Pulley and Pulley Control Method

Abstract

A pulley and its control method. This invention belongs to the field of power transmission construction technology and discloses a pulley, including a pulley body, a guide wheel assembly, a limiting assembly, an image recognition assembly, and a controller. The guide wheel assembly is disposed on the pulley body and includes at least one first guide wheel with an annular first guide groove. The limiting assembly is disposed on the pulley body and above the first guide wheel. The limiting assembly includes a limiting state that cooperates with the first guide wheel to form a first limiting space to limit the conductor and a retracted state that moves away from the first guide wheel. The image recognition assembly is disposed on the pulley body and above the first guide wheel and is used to identify the positions of the conductor and the first guide wheel. The controller is electrically connected to the image recognition assembly and the limiting assembly and is used to control the limiting assembly to switch between the limiting state and the retracted state. The pulley of this invention can monitor the dynamic deviation of the conductor in real time and interfere with the conductor's operating state.

Description

Technical Field

[0001] This invention relates to the field of power transmission construction technology, and in particular to a pulley and a pulley control method. Background Technology

[0002] In the construction and operation of overhead transmission lines, pulleys, as key auxiliary devices for conductor laying and tension control, are widely used in the synchronous traction and erection of multi-circuit parallel conductors. Traditional pulley structures typically use physical guide wheels to support and guide the conductors. To prevent conductor displacement, jumping out of slots, or entanglement during operation, the guide wheels are equipped with annular guide grooves. However, under conditions such as complex terrain, strong winds, traction fluctuations, or sudden tension changes, conductors are still prone to abnormal problems such as jumping out of slots, misalignment, and deviation, which can even lead to conductor jamming, equipment damage, or personal injury accidents in severe cases.

[0003] Currently, some trolley structures have adopted methods such as increasing the depth of the guide groove or increasing the number of guide wheels to enhance the conductor's anti-slip capability. However, these methods are difficult to cope with the dynamic displacement behavior caused by instantaneous vibration or nonlinear tension impact of the conductor. At the same time, existing trolley structures generally lack real-time monitoring and intelligent recognition functions, and cannot actively perceive and warn of the conductor's operating status. Once an abnormality occurs, it often relies on manual inspection for discovery, resulting in problems of delayed recognition and untimely response. Summary of the Invention

[0004] The purpose of this invention is to provide a pulley and a pulley control method that can monitor the dynamic deviation of the conductor in real time and interfere with the conductor's operating status, so as to improve the intelligent sensing capability and operational safety during the construction of overhead lines.

[0005] To achieve this objective, the present invention adopts the following technical solution: In a first aspect, the present invention provides a trolley, comprising a trolley body, a guide wheel assembly, a limiting assembly, an image recognition assembly, and a controller. The guide wheel assembly is disposed on the trolley body and includes at least one first guide wheel rotatably disposed on the trolley body, the first guide wheel having an annular first guide groove. The limiting assembly is disposed on the trolley body and located above the first guide wheel. The limiting assembly includes a limiting state and a retracted state. In the limiting state, the limiting assembly cooperates with the first guide wheel to form a first limiting space to limit the conductor, preventing the conductor from detaching from the first guide groove. In the retracted state, the limiting assembly is moved away from the first guide wheel to prevent interference between the limiting assembly and attachments on the conductor. The image recognition assembly is disposed on the trolley body and located above the first guide wheel, and is used to identify the positions of the conductor and the guide assembly. The controller is electrically connected to the image recognition assembly and the limiting assembly, and is used to control the limiting assembly to switch between the limiting state and the retracted state.

[0006] In one embodiment, the limiting component includes a drive member and a limiting arm. The limiting arm is movably disposed on the trolley body, and the drive member is connected to the limiting arm to drive the limiting arm to move closer to or away from the first guide wheel, so that the limiting component switches between the limiting state and the retracted state.

[0007] In one embodiment, the limiting arm has a first clearance groove on the side facing the first guide wheel, and when the limiting component is in the limiting state, the wire is at least partially located in the first clearance groove.

[0008] In one embodiment, the image recognition component includes an industrial camera, an edge computing module, and a supplementary light source. The industrial camera is used to acquire images, the edge computing module is used for image analysis and data processing, and the supplementary light source is used to provide light to the industrial camera.

[0009] In one embodiment, the image recognition component is also used to identify wire attachments, and the industrial camera is positioned on the front side of the guide wheel assembly.

[0010] In a second aspect, the present invention provides a trolley control method, applied to the trolley described in any of the above claims, comprising the following steps: The system acquires an image and determines whether the conductor has a tendency to jump around. When the conductor has a tendency to jump around, the system controls the limiting component to switch from the retracted state to the limiting state.

[0011] In one embodiment, when the limiting component is in the limiting state, it determines whether there is a wire accessory. If there is, the limiting component switches to the retracted state; if not, it determines whether the wire is running stably. If so, the limiting component also switches to the retracted state; otherwise, the limiting component remains in the limiting state.

[0012] In one embodiment, the job-hopping trend determination is performed based on the following image recognition judgment steps: S1. Acquire the current frame image using the image recognition component; S2. Extract the center coordinates of the conductor in the image. ; S3. Adjust the horizontal coordinates of the conductor center. Reference value of the center of the first guide groove corresponding to the wire Compare; S4. Determine whether the following job-hopping trend judgment conditions are met: S5. If the condition is met for two or more consecutive frames, the controller is triggered to control the limit component. Where i represents the i-th wire, and t represents the frame time. It is a constant.

[0013] In one embodiment, the image recognition component employs a convolutional neural network model based on the YOLO series.

[0014] In one embodiment, the image recognition component includes an edge computing module for image analysis and data processing, wherein the edge computing module smooths the center coordinate data of the conductor using a moving average filtering algorithm.

[0015] The beneficial effects of this invention are: The aforementioned trolley, through the organic integration of limiting components and image recognition components, achieves limiting and intelligent monitoring of the conductor during trolley operation, demonstrating significant technological advancement and practical value. Structurally, the limiting components effectively prevent the conductor from jumping out of the first guide slot under sudden tension changes, vibration, or separation interference, improving the mechanical stability of the trolley. Furthermore, the limiting components include both a limiting state and a retracted state. It is known that in the early stages of erection, the conductor needs to be pulled through the trolley by a guide plate, and anti-vibration hammers and other accessories are also installed on the conductor. By switching between the limiting and retracted states, the conductor can be limited, avoiding interference with these accessories. In terms of recognition, the image recognition components can identify the conductor's positional deviation in real time, judging the tendency to jump out of the slot with high accuracy and fast response. The overall solution overcomes the shortcomings of traditional trolleys, such as simple structure, passive response, and strong reliance on manual labor, significantly improving the safety, intelligence, and automation level of overhead transmission line conductor laying or tension erection processes, possessing good engineering application prospects and promotional value. Attached Figure Description

[0016] Figure 1 This is a front view of the trolley in the first state according to an embodiment of the present invention; Figure 2 This is a front view of the trolley in the second state according to an embodiment of the present invention; Figure 3 This is a side view of the trolley described in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the industrial camera described in an embodiment of the present invention; Figure 5 This is a flowchart of the trolley control method according to an embodiment of the present invention.

[0017] In the picture: 1. Trolley body; 11. Hanger; 11a. Lifting hole; 12. Column; 13. Base; 2. Guide wheel assembly; 21. First guide wheel; 21a. First guide groove; 22. Second guide wheel; 22a. Second guide groove; 3. Limiting assembly; 31. Limiting arm; 31a. First clearance groove; 31b. Second clearance groove; 32. Drive component; 4. Image recognition assembly; 41. Industrial camera; 42. Adjustable bracket. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 4 As shown, an embodiment of the present invention provides a trolley, including a trolley body 1, a guide wheel assembly 2, a limiting assembly 3, an image recognition assembly 4, and a controller. The trolley body 1 can be suspended on a tower crossarm or a pulley frame. The guide wheel assembly 2 includes at least one first guide wheel 21, which is rotatably connected to the trolley body 1 via a rotating shaft. The first guide wheel 21 has an annular first guide groove 21a for guiding the conductor. The limiting assembly 3 is also disposed on the trolley body 1 and located above the first guide wheel 21. The limiting assembly 3 includes a limiting state and a retracted state. When in the limiting state, the limiting assembly 3 and the first guide wheel 21 cooperate to form a first limiting space to limit the conductor, so as to prevent the conductor from falling out of the first guide groove 21a. When in the retracted state, the limiting assembly 3 is away from the first guide wheel 21 to prevent the limiting assembly 3 from interfering with the accessories on the conductor. Image recognition component 4 is also set on the trolley body 1 and located above the first guide wheel 21. Image recognition component 4 is used to identify the position of the wire and the first guide wheel 21. The controller is electrically connected to image recognition component 4 and limit component 3 to control limit component 3 to switch between limit state and retracted state.

[0023] The aforementioned trolley, through the organic integration of the limiting component 3 and the image recognition component 4, achieves limiting and intelligent monitoring of the conductor during the trolley's operation, demonstrating significant technological advancement and practical value. In terms of structure, the limiting component 3 effectively prevents the conductor from jumping out of the first guide groove 21a under sudden tension changes, vibration, or separation interference, thus improving the mechanical stability of the trolley. Moreover, the limiting component 3 includes a limiting state and a retracted state. It is known that in the early stage of conductor erection, a guide plate needs to be pulled through the trolley, and anti-vibration hammers and other accessories are also installed on the conductor. By switching between the limiting state and the retracted state of the limiting component 3, the conductor can be limited, and interference with the above-mentioned accessories can be avoided. In terms of recognition, the image recognition component 4 can identify the conductor's positional deviation and the passage of accessories in real time, and determine whether the conductor has a tendency to detach from the first guide groove 21a, i.e., a tendency to jump out of the groove. It has high accuracy and fast response speed. The overall solution overcomes the shortcomings of traditional trolley structures such as simple structure, passive response, and strong reliance on manual labor. It significantly improves the safety, intelligence, and automation level of overhead transmission line conductor laying or tension erection process, and has good engineering application prospects and promotion value.

[0024] Specifically, to reduce the mass of the trolley while ensuring structural strength, the trolley body 1 is made of aluminum alloy. More specifically, the trolley body 1 has a rectangular frame structure, including a hanger 11, columns 12, and a base 13. Columns 12 are vertically connected to opposite sides of the hanger 11. A first guide wheel 21 is installed between two columns 12, and a limiting assembly 3 is also installed on the columns 12. The base 13 connects the lower ends of the two columns 12. To allow it to be suspended from a tower crossarm or pulley frame, the hanger 11 has lifting holes 11a. To improve the accuracy of the trolley's guidance of the conductor, multiple sets of guide wheel assemblies 2 can be spaced along the traction direction of the conductor on the trolley body 1.

[0025] In the current embodiment, the first guide groove 21a is a V-shaped groove to accommodate wires of different diameters. In other embodiments, the first guide groove 21a can also be a U-shaped groove, that is, the first guide wheel adopts a V-shaped guide wheel or a U-shaped guide wheel.

[0026] refer to Figure 1 and Figure 2 As shown, the limiting component 3 includes a driving member 32 and a limiting arm 31. The limiting arm 31 is movably mounted on the column 12 of the trolley body 1. The driving member 32 is connected to the limiting arm 31 to drive the limiting arm 31 to move closer to or away from the first guide wheel 21, thereby realizing the transformation of the limiting component 3 from the limiting state to the retracted state.

[0027] In one embodiment, the limiting arm 31 is hinged to the column 12 via a hinge shaft, and rotates under the drive of the driving member 32 to move closer to or away from the first guide wheel 21. The driving member 32 is an electric push rod, one end of which is connected to the column 12 and the other end to the limiting arm 31. In other embodiments, the limiting arm 31 can also be slidably connected to the column 12, and the driving member 32 can be an electromagnetic actuator or a pneumatic push rod. It is worth emphasizing that the limiting arm 31, hinged to the column 12, has a certain buffering capacity, which can absorb energy through slight rotation, weaken rigid impact, reduce the possibility of the limiting arm 31 scratching the wires, and also extend the service life of the limiting arm 31. The use of an electric push rod as the driving member 32 has a fast response capability, and can quickly switch the limiting component 3 between the retracted state and the closed state after receiving the signal from the controller.

[0028] Specifically, the limiting arm 31 has a first clearance groove 31a on the side facing the first guide wheel 21. When the limiting component 3 is in the limiting state, the wire is at least partially located within the first clearance groove 31a. The limiting arm 31 does not need to press against the wire. The first clearance groove 31a can limit the axial and lateral movement of the wire along the first guide wheel 21. Compared to the limiting arm 31 abutting against the wire, this reduces friction generated during the wire's movement and improves the wire's service life. For example, the first clearance groove 31a is arc-shaped. Furthermore, to improve the service life of the limiting arm 31, it is made of metal.

[0029] More specifically, the guide wheel assembly 2 also includes a second guide wheel 22 for guiding the power transmission cable. Each of the second guide wheel 22 has a first guide wheel 21 on opposite sides along the axial direction, meaning the guide wheel assembly 2 has two first guide wheels 21. The limiting components 3 are correspondingly arranged with each of the first guide wheels 21 to individually limit the conductor in each first guide wheel 21. In the current embodiment, the two limiting components 3 are symmetrically mounted on the trolley body 1.

[0030] refer to Figure 1 and Figure 2 As shown, the second guide wheel 22 is provided with an annular second guide groove 22a. In order to reduce the possibility of the power transmission cable detaching from the second guide groove 22a, the limiting arm 31 is also provided with a second clearance groove 31b on the side facing the first guide wheel 21. The second clearance groove 31b is specifically provided at the free end of the limiting arm 31. The second clearance grooves 31b on the two limiting arms 31, together with the second guide groove 22a on the second guide wheel 22, form a second limiting space to restrict the power transmission cable. The second clearance groove 31b is also set to be arc-shaped.

[0031] It is worth emphasizing that both the first guide wheel 21 and the second guide wheel 22 are mounted on the rotating shaft by bearings, and the outer periphery of the first guide wheel 21 and the second guide wheel 22 is covered with an elastic layer for shock absorption and noise reduction. The elastic layer is not limited to being made of polyurethane material.

[0032] refer to Figure 3 As shown, the image recognition component 4 includes an industrial camera 41 (1920×1080 resolution) and an edge computing module. The industrial camera 41 is used to acquire images, and its field of view can cover the entire area where the guide wheel assembly 2 is located, to ensure that when the wire deviates from the first guide groove 21a, it is promptly identified and the limiting component 3 is triggered. Specifically, the video frame rate of the industrial camera 41 is not less than 20 frames per second, and the image recognition latency is not higher than 100ms. The edge computing module is used for image analysis and data processing to determine whether the wire has a tendency to deviate from the first guide groove 21a based on the image acquired by the industrial camera 41. For example, the edge computing module runs the YOLOv5s model to perform target detection and localization on the wire and the first guide wheel 21 in the image.

[0033] To adapt to various environments, such as nighttime or dimly lit rainy weather, the image recognition component 4 also includes a supplementary lighting source. This supplementary lighting source provides light to the industrial camera 41 to improve the clarity of the images acquired by the industrial camera 41. Specifically, the supplementary lighting source employs a ring-shaped LED supplementary light and is arranged around the industrial camera 41 to illuminate the industrial camera 41 from multiple directions.

[0034] When a wire tends to deviate from the first guide groove 21a and is recognized by the image recognition component 4, the controller immediately sends an electrical signal to control the limit component 3 to move. The limit component 3, together with the first guide wheel 21, forms the first limit space to limit the wire.

[0035] Specifically, refer to Figure 4 As shown, the industrial camera 41 is fixed to the top of the hanger 11 of the trolley body 1 by an adjustable bracket 42, and the height of the adjustable bracket 42 on the hanger 11 is adjustable to adjust the distance between the industrial camera 41 and the guide wheel assembly 2 according to the actual situation, so as to ensure that the field of view of the industrial camera 41 can cover the entire area where the guide wheel is located.

[0036] In this embodiment, the image recognition component 4 also has a wire attachment recognition function. When attachments such as guide plates and vibration dampers (hereinafter referred to as wire attachments) are detected on the wire, the controller controls the limit arm 31 to switch to the retracted state to avoid interference. Therefore, at least the industrial camera 41 in the image recognition component 4 is located in front of the guide wheel assembly 2. It can be understood that "front" refers to the direction along the wire's traction; the area the wire passes through first is considered front, and the area it passes through last is considered back. Thus, the image recognition component 4 can promptly control the limit arm 3 to switch to the retracted state when an attachment is detected to avoid interference.

[0037] In one embodiment, the trolley also includes an alarm device electrically connected to the controller, which can issue an alarm when the conductor jumps out of the slot, so as to promptly remind the operators who are laying the power transmission cable on site. The alarm device is not limited to an audible and visual alarm.

[0038] An embodiment of the present invention also proposes a trolley control method, applied to the trolley described above. The method mainly includes the following steps: acquiring an image, determining whether the conductor has a tendency to jump out of the slot based on the acquired image, and when the conductor has a tendency to jump out of the slot, the controller sends a control signal to the limiting component 3, and the limiting component 3 switches from the retracted state to the limiting state. Based on the premise that the limiting component 3 includes a limiting arm 31 hinged to the trolley body 1 and a driving member 32 that drives the limiting arm 31 to rotate, the driving member 32 drives the limiting arm 31 to swing, forming a first limiting space in conjunction with the first guide wheel 21, physically blocking the conductor and preventing it from jumping out of the first guide groove 21a.

[0039] Specifically, the controller performs job-hopping trend determination based on the following image recognition and judgment steps: S1. Acquire the current frame image through image recognition component 4; S2. Extract the center coordinates of each wire in the image. ; S3. Adjust the horizontal coordinates of the conductor center. Center reference value of the first guide groove 21a corresponding to the conductor Compare; S4. Determine whether the following conditions for determining a job-hopping trend are met: ; S5. If the above conditions are met for two or more consecutive frames, it indicates that the conductor has a tendency to jump slots, triggering the control command of the limit component 3.

[0040] Where i represents the i-th wire, and t represents the frame time; This is a constant. Based on the commonly used first guide wheel 21 and the wire dimensions, in the current embodiment, 15mm.

[0041] In the current embodiment, the image recognition component 4 adopts a convolutional neural network model based on the YOLO (You Only Look Once) series to realize real-time detection and position regression of multi-wire targets, and supports independent operation at the edge.

[0042] Furthermore, during the image recognition process, the edge computing module uses a moving average filtering algorithm to smooth the center coordinate data of the conductor to eliminate instantaneous jitter misjudgments caused by environmental interference.

[0043] The aforementioned pulley control method employs an image recognition component combined with a deep learning model, enabling real-time identification of conductor position deviation and judgment of skipping trends with high accuracy and fast response. In terms of control, upon detecting an abnormal state, it automatically triggers limit switch component 3 and alarm devices, achieving active protection. The overall solution overcomes the shortcomings of traditional pulley systems, such as simple structure, passive response, and strong reliance on manual intervention. It significantly improves the safety, intelligence, and automation levels during the synchronous laying or tension erection of multiple conductors in overhead transmission lines, demonstrating promising engineering application prospects and widespread value.

[0044] It is important to emphasize that when the limiting component 3 is in the limiting state, if the image recognition component 4 detects a wire attachment, the controller controls the limiting component 3 to switch to the retracted state. Conversely, if the image recognition component 4 does not detect a wire attachment, and the wire's running state remains stable, the limiting component 3 switches back to the retracted state. For example, in this embodiment, maintaining a stable wire running state means that the center coordinates of the guideline are continuously kept within a ±10mm tolerance for more than 2 seconds.

[0045] The reason for switching the limit component 3 to the retracted state when the guiding operation is stable is to reduce the contact between the conductor and the limit component 3, reduce the resistance encountered by the conductor during the movement, thereby improving the laying efficiency of the power transmission cable. At the same time, it is also to avoid the possibility of interference with the conductor accessories in advance and improve the conductor traction efficiency.

[0046] The following is the verification process of the pulley's effect: In a 220kV double-circuit line project, LGJ-400 / 35 conductors were used, and synchronous tensioning of the two conductors was required. Pulleys were installed in the mid-span section, with 5 pulleys in each section, all using the above-mentioned pulley structure.

[0047] During the laying process, the operator uses an insulating rod to apply lateral disturbance to the conductor. The image recognition module monitors the conductor center offset trend in real time. The controller determines that the jumping trend is established within 0.15 seconds and drives the limit component to switch to the limit state, successfully preventing the conductor from jumping out of the first guide slot 21a. Moreover, the image recognition module can identify conductor accessories such as the guide plate and vibration damper in advance. The controller keeps the limit component in the retracted state, and the conductor accessories pass through the trolley smoothly without interference.

[0048] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pulley, characterized in that, include: Pulley body (1); A guide wheel assembly (2) is disposed on the trolley body (1). The guide wheel assembly (2) includes at least one first guide wheel (21) rotatably disposed on the trolley body (1). The first guide wheel (21) has an annular first guide groove (21a). A limiting component (3) is disposed on the trolley body (1) and located above the first guide wheel (21). The limiting component (3) includes a limiting state and a retracted state. When it is in the limiting state, the limiting component (3) cooperates with the first guide wheel (21) to form a first limiting space to limit the wire, so as to prevent the wire from leaving the first guide groove (21a). When it is in the retracted state, the limiting component (3) is away from the first guide wheel (21) to prevent the limiting component (3) from interfering with the accessories on the wire. An image recognition component (4) is disposed on the trolley body (1) and located above the first guide wheel (21). The image recognition component (4) is used to identify the positions of the guide wheel assembly (2) and the wire. The controller is electrically connected to the image recognition component (4) and the limiting component (3), and the controller is used to control the limiting component (3) to switch between the limiting state and the retracting state.

2. The pulley according to claim 1, characterized in that, The limiting component (3) includes a driving member (32) and a limiting arm (31). The limiting arm (31) is movably disposed on the trolley body (1). The driving member (32) is connected to the limiting arm (31) to drive the limiting arm (31) to move closer to or away from the first guide wheel (21) so that the limiting component (3) switches between the limiting state and the retracted state.

3. The pulley according to claim 2, characterized in that, The limiting arm (31) has a first clearance groove (31a) on the side facing the first guide wheel (21). When the limiting component (3) is in the limiting state, the wire is at least partially located in the first clearance groove (31a).

4. The pulley according to any one of claims 1-3, characterized in that, The image recognition component (4) includes an industrial camera (41), an edge computing module, and a supplementary light source. The industrial camera (41) is used to acquire images, the edge computing module is used for image analysis and data processing, and the supplementary light source is used to provide light to the industrial camera (41).

5. The pulley according to claim 4, characterized in that, The image recognition component (4) is also used to identify wire accessories, and the industrial camera (41) is located on the front side of the guide wheel assembly.

6. A pulley control method, applied to the pulley as described in any one of claims 1-5, comprising the following steps: Acquire an image and determine whether the conductor has a tendency to jump the slot based on the image. When the conductor has a tendency to jump the slot, control the limiting component (3) to switch from the retracted state to the limiting state.

7. The trolley control method according to claim 6, characterized in that, The method further includes: When the limiting component (3) is in the limiting state, it determines whether there is a wire accessory. If there is, the limiting component (3) switches to the retracted state. If there is no wire accessory, it determines whether the wire is running stably. If so, the limiting component (3) also switches to the retracted state. Otherwise, the limiting component (3) remains in the limiting state.

8. The trolley control method according to claim 6, characterized in that, The following image recognition steps are used to determine the job-hopping trend: S1. Acquire the current frame image through the image recognition component (4); S2. Extract the center coordinates of the conductor in the image. ; S3, Adjust the horizontal coordinates of the conductor center Center reference value of the first guide groove (21a) corresponding to the conductor Compare; S4. Determine whether the following conditions for determining a job-hopping trend are met: S5. If the condition is met for two or more consecutive frames, the controller is triggered to control the limit component (3). Where i represents the i-th wire, and t represents the frame time. It is a constant.

9. The trolley control method according to claim 6, characterized in that, The image recognition component (4) adopts a convolutional neural network model based on the YOLO series.

10. The trolley control method according to claim 8, characterized in that, The image recognition component (4) includes an edge computing module, which uses a moving average filtering algorithm to smooth the center coordinate data of the conductor.

Images