Anti-collision method and device for inspection equipment and inspection equipment
By acquiring the guide wire information of the inspection equipment and controlling it to decelerate before the boundary point, the problem of damage to the inspection equipment due to high-speed collisions was solved, thus improving the safety and reliability of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-28
- Publication Date
- 2026-03-10
AI Technical Summary
The problem of equipment damage caused by high-speed collisions at the boundary points of conductors during inspection.
By acquiring the conductor information of the conductor where the inspection equipment is located, including the boundary point type and mileage value, the stopping position and speed of the equipment are controlled to slow it down before the boundary point in order to avoid high-speed collisions.
This effectively prevents the inspection equipment from being damaged by collisions at boundary points, thus improving the safety and reliability of the equipment.
Smart Images
Figure CN121642822A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of inspection equipment, and particularly relates to a collision avoidance method and device of an inspection equipment and the inspection equipment. BACKGROUND
[0002] The inspection equipment can remove the snow and ice layer on the power transmission line to prevent or slow down the wire icing phenomenon. Compared with the traditional manual maintenance method, the maintenance efficiency and safety of the power transmission line are improved by using the inspection equipment to maintain the power transmission line.
[0003] In the related art, when the inspection equipment performs a task, it needs to run on the wire to remove the snow and ice on the power transmission line. When the inspection equipment collides with the boundary point of the wire, the inspection equipment is easily damaged. SUMMARY
[0004] The present application provides a collision avoidance method and device of an inspection equipment and the inspection equipment to solve the problem that the inspection equipment is damaged when it collides with the boundary point at a high speed.
[0005] In a first aspect, the present application provides a collision avoidance method of an inspection equipment, comprising:
[0006] Obtaining wire information of a wire where the inspection equipment is located, the wire information comprising a boundary point of the wire, a type of the boundary point, and a mileage value of the wire, the type of the boundary point being a temporary boundary or a fixed boundary;
[0007] For any boundary point of the wire, when the inspection equipment moves to the boundary point, the stopping position and the speed before stopping of the inspection equipment are controlled according to the type of the boundary point and the mileage value of the wire, and the speed before stopping is less than or equal to a preset safety speed.
[0008] Optionally, controlling the stopping position and the speed before stopping of the inspection equipment according to the type of the boundary point and the mileage value of the wire comprises:
[0009] If the type of the boundary point is a fixed boundary, during the process of controlling the inspection equipment to move to the boundary point, the inspection equipment is controlled to move at a first speed before reaching an alarm position determined based on the mileage value of the wire, or the inspection equipment is first controlled to move at the first speed and then controlled to move at a speed lower than the first speed, wherein the distance between the alarm position and the boundary point is a predetermined alarm distance corresponding to the boundary point.
[0010] When the inspection device moves to the alarm position, the inspection device is controlled to move at a second speed until the inspection device reaches the stop position, the stop position being the position of the boundary point, the second speed being less than the speed before the inspection device reaches the alarm position.
[0011] Optionally, the inspection device is controlled to move at a first speed and then at a speed lower than the first speed, comprising:
[0012] The inspection device is controlled to move at a first speed, and the inspection device is controlled to reduce speed once for each preset distance moved by the inspection device.
[0013] Optionally, the stop position of the inspection device and the speed before stopping are determined according to the type of the boundary point and the distance value of the conductor, comprising:
[0014] If the type of the boundary point is a temporary boundary, the inspection device is controlled to move at a third speed, or the inspection device is controlled to move at the third speed and then at a speed lower than the third speed, until the inspection device reaches the stop position based on the distance value of the conductor, the stop position being a preset distance from the boundary point.
[0015] Optionally, the inspection device is controlled to move at a third speed and then at a speed lower than the third speed, comprising:
[0016] The inspection device is controlled to move at a third speed, and the inspection device is controlled to reduce speed once for each preset distance moved by the inspection device.
[0017] Optionally, before obtaining the conductor information of the conductor on which the inspection device is located, the method further comprises:
[0018] In response to a task instruction, the inspection device is controlled to move towards the boundary point, and during the movement, a first distance between the inspection device and the boundary point output by the sensor of the inspection device when the sensor of the inspection device first detects the boundary point is recorded.
[0019] After detecting that the inspection device stops, the alarm distance corresponding to the boundary point is determined according to the first distance and a first distance moved by the inspection device from when the sensor of the inspection device first detects the boundary point to when the inspection device stops.
[0020] Optionally, the alarm distance corresponding to the boundary point is determined according to the first distance and a first distance moved by the inspection device from when the sensor of the inspection device first detects the boundary point to when the inspection device stops, comprising:
[0021] If the first distance and the first mileage are equal, the first distance or the first mileage is determined as the warning distance;
[0022] If the first distance and the first mileage are not equal, the smaller value between the first distance and the first mileage is determined as the warning distance.
[0023] In a second aspect, the present application provides a collision avoidance device for a patrol device, comprising:
[0024] an acquisition module, configured to acquire conductor information of a conductor on which the patrol device is located, the conductor information comprising boundary points of the conductor, types of the boundary points and a mileage value of the conductor, the types of the boundary points being temporary boundaries or fixed boundaries;
[0025] a control module, configured to control a speed and a stop position of the patrol device during movement of the patrol device to the boundary points according to the types of the boundary points and the mileage value of the conductor.
[0026] In a third aspect, the present application provides a patrol device, comprising a processor and a memory connected to the processor in communication;
[0027] the memory stores computer-executable instructions;
[0028] the processor executes the computer-executable instructions stored in the memory to implement the method according to the first aspect and various possible designs of the first aspect.
[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions, and when a processor executes the computer-executable instructions, the method according to the first aspect and various possible designs of the first aspect is implemented.
[0030] In a fifth aspect, an embodiment of the present application provides a computer program product, which comprises a computer program, and when a processor executes the computer program, the method according to the first aspect and various possible designs of the first aspect is implemented.
[0031] The anti-collision method and device of the inspection equipment and the inspection equipment provided by the application, by acquiring the conductor information of the conductor where the inspection equipment is located, the conductor information including the boundary point of the conductor, the type of the boundary point and the mileage value of the conductor, the type of the boundary point being a temporary boundary or a fixed boundary; for any boundary point of the conductor, when the inspection equipment moves to the boundary point, according to the type of the boundary point and the mileage value of the conductor, the stopping position of the inspection equipment and the speed before stopping are controlled, and the speed before stopping is less than or equal to the preset safety speed. The method provided by the application determines different stopping positions according to the type of the boundary point, controls the speed before the inspection equipment stops to be less than or equal to the preset safety speed, avoids the collision of the inspection equipment at the critical point at a high moving speed, and thus prevents the damage of the inspection equipment. BRIEF DESCRIPTION OF DRAWINGS
[0032] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.
[0033] Figure 1 A flowchart of an anti-collision method of an inspection equipment provided by an embodiment of the application;
[0034] Figure 2 A flowchart of controlling the speed and stopping position of the inspection equipment during the movement of the inspection equipment to a fixed boundary provided by the application;
[0035] Figure 3 A flowchart of a method for determining the alarm distance of a boundary point provided by an embodiment of the application;
[0036] Figure 4 A structural diagram of an anti-collision device of an inspection equipment provided by an embodiment of the application;
[0037] Figure 5 A structural diagram of an inspection equipment provided by an embodiment of the application.
[0038] Through the above-mentioned drawings, the specific embodiments of the application have been shown, and more detailed descriptions will be given hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the application by any means, but to illustrate the concept of the application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION
[0039] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements throughout the description. The following exemplary embodiments described herein represent the best attempts at providing embodiments in conformity with the application. They are not intended to represent that all embodiments in conformity with the application are exhausted.
[0040] The inspection device is a device for maintaining a power transmission line. The inspection device can remove snow and ice on the power transmission line, prevent or slow down wire icing, and perform inspection of the power transmission line to check for faults of the wire itself and safety hazards in the environment around the wire. Compared with the traditional manual maintenance method, the inspection device improves the maintenance efficiency and safety of the power transmission line.
[0041] In the related art, the inspection device usually needs to go back and forth between boundary points of the wire multiple times to perform a task. For example, when the inspection device performs a snow and ice removal task, it will perform multiple one-way snow and ice removal tasks between the boundary points to continuously remove snow and ice on the power transmission line between the boundary points. Alternatively, when the inspection device performs an inspection task, it will perform multiple one-way inspection tasks multiple times between the boundary points to continuously check for installation hazards of the power transmission line or the surrounding environment between the boundary points. When the inspection device performs a task, the inspection device may travel at a high speed and collide with the boundary point when it reaches the boundary point, which will cause damage to the inspection device.
[0042] Therefore, the present application provides a collision avoidance method for an inspection device. The method includes obtaining wire information of a wire where the inspection device is located, the wire information including boundary points of the wire, types of the boundary points, and a mileage value of the wire, the types of the boundary points being temporary boundaries or fixed boundaries; and for any boundary point of the wire, when the inspection device moves towards the boundary point, controlling a stop position of the inspection device and a speed before stopping according to the types of the boundary points and the mileage value of the wire, the speed before stopping being less than or equal to a preset safety speed. The method of the present application determines different stop positions according to the types of the boundary points, controls the speed before stopping of the inspection device to be less than or equal to the preset safety speed, avoids collision of the inspection device at the boundary point at a high moving speed, and thus prevents damage to the inspection device.
[0043] It should be understood that the collision avoidance method for the inspection device of the embodiments of the present application can be used for any inspection device. The execution subject of the embodiments of the present application can be a control unit of the inspection device, or the inspection device installed with the control unit. Hereinafter, the execution subject is taken as the control unit of the inspection device for illustration.
[0044] Figure 1A flowchart of a collision avoidance method of a patrol device is provided in the embodiments of the present application. As shown in Figure 1 the collision avoidance method of the patrol device may, for example, include the following steps:
[0045] S101, obtaining conductor information of a conductor where the patrol device is located.
[0046] The conductor information is related information of the conductor where the patrol device performs a task, and the conductor information includes boundary points of the conductor, types of the boundary points, and a mileage value of the conductor.
[0047] The type of the boundary point is a temporary boundary or a fixed boundary. The fixed boundary is an obstacle on the conductor that exists for a long time and hinders the movement of the patrol device, and the type of the obstacle is determined. For example, a spacer rod, a shock absorber, etc. The temporary boundary is an obstacle on the conductor that hinders the movement of the patrol device other than the fixed boundary, and the type of the obstacle cannot be determined. For example, it can be a stranded wire caused by a broken conductor that hinders the movement of the patrol device, ice on the conductor that hinders the movement of the patrol device, an obstacle that cannot be identified in the image obtained by the patrol device but hinders the movement of the patrol device, other obstacles hanging on the conductor that hinder the movement of the patrol device, etc.
[0048] The mileage value of the conductor is the distance that the patrol device moves between critical points recorded in the conductor information.
[0049] The conductor information is information recorded in the process of the patrol device performing a task previously. The conductor information where the patrol device is located can be obtained to obtain the information recorded in the process of the patrol device performing a task previously. For example, it can be the conductor information obtained when the patrol device is initialized, or the conductor information calibrated in the process of the patrol device performing a task last time.
[0050] S102, for any boundary point of the conductor, when the patrol device moves to the boundary point, the stopping position and the speed before stopping of the patrol device are controlled according to the type of the boundary point and the mileage value of the conductor, and the speed before stopping is less than or equal to a preset safety speed.
[0051] The stopping position is the position where the patrol device stops moving in the process of moving to the boundary point.
[0052] The safety speed is a speed that can guarantee the safety of the patrol device, and when the patrol device collides with the fixed boundary at a speed less than or equal to the safety speed, the patrol device will not be damaged.
[0053] For any boundary point of the conductor, when the inspection device moves to the boundary point, the inspection device can be controlled to stop at a position and at a speed less than or equal to a preset safety speed according to the type of the boundary point and the mileage value of the conductor.
[0054] In an implementation, the inspection device can be controlled to move to the boundary point at different speeds and stop at different positions according to whether the boundary point is a temporary boundary or a fixed boundary.
[0055] For example, if the boundary point is a fixed boundary, the fixed boundary is determined by the type of the obstacle, such as a spacer rod or a shock absorber. The impact of the fixed boundary on the inspection device is predictable because the type of the obstacle is known. The inspection device will not be damaged when colliding with the fixed boundary at a speed less than or equal to the safety speed. In this implementation, the inspection device can be controlled to move to the boundary point at a speed less than or equal to the safety speed before the inspection device moves to the boundary point, so that the inspection device will not be damaged when colliding with the boundary point.
[0056] For example, if the boundary point is a temporary boundary, the impact of the temporary boundary on the inspection device is unpredictable because the type of the obstacle is not known. The inspection device may be damaged or stuck when colliding with the obstacle. In this implementation, the inspection device is controlled to stop at a distance from the boundary point at a speed less than or equal to the safety speed to prevent the obstacle at the boundary point from affecting the safety of the inspection device.
[0057] The anti-collision method of the inspection device according to the present application includes obtaining conductor information of a conductor on which the inspection device is located, the conductor information including boundary points of the conductor, types of the boundary points, and a mileage value of the conductor, the types of the boundary points being temporary boundaries or fixed boundaries; and controlling a stop position and a speed before stopping of the inspection device when the inspection device moves to any boundary point of the conductor according to the types of the boundary points and the mileage value of the conductor, the speed before stopping being less than or equal to a preset safety speed. The method according to the present application determines different stop positions according to the types of the boundary points and controls the speed before stopping of the inspection device to be less than or equal to the preset safety speed, thereby avoiding collision of the inspection device at a high moving speed at the boundary point and preventing the inspection device from being damaged.
[0058] The following example illustrates the specific implementation of the anti-collision method for inspection equipment proposed in this application, which controls the stopping position and speed of the inspection equipment before stopping based on the type of boundary point and the mileage value of the guide wire, with the speed before stopping being less than or equal to a preset safe speed.
[0059] Taking a fixed boundary type as an example, Figure 2 This is a flowchart illustrating the process of controlling the stopping position and speed of an inspection device according to this application. The specific steps for controlling the stopping position and speed of the inspection device are as follows:
[0060] S201. During the process of controlling the inspection equipment to move towards the boundary point, before the inspection equipment reaches the alarm position based on the mileage value of the conductor, control the inspection equipment to move at a first speed, or first move at the first speed and then move at a speed lower than the first speed.
[0061] The alarm distance is a predetermined distance from the boundary points, and each boundary point has a corresponding alarm distance.
[0062] The distance between the alarm location and the boundary point is the pre-determined alarm distance corresponding to the boundary point.
[0063] The alarm distance can be pre-set for each boundary point, or it can be determined in advance during the calibration process of the inspection equipment. For example, when controlling the inspection equipment to move towards a boundary point, the distance detected by the sensor when the inspection equipment first detects the boundary point can be used as the alarm distance. The sensor can be any distance-measuring sensor, such as an ultrasonic sensor or an infrared sensor. Optionally, multiple sensors can be combined for confirmation. For example, by combining ultrasonic and infrared sensors for distance measurement, the average distance detected by the ultrasonic and infrared sensors when the ultrasonic sensor first detects the boundary point can be used as the alarm distance.
[0064] One method to determine the alarm position of inspection equipment based on the mileage value of the conductor is to calculate the difference between the conductor's mileage value and the alarm distance. This difference represents the distance the inspection equipment needs to move to reach the safe position. When the distance the inspection equipment moves equals this required distance, it indicates that the inspection equipment has reached the alarm position. The distance traveled by the inspection equipment can be obtained using any speed measuring device configured on the inspection equipment. For example, the distance traveled can be obtained from the speed measuring wheel of the inspection equipment. The speed measuring wheel outputs pulses when the inspection equipment moves, and the distance traveled can be calculated based on these pulses.
[0065] During the process of controlling the inspection equipment to move towards the boundary point, before the inspection equipment reaches the alarm position based on the mileage value of the guide wire, the inspection equipment is controlled to move at a first speed, or first move at the first speed and then move at a speed lower than the first speed.
[0066] One possible approach is to control the inspection equipment to move at a constant speed at a first speed before it reaches the alarm location.
[0067] One possible approach is to control the inspection equipment to move at a primary speed before reaching the alarm location, and then reduce its speed once every time it reaches a preset mileage. The preset mileage is determined in advance based on the mileage value of the conductor, at which the inspection equipment is controlled to reduce its speed.
[0068] For example, 95% of the mileage value of the conductor can be set as the preset mileage. In this mode, when the inspection equipment moves at the first speed, when the distance moved by the inspection equipment reaches 95% of the mileage value of the conductor, the inspection equipment is controlled to slow down. After slowing down and before the inspection equipment reaches the alarm position, the inspection equipment moves at a speed lower than the first speed.
[0069] For example, the first preset mileage can be set to 90% of the conductor's mileage value, and the second preset mileage can be set to 95% of the conductor's mileage value. In this mode, as the inspection equipment moves at the first speed, when the distance traveled by the inspection equipment reaches 90% of the conductor's mileage value, the inspection equipment is controlled to slow down and continue moving at a speed lower than the first speed. When the distance traveled by the inspection equipment reaches 95% of the conductor's mileage value, the inspection equipment is controlled to slow down again. After slowing down again and before the inspection equipment reaches the alarm position, the inspection equipment moves at the speed after the second slowdown.
[0070] S202. When the inspection equipment moves to the alarm position, control the inspection equipment to move at the second speed until the inspection equipment reaches the stop position.
[0071] The second speed is the speed at which the inspection equipment moves before it stops. This second speed is less than the speed at which the inspection equipment reaches the alarm position; it is the minimum speed at which the inspection equipment moves towards the boundary point. The second speed can be set to ensure that the inspection equipment will not be damaged in the event of a collision at this speed, i.e., less than or equal to the safe speed. For example, it can be set as the minimum moving speed of the inspection equipment, which is less than or equal to the safe speed.
[0072] If the boundary point is a fixed boundary, the stopping position of the inspection equipment is the location of the boundary point. When the inspection equipment moves to the alarm position, it is controlled to reduce to a second speed and move at the second speed until it is detected that the inspection equipment has stopped and reached the stopping position, i.e., the boundary point. Because the inspection equipment moves at the second speed, it will not be damaged when it collides with the boundary point.
[0073] One method for detecting when the inspection equipment stops is through the equipment's acceleration sensor. The acceleration of the inspection equipment during normal movement fluctuates within a certain range. When the equipment stops due to a collision, its speed becomes zero, and its acceleration instantly increases beyond the fluctuation range. Therefore, an acceleration threshold can be preset. When the acceleration of the inspection equipment exceeds the threshold, the equipment is stopped.
[0074] Taking a temporary boundary point as an example, one way to control the speed and stopping position of the inspection equipment as it moves toward the boundary point is to control the inspection equipment to move at a third speed, or first move at a third speed and then at a speed lower than the third speed, until the inspection equipment reaches the stopping position based on the mileage value of the conductor.
[0075] The stopping position is a preset distance from the boundary point. If the boundary point is a temporary boundary, the obstacle at the boundary point cannot be determined. For example, an obstacle at the boundary point may cause the inspection equipment to jam. If the inspection equipment collides with the obstacle, it may cause the inspection equipment to jam, thus preventing the inspection equipment from moving forward or backward. Therefore, when the boundary point is a temporary boundary, the position at a preset distance from the boundary point is used as the stopping position.
[0076] One possible way to control the inspection equipment to move to a stop position is to control the inspection equipment to move at a third speed until the inspection equipment reaches the stop position based on the mileage value of the guide wire. Another way to determine the stop position based on the mileage value of the guide wire is to calculate the difference between the mileage value of the guide wire and a preset distance, which is the distance the inspection equipment needs to move to reach the stop position. When the distance the inspection equipment has moved equals this required distance, it indicates that the inspection equipment has reached the stop position.
[0077] One possible way to control the inspection equipment to move to the stop position is to control the inspection equipment to move at a third speed, and to control the inspection equipment to slow down once every time it moves to a preset distance. Specific execution steps can be found in the relevant control methods described in S201.
[0078] The collision avoidance method for inspection equipment disclosed in this application obtains the conductor information of the conductor where the inspection equipment is located. This conductor information includes the conductor's boundary points, the type of the boundary points, and the conductor's mileage value. The boundary point type is either a temporary boundary or a fixed boundary. For any boundary point on the conductor, when the inspection equipment moves towards the boundary point, the stopping position and the speed before stopping are controlled according to the boundary point type and the conductor's mileage value. The speed before stopping is less than or equal to a preset safe speed. This method determines different stopping positions based on the boundary point type and controls the speed of the inspection equipment before stopping to be less than or equal to a preset safe speed, thus preventing the inspection equipment from colliding at high speeds at critical points and preventing damage to the inspection equipment.
[0079] In the above embodiment, which uses the boundary point as a fixed boundary, the explanation focuses on controlling the stopping position and speed of the inspection equipment before stopping, under the premise of preset alarm distance of the boundary point.
[0080] To determine the alarm distance at boundary points, the following steps can be performed before obtaining the conductor information of the conductor where the inspection equipment is located:
[0081] In response to the task command, the inspection equipment is controlled to move towards the boundary point. During the movement, the first distance between the inspection equipment and the boundary point is recorded when the inspection equipment's sensors first detect the boundary point. The first distance is the distance measured by the inspection equipment's sensors.
[0082] After the inspection equipment stops, the alarm distance corresponding to the boundary point is determined based on the first distance and the first mileage traveled by the inspection equipment from the moment the sensor first detects the boundary point until the inspection equipment stops.
[0083] For example, it can be determined whether the first distance and the first mileage are equal. If the first distance and the first mileage are equal, then the first distance or the first mileage is determined as the alarm distance; if the first distance and the first mileage are not equal, then the smaller value of the first distance and the first mileage is determined as the alarm distance.
[0084] The following example illustrates a specific implementation method for determining the alarm distance of boundary points. Figure 3 This is a flowchart illustrating a method for determining the alarm distance of boundary points according to an embodiment of this application. Figure 3 As shown, the following steps can be performed:
[0085] S301, Control the inspection equipment to move towards the boundary point.
[0086] S302. When the sensor of the inspection equipment first detects the boundary point, the sensor outputs the first distance between the inspection equipment and the boundary point.
[0087] S303. Obtain the mileage of the inspection equipment from the moment the sensor of the inspection equipment first detects the boundary point.
[0088] To obtain the mileage of the inspection equipment, for example, the pulse output by the speed measuring wheel can be obtained when the inspection equipment's sensor first detects a boundary point, and the mileage of the inspection equipment can be obtained based on the pulse.
[0089] S304. Determine whether the travel distance exceeds the preset distance threshold and whether the inspection equipment has not stopped.
[0090] If so, proceed to step S305;
[0091] If not, proceed to step S306.
[0092] S305, Delete the first distance.
[0093] In the current situation, since the inspection equipment's sensor first detected the boundary point, the distance it has moved has exceeded the preset distance threshold, and the inspection equipment has not stopped. Therefore, this is a case of sensor misjudgment by the inspection equipment. The currently recorded first distance is deleted, and S301-S304 is executed to control the inspection equipment to continue moving towards the boundary point. The method for obtaining the alarm distance is then re-executed to obtain the alarm distance of the boundary point.
[0094] S306. Obtain the first mileage traveled by the inspection equipment from the moment the sensor first detects the boundary point until the inspection equipment stops.
[0095] S307. Determine whether the first distance and the first mileage are equal.
[0096] If so, then execute S308;
[0097] If not, then execute S309.
[0098] S308. The first distance or first mileage is determined as the alarm distance.
[0099] S309. The smaller value between the first distance and the first mileage is determined as the alarm distance.
[0100] Optionally, step S304 can also be set to other conditions for judging the distance traveled and the first distance, as long as the set conditions can determine whether the sensor of the inspection equipment is misjudging. This application does not limit this.
[0101] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.
[0102] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.
[0103] The above describes the method embodiments of this application. The apparatus provided in the embodiments of this application will be described below.
[0104] Figure 4 This is a schematic diagram of the structure of an anti-collision device for an inspection equipment provided in an embodiment of this application. Figure 4 As shown, the device may include, for example:
[0105] The acquisition module 401 is used to acquire the conductor information of the conductor where the inspection equipment is located. The conductor information includes the boundary points of the conductor, the type of the boundary points, and the mileage value of the conductor. The type of the boundary points is either temporary boundary or fixed boundary.
[0106] The control module 402 is used to control the stopping position and the speed before stopping of the inspection equipment when the inspection equipment moves towards any boundary point of the conductor, based on the type of the boundary point and the mileage value of the conductor. The speed before stopping is less than or equal to a preset safe speed.
[0107] In one possible implementation, the control module 402 is specifically configured to, if the boundary point is a fixed boundary, control the inspection device to move at a first speed before determining that the inspection device has reached the alarm position based on the mileage value of the conductor, during the process of controlling the inspection device to move towards the boundary point, or to first move at the first speed and then move at a speed lower than the first speed, wherein the distance between the alarm position and the boundary point is a predetermined alarm distance corresponding to the boundary point; when the inspection device moves to the alarm position, control the inspection device to move at a second speed until the inspection device reaches the stop position, the stop position being the position of the boundary point, the second speed being less than the speed of the inspection device before reaching the alarm position.
[0108] Accordingly, the control module 402 is specifically used to control the inspection equipment to move at a first speed, and to control the inspection equipment to slow down once every time it moves to a preset mileage.
[0109] In one possible implementation, the control module 402 is specifically used to control the inspection equipment to move at a third speed if the type of the boundary point is a temporary boundary, or to move at the third speed first and then at a speed lower than the third speed, until the inspection equipment reaches the stop position based on the mileage value of the conductor, and the distance between the stop position and the boundary point is a preset distance.
[0110] Accordingly, the control module 402 is specifically used to control the inspection equipment to move at a third speed, and to control the inspection equipment to slow down once every time it moves to a preset mileage.
[0111] In one possible implementation, before acquiring the conductor information of the conductor where the inspection equipment is located, the acquisition module 401 is further configured to respond to the task instruction, control the inspection equipment to move towards the boundary point, and during the movement, record the first distance between the inspection equipment and the boundary point output by the sensor of the inspection equipment when the sensor of the inspection equipment first detects the boundary point; after detecting that the inspection equipment has stopped, determine the alarm distance corresponding to the boundary point based on the first distance and the first mileage moved by the inspection equipment from the time the sensor of the inspection equipment first detects the boundary point to the time the inspection equipment stops.
[0112] Accordingly, the acquisition module 401 is also used to determine the first distance or the first mileage as the alarm distance if the first distance and the first mileage are equal; and to determine the smaller value of the first distance and the first mileage as the alarm distance if the first distance and the first mileage are not equal.
[0113] The apparatus provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.
[0114] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.
[0115] Figure 5 This is a structural schematic diagram of an inspection device provided in an embodiment of this application. Figure 5 As shown, the inspection device may include at least one processor 501 and a memory 502.
[0116] The memory 502 is used to store programs. Specifically, the program may include program code, which includes computer operation instructions.
[0117] The memory 502 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.
[0118] The processor 501 is used to execute computer execution instructions stored in the memory 502 to implement the method of the foregoing method embodiments. The processor 501 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.
[0119] Optionally, the inspection device may also include a communication interface 503. In specific implementation, if the communication interface 503, memory 502, and processor 501 are implemented independently, the communication interface 503, memory 502, and processor 501 can be interconnected via a bus to complete communication between them.
[0120] Optionally, in a specific implementation, if the communication interface 503, memory 502, and processor 501 are integrated on a single chip, then the communication interface 503, memory 502, and processor 501 can communicate through an internal interface.
[0121] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores program instructions, which are used to implement the actions of the above-described method implementation.
[0122] This application also provides a program product including executable instructions stored in a readable storage medium. At least one processor of the inspection device can read the executable instructions from the readable storage medium, and the at least one processor executes the executable instructions to cause the inspection device to perform the actions described in the above-described method implementation.
[0123] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.
[0124] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.
[0125] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to 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 application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.
[0126] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.
[0127] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
Claims
1. A method for preventing collision of a patrol device, characterized by, The method comprises: obtaining conductor information of a conductor on which the inspection device is located, the conductor information comprising boundary points of the conductor, types of the boundary points, and a mileage value of the conductor, the types of the boundary points being temporary boundaries or fixed boundaries; controlling a speed and a stop position of the inspection device during movement of the inspection device to the boundary points according to the types of the boundary points and the mileage value of the conductor.
2. The method of claim 1, wherein, The controlling of the speed and the stop position of the inspection device during movement of the inspection device to the boundary points according to the types of the boundary points and the mileage value of the conductor comprises: if the types of the boundary points are fixed boundaries, controlling the inspection device to move at a first speed before the inspection device reaches an alarm position determined based on the mileage value of the conductor, or first moving at the first speed and then moving at a speed lower than the first speed, wherein the alarm position is a predetermined alarm distance from the boundary point; controlling the inspection device to move at a second speed until the inspection device reaches the stop position, which is the position of the boundary point, when the inspection device moves to the alarm position, the second speed being lower than the speed before the inspection device reaches the alarm position.
3. The method of claim 2, wherein, The controlling of the inspection device to first move at the first speed and then move at a speed lower than the first speed comprises: controlling the inspection device to move at the first speed, and controlling the inspection device to reduce speed once every time the inspection device moves to a preset mileage.
4. The method of claim 1, wherein, The controlling of the inspection device to first move at the first speed and then move at a speed lower than the first speed comprises: if the types of the boundary points are temporary boundaries, controlling the inspection device to move at a third speed or first move at the third speed and then move at a speed lower than the third speed until the inspection device reaches the stop position determined based on the mileage value of the conductor, the stop position being a preset distance from the boundary point.
5. The method of claim 4, wherein, The controlling of the inspection device to first move at the third speed and then move at a speed lower than the third speed comprises: controlling the inspection device to move at the third speed, and controlling the inspection device to reduce speed once every time the inspection device moves to a preset mileage.
6. The method according to claim 2 or 3, characterized in that, Before the obtaining of the conductor information of the conductor on which the inspection device is located, the method further comprises: controlling the inspection device to move to the boundary points in response to a task instruction, and recording a first distance between the inspection device and the boundary point output by a sensor of the inspection device when the sensor of the inspection device first detects the boundary point during the movement; determining an alarm distance corresponding to the boundary point according to the first distance and a first mileage of the inspection device from when the sensor of the inspection device first detects the boundary point to when the inspection device stops.
7. The method of claim 6, wherein, The method comprises: if the first distance and the first mileage are equal, determining the first distance or the first mileage as the alarm distance; if the first distance and the first mileage are not equal, determining the smaller value of the first distance and the first mileage as the alarm distance.
8. A collision avoidance apparatus for a patrol device, characterized by comprising: The method comprises: a first acquiring module, configured to acquire conductor information of a conductor on which the inspection device is located, the conductor information comprising a boundary point of the conductor, a type of the boundary point, and a mileage value of the conductor, the type of the boundary point being a temporary boundary or a fixed boundary; a control module, configured to control a speed and a stop position of the inspection device during movement of the inspection device to the boundary point according to the type of the boundary point and the mileage value of the conductor.
9. A patrol device characterized by comprising: The method comprises: a processor, and a memory connected to the processor in communication; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-7.
10. A computer readable storage medium characterized by, The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by the processor to implement the method according to any one of claims 1-7.
11. A computer program product, characterised in that, The computer program is executed by the processor to implement the method according to any one of claims 1-7.