement, which exceeds the preset reference value of 2.0 meters. Therefore, this point is marked as an offset point, and the offset distance and point index are recorded. Finally, the offset reference value in the format of [(15, 3.6)] is output as the judgment result. The system will collect all turning points that meet the conditions and their corresponding offset data for subsequent processing or calibration reference.

[0053] Please refer to Figure 2 , the control linkage module includes: Based on the boundary trigger offset reference position, the path distance calculation sub-module obtains the position information of the start and end path points of the current path segment, calls the distance data between adjacent coordinate points of the path points, accumulates to obtain the total length of the current path segment, and calculates the difference from the total length of the previous cycle path segment to generate the path segment distance difference.

[0054] Based on the boundary trigger offset reference position, the path distance calculation sub-module needs to first determine the start and end points of the current path segment. The system extracts the continuous path points included in the path segment from the map data or trajectory record. Each path point has specific coordinate information, usually a combination of longitude and latitude. After extraction, the distance between each pair of adjacent path points is calculated in the path order. The distance can be obtained by using the spherical distance calculation method. This function is implemented through a table lookup method or a simple geometric calculation tool within the system. For example, if the path segment consists of path points P1, P2, P3, P4, P5, then the distances between P1 and P2, P2 and P3, P3 and P4, P4 and P5 are calculated respectively. If they are 11 meters, 14 meters, 12 meters, and 13 meters respectively, then the total length of the current path segment is 50 meters. After the calculation is completed, the total length data of the same path segment stored in the previous cycle is called, for example, 46 meters. By subtracting the two, it is obtained that the length of the current cycle path segment has increased by 4 meters compared to the previous cycle. This difference is the path segment distance difference. This difference will be recorded in the structured data table together with the path segment number for the subsequent processing module to judge the offset situation.

[0055] The offset length judgment sub-module calls the path segment distance difference and the maximum trigger offset length data, judges whether the difference between the distance between path points and the maximum offset length exceeds the offset tolerance range, filters out the path segments that exceed the part, calculates the ratio of the path segment distance difference to the number of path segments, and generates the average length of the path segments.

[0056] The offset length judgment sub-module calls the path segment distance difference and the maximum trigger offset length data, and this data comes from preset thresholds. These thresholds are set according to the actual application scenario. For example, in a vehicle navigation system, the offset threshold may be set to several meters to adapt to common road widths and actual driving conditions. It judges whether the difference between the distance between path points and the maximum offset length exceeds the offset tolerance range, and the judgment is completed through a comparison operation. If the current offset distance exceeds the set threshold, it is considered that there is a significant offset. Filter out the path segments that exceed the part. The filtering process checks the offset data of all path segments through traversal, and selects the path segments that exceed the offset threshold for further processing. Calculate the ratio of the path segment distance difference to the number of path segments, calculate the average offset distance, give the average offset data of each path segment, and generate the average length of the path segments. The average length is used to evaluate the overall offset situation and subsequent navigation adjustment.

[0057] The linkage configuration generation sub-module obtains the path segment number and the linkage configuration parameter index according to the average length of the path segments, traverses the path segment numbers to generate a list of matching linkage configuration length values, establishes the corresponding relationship between the path segment numbers and the configuration length values, and generates the linkage configuration length of the path segments.

[0058] The linkage configuration generation sub-module receives the average length of the path segments provided by the previous module, for example, 6.5 meters. There is a linkage configuration parameter table preset in the system. The table divides different configuration numbers according to different path segment length intervals. For example, 0 to 5 meters is configuration A, 5 to 10 meters is configuration B, and 10 to 15 meters is configuration C. At this time, the average length of 6.5 meters falls within the range of 5 to 10 meters, and configuration B is matched. The system then traverses all the path segment numbers marked as having an offset, and assigns the linkage configuration length value corresponding to configuration B to these path segments in turn. The configuration length value usually comes from preset parameters. For example, if the linkage configuration length corresponding to configuration B is 8 meters, then both path segment 2 and path segment 3 are assigned 8 meters. Finally, the relationship between the path segment numbers and the configuration length values forms a structured data table for subsequent system control parameter calls. For example, the generated path segment linkage configuration length table is: path segment 2 → 8 meters, path segment 3 → 8 meters. This process is output to the system configuration module in tabular form as the basis for linkage configuration.

[0059] Please refer to Figure 3 , a control method for an inspection device, which is executed based on the above-mentioned control system for an inspection device, and includes the following steps: S1: Obtain the number of abnormal pixel clusters, the minimum gap value between components, the maximum difference between components, and the number of frequency band switches. Subtract the current cycle data from the previous cycle, combine the difference data of the previous two cycles, calculate the geometric angle of direction change, and generate the difficulty trend change angle; S2: Based on the difficulty trend change angle, extract the proportional value in the corresponding interval in the path spacing and angle matching table, multiply it by the basic path spacing value, compare the calculation result with the upper and lower limits of the path spacing, and obtain the adjustment length of the path segment spacing; S3: According to the adjustment length of the path segment spacing, construct a three-cycle sequence of the acceleration fluctuation amplitude and the number of changes, identify the maximum change in the main direction, analyze the change trend of the interval between adjacent wave peaks, extract the minimum interval distance value, and generate the dynamic disturbance change amplitude of the path segment; S4: Call the dynamic disturbance change amplitude of the path segment, analyze the path of the positioning point and the moving distance of the device, identify the trajectory turning point, extract the path point positions in the densely changing section, and generate the boundary trigger offset reference position; S5: Call the boundary trigger offset reference position, obtain the distance between path points, compare the maximum trigger offset length, and when it exceeds the range, calculate the average value of the total length of the current and previous cycle path segments, and generate the linkage configuration length of the path segment.

[0060] In this embodiment, the inspection device may adopt an inspection robot. The inspection robot is a prior art, and the inspection robot is controlled based on the control system and control method of the above inspection device and performs the inspection task.

[0061] The present invention also provides a control device for an inspection device, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the control method of the above inspection device is implemented.

[0062] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A control system for inspection equipment, characterized in that: The system comprises: The difficulty identification module obtains the number of abnormal pixel clusters in the structural area of ​​the track section, the minimum and maximum difference between the insulator components, and the number of frequency band switching of the signal amplification node, and subtracts them from the previous data, analyzes the angle between the current and previous two cycle values, and generates the difficulty trend change angle; The path density adjustment module extracts the path spacing and angle matching table set by the track segment structure according to the change angle of the difficulty trend, locates the interval to which the angle belongs, extracts the corresponding ratio and multiplies it with the basic spacing, and generates the path segment spacing adjustment length after comparing the calculation result with the upper and lower limits of the path spacing; The state monitoring module adjusts the length according to the path segment spacing, obtains the acceleration fluctuation amplitude and change times recorded by the onboard gyroscope, constructs a three-cycle time series and extracts the main direction change value, analyzes the minimum interval distance between adjacent peaks in the change graph, extracts the minimum interval distance value when it is continuously shortened, and generates the path segment dynamic disturbance change amplitude; The boundary compensation module extracts the continuous periodic positioning point path and the equipment movement distance recorded by the path trigger according to the dynamic disturbance change amplitude of the path segment, analyzes the turning point position on the time axis, and obtains the boundary trigger offset reference position.

2. The control system of a patrol inspection device according to claim 1, characterized in that: The difficulty identification module comprises: The pixel anomaly calculation submodule obtains the number of abnormal pixel clusters in the current cycle of the inspection equipment in the track segment structure area, calls the number of abnormal pixel clusters in the previous cycle and the previous two cycles, determines the direction of the difference between the current cycle and the previous cycle, and the previous cycle and the previous two cycles, calculates the angle between the two sets of directions, and generates the abnormal pixel direction angle; The component gap evaluation submodule obtains the minimum gap value and maximum difference between the insulator components in the current cycle according to the direction angle of the abnormal pixel, subtracts the minimum gap value and maximum difference of the previous cycle respectively, determines the increase or decrease direction, calculates the angle with the direction of the previous two cycles, and generates the component difference change angle; The trend angle analysis submodule calls the component difference change angle, obtains the frequency band switching fluctuation times of the signal amplification node in the current cycle, determines the direction after subtracting the frequency band switching times of the previous cycle and the previous two cycles, establishes angle calculations for the three sets of direction relationships, and obtains the difficulty trend change angle.

3. The control system of a patrol inspection device according to claim 2, characterized in that: The specific calculation formula for obtaining the frequency band switching fluctuation times of the signal amplification node in the current cycle is: ； in, Represents the frequency band switching fluctuation times of the signal amplification node in the current cycle. Represents the total number of signal amplification nodes in the current cycle, Representative The number of frequency band switching times of a signal amplification node in the current cycle, Representative The number of frequency band switching times of the signal amplification node in the previous cycle, Representative The number of frequency band switching times of a signal amplification node in the first two cycles.

4. The control system of a patrol inspection device according to claim 1, characterized in that: The path density adjustment module includes: The trend angle recognition submodule obtains the continuous section intervals of angle change based on the difficulty trend change angle, detects the angle change direction and amplitude value in each interval, determines the change trend type to which the angle belongs, and then locates the current angle value according to the path spacing and angle matching table set by the track segment structure, and generates the angle trend matching interval; The matching ratio extraction submodule calls the angle trend matching interval, extracts the path spacing ratio corresponding to the angle according to the path spacing ratio setting corresponding to the interval in the angle matching table, calls the basic path spacing set in the track segment structure, multiplies it with the extracted path spacing ratio, and generates a path spacing calculation value; The spacing length generation submodule calls the path spacing calculation value, calculates the path segment spacing adjustment length according to the path spacing upper and lower limits set in the track segment structure, compares the path spacing calculation value with the path spacing upper and lower limits, and determines whether the path spacing calculation value is between the path spacing upper and lower limits. If not, it is adjusted to the closest boundary value to generate the path segment spacing adjustment length.

5. The control system of a patrol inspection device according to claim 4, characterized in that: The specific calculation formula for calculating the path segment spacing adjustment length is: ； in, Represents the path segment spacing adjustment length, represents the calculated path spacing value of the i-th segment, represents the weight factor of the i-th track, Represents the minimum allowed value for path spacing setting, Represents the maximum allowed value of the path spacing setting, Represents the total number of path segments, Represents the difference between the calculated path spacing of the jth segment and its set ideal spacing.

6. The control system of a patrol inspection device according to claim 1, characterized in that: The status monitoring module comprises: The path segment spacing adjustment submodule adjusts the length according to the path segment spacing, extracts the acceleration record content of the onboard gyroscope, extracts the maximum and minimum values ​​of the acceleration fluctuation amplitude based on the numerical range of the acceleration fluctuation in each path segment, calculates the fluctuation amplitude difference, counts the number of fluctuations exceeding the difference in the acceleration fluctuation curve, and generates the acceleration fluctuation amplitude and change number values; The acceleration fluctuation extraction submodule calls the acceleration fluctuation amplitude and the number of changes, divides the time change record of the acceleration fluctuation into three periods, extracts the value change of the main direction in each period, and analyzes the minimum spacing between adjacent peaks based on the distribution change graph of the main direction value on the time axis to obtain the main direction change interval distance value; The dynamic disturbance amplitude generation submodule determines whether the minimum spacing between adjacent peaks continues to shorten according to the interval distance value of the main direction change, extracts the minimum spacing value in the data with shortening trend, corresponds the minimum spacing value to the path segment position, and combines the acceleration fluctuation amplitude content extracted in the early stage to establish a description set of the path segment disturbance change amount, and generate the path segment dynamic disturbance change amplitude.

7. The control system of a patrol inspection device according to claim 1, characterized in that: The boundary compensation module comprises: The disturbance extraction submodule obtains the dynamic disturbance change amplitude of the path segment, combines the continuous period positioning point path recorded by the path trigger and the moving distance of the device in the corresponding period, calls the time period difference between the dynamic disturbance change amplitude of the path segment and the moving distance of the device in the continuous period, and selects the continuous time interval where the disturbance change amplitude exceeds the path disturbance threshold to generate the disturbance time interval; The path classification submodule calls the continuous point coordinate sequence marked in the periodic positioning point path based on the disturbance time interval, calculates the index position of the point with sudden change in direction in the path, combines the time interval of the corresponding point in the time series with the disturbance time interval to make an intersection judgment, extracts all turning point indexes formed by the intersection, and generates a path turning point index sequence; The offset positioning submodule calls the original device positioning point sequence and the periodic index segment recorded by the trigger according to the path turning point index sequence, locates the positioning time point corresponding to the turning point in the device path, screens the Euclidean distance between the original positioning coordinates corresponding to the time point and the trigger record position, determines the coordinate point whose distance is greater than the path offset judgment reference value, and generates the boundary trigger offset reference position.

8. The control system of a patrol inspection device according to claim 1, characterized in that: The system further comprises: The control linkage module calculates the distance between path points according to the boundary trigger offset reference position and compares it with the maximum trigger offset length. If the difference between the distance between path points and the maximum offset length exceeds the range, the average length between the current path segment and the path length of the previous cycle is calculated to generate the path segment linkage configuration length; The control linkage module includes: The path distance calculation submodule obtains the location information of the starting and ending points of the current path segment based on the boundary trigger offset reference position, calls the distance data of the adjacent coordinate points between the path points, accumulates the total length of the current path segment, and calculates the difference with the path segment length of the previous cycle to generate the path segment distance difference; The offset length judgment submodule calls the path segment distance difference and the maximum trigger offset length data to determine whether the difference between the distance between the path points and the maximum offset length exceeds the offset tolerance range, filters the path segments that exceed the range, calculates the ratio of the path segment distance difference to the number of path segments, and generates the mean length of the path segments; The linkage configuration generation submodule obtains the path segment number and linkage configuration parameter index according to the average length of the path segment, traverses the path segment number to generate a list of matching linkage configuration length values, establishes a corresponding relationship between the path segment number and the configuration length value, and generates the path segment linkage configuration length.

9. A control method for inspection equipment, characterized in that: The control system of the inspection device according to any one of claims 1 to 8 is implemented, comprising the following steps: S1: Obtain the number of abnormal pixel clusters, the minimum gap value between components, the maximum difference between components and the number of frequency band switching, subtract the current cycle data from the previous cycle, combine the difference data of the previous two cycles, calculate the geometric angle of direction change, and generate the difficulty trend change angle; S2: Based on the difficulty trend change angle, extract the ratio value of the corresponding interval in the path spacing and angle matching table, multiply it by the basic path spacing value, compare the calculated result with the upper and lower limits of the path spacing, and obtain the adjusted length of the path segment spacing; S3: Adjust the length according to the path segment spacing, construct a three-period sequence of acceleration fluctuation amplitude and change times, identify the maximum change in the main direction, analyze the interval change trend of adjacent peaks, extract the minimum interval distance value, and generate the path segment dynamic disturbance change amplitude; S4: Call the dynamic disturbance change amplitude of the path segment, analyze the positioning point path and the device movement distance, identify the trajectory turning point, extract the path point position of the densely changing section, and generate the boundary trigger offset reference position; S5: Call the boundary trigger offset reference position, obtain the distance between path points, compare the maximum trigger offset length, and when it exceeds the range, calculate the average total length of the current and previous cycle path segments to generate the path segment linkage configuration length.

10. A control device for inspection equipment, comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor implements the control method of the inspection device according to claim 9 when executing the computer program.

Images