Intelligent line inspection vehicle

Abstract

This utility model discloses an intelligent line-following vehicle, which includes a circuit board, a vehicle body, M first sensors, N second sensors, and a controller. The invention places the M first sensors at the front end of the circuit board and the N second sensors on both sides of the circuit board. The first sensors detect the grayscale value of the black line and output a corresponding first grayscale signal, while the second sensors detect the grayscale value of the background and output a corresponding second grayscale signal. The controller controls the movement direction of the vehicle body based on the M first grayscale signals and N second grayscale signals, achieving misalignment detection between the black line and the background. This improves the vehicle's adaptability to other backgrounds beyond the black line, resulting in higher recognition accuracy in changing environments and enhanced environmental adaptability and line-following stability.

Description

Technical Field

[0001] This utility model relates to the field of line inspection technology, and in particular to an intelligent line inspection vehicle. Background Technology

[0002] With the development of intelligent robot technology, intelligent vehicles are widely used in education, competitions, and industry. Intelligent vehicles are electric vehicles capable of autonomous driving, that is, navigating a route by following a black line on the ground. However, traditional intelligent vehicle line-following technology relies on all sensors directly contacting the line, that is, placing multiple sensors on the black line to only perceive and identify the black line, while having poor adaptability to other backgrounds different from the black line. This results in low recognition accuracy in changing environments, poor environmental adaptability, and low line-following stability. Utility Model Content

[0003] The main purpose of this utility model is to provide an intelligent line inspection vehicle, which aims to solve the problems of poor adaptability and low line inspection stability of intelligent line inspection vehicles.

[0004] To achieve the above objectives, this utility model proposes an intelligent line inspection vehicle, which includes:

[0005] A circuit board and a vehicle body, wherein the circuit board is located at the bottom of the vehicle body;

[0006] M first sensors and N second sensors, the M first sensors are disposed at the front end of the circuit board and the N second sensors are disposed on both sides of the circuit board. Each first sensor is used to detect the gray value of the black line and output a corresponding first gray value signal, and each second sensor is used to detect the gray value of the background and output a corresponding second gray value signal.

[0007] A controller is mounted on the circuit board and is connected to M first sensors and N second sensors respectively. The controller is used to control the movement direction of the vehicle body according to the M first grayscale signals and N second grayscale signals.

[0008] In one embodiment, M is 4 and N is 2.

[0009] In one embodiment, the intelligent line inspection vehicle further includes:

[0010] A switching assembly, the output of which is connected to the controller, is used to output a corresponding switching signal when triggered.

[0011] The controller is used to receive the switch signal and control the trolley body to enter the calibration mode according to the switch signal.

[0012] In one embodiment, the switching assembly is a toggle switch.

[0013] In one embodiment, the intelligent line inspection vehicle further includes:

[0014] An indicator light, the controlled end of which is connected to the controller, is used to indicate the operating status of the trolley body during operation;

[0015] The controller is used to control the indicator light to operate according to the switch signal, so as to indicate that the trolley body is in calibration mode or working mode.

[0016] This utility model's technical solution involves placing M first sensors at the front end of a circuit board and N second sensors on both sides of the circuit board. The first sensors detect the grayscale value of the black line and output the corresponding first grayscale signal, while the second sensors detect the grayscale value of the background and output the corresponding second grayscale signal. The controller controls the movement direction of the trolley body based on the M first grayscale signals and N second grayscale signals, thereby achieving misalignment detection between the black line and the background. This improves the adaptability to other backgrounds beyond the black line, resulting in higher recognition accuracy in changing environments and enhanced environmental adaptability and line-following stability. Attached Figure Description

[0017] Figure 1 This is an overall block diagram of the intelligent line inspection vehicle of this utility model;

[0018] Figure 2 This is a schematic diagram showing the position of the intelligent line-following vehicle of this utility model relative to the black line and the background. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this utility model, it should be understood that the terms "upper", "lower", "inner", "outer", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use, or the orientation or positional relationship that is commonly understood by those skilled in the art. They are only used to facilitate the description of this utility model and to simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, terms such as "set" and "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0025] Because existing intelligent line inspection vehicles place all their sensors on the black line, they can only identify the black line and have poor adaptability to other backgrounds beyond the black line. This results in low recognition accuracy in changing environments, poor environmental adaptability, and low line inspection stability.

[0026] To address the aforementioned problems, this utility model proposes an intelligent line-following vehicle. The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0027] like Figure 1-2 As shown, the intelligent line inspection vehicle includes:

[0028] A circuit board and a vehicle body, wherein the circuit board is located at the bottom of the vehicle body;

[0029] M first sensors and N second sensors, the M first sensors are disposed at the front end of the circuit board and the N second sensors are disposed on both sides of the circuit board. Each first sensor is used to detect the gray value of the black line and output a corresponding first gray value signal, and each second sensor is used to detect the gray value of the background and output a corresponding second gray value signal.

[0030] A controller is mounted on the circuit board and is connected to M first sensors and N second sensors respectively. The controller is used to control the movement direction of the vehicle body according to the M first grayscale signals and N second grayscale signals.

[0031] In one embodiment, M is 4 and N is 2.

[0032] In this embodiment, the first sensor can be implemented using any grayscale sensor capable of detecting the grayscale value of a black line, and the second sensor can be implemented using any grayscale sensor capable of detecting the grayscale value of a background, typically a white background. The grayscale sensor is a set of analog sensors, consisting of a light-emitting diode (LED) and a photosensitive receiver tube, both mounted on the same surface. The grayscale sensor utilizes the principle that different colored backgrounds reflect light differently, and that the photosensitive receiver tube receives light reflected from different detection surfaces, resulting in different resistance values, to detect color depth. That is, the stronger the light received by the photosensitive receiver tube, the lower its resistance; conversely, the darker the background grayscale or the farther away from the ground, the higher the resistance of the photosensitive diode. Within the effective detection distance, the LED emits white light, which illuminates the detection surface. The detection surface reflects part of the light, and the photosensitive receiver tube detects the intensity of this light. This light is then converted into an analog / digital signal through a voltage divider circuit and an operational amplifier comparator circuit, and finally processed by the controller.

[0033] In this embodiment, the number of M and N can be set according to the actual situation. Preferably, M is set to 4 and N is set to 2. It can be understood that four first sensors are set at the front end of the circuit board and two second sensors are set on both sides of the circuit board. The position of the second sensors is further back than the position of the first sensors, so as to realize the misalignment detection between the black line and the background, and more accurately judge the boundary between the black line and the background, so that the intelligent line-following vehicle can adapt to the changing track or environment.

[0034] This utility model relates to an intelligent line-following trolley. M first sensors are mounted on the front of a circuit board, and N second sensors are mounted on both sides of the circuit board. The first sensors detect the grayscale value of the black line and output a corresponding first grayscale signal, while the second sensors detect the grayscale value of the background and output a corresponding second grayscale signal. The controller controls the movement direction of the trolley body based on the M first grayscale signals and N second grayscale signals, achieving misalignment detection between the black line and the background. This improves the trolley's adaptability to other backgrounds beyond the black line, resulting in higher recognition accuracy in changing environments and enhanced environmental adaptability and line-following stability.

[0035] In one embodiment, the intelligent line inspection vehicle further includes:

[0036] A switching assembly, the output of which is connected to the controller, is used to output a corresponding switching signal when triggered.

[0037] The controller is used to receive the switch signal and control the trolley body to be in calibration mode according to the switch signal.

[0038] In one embodiment, the switching assembly is a toggle switch.

[0039] In this embodiment, the switching component can be implemented by any switching component that outputs a corresponding switching signal when triggered, such as a toggle switch. A toggle switch connects or disconnects the circuit by moving the switch handle, thereby achieving the purpose of switching the circuit. It has the characteristics of flexible slider movement and stable and reliable performance, and is widely used in various instruments / meters, various electric toys and other electronic products.

[0040] Understandably, when the toggle switch is activated, it outputs a corresponding switch signal. The controller controls the vehicle body according to the switch signal. That is, when the switch signal is low, the vehicle body enters the calibration mode to calibrate the first and second sensors. Conversely, when the switch signal is high, the vehicle body enters the working mode. Thus, switching between the calibration mode and the working mode of the intelligent line-following vehicle can be achieved by toggle the switch, which is extremely convenient.

[0041] In one embodiment, the intelligent line inspection vehicle further includes:

[0042] An indicator light, the controlled end of which is connected to the controller, is used to indicate the operating status of the trolley body during operation;

[0043] The controller is used to control the indicator light to operate according to the switch signal, so as to indicate that the trolley body is in calibration mode or working mode.

[0044] In this embodiment, the indicator light can be any indicator light that can indicate the operating status of the vehicle body, such as a red LED light and a green LED light. It is understood that when the green LED light is lit, the intelligent line inspection vehicle is in working mode; when the controller receives a low-level calibration switch signal, the indicator light changes from green to red, that is, the red LED light is lit at this moment, indicating that the intelligent line inspection vehicle is in calibration mode, making it easier for staff to intuitively understand the operating status of the intelligent line inspection vehicle.

[0045] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. An intelligent line inspection vehicle, characterized in that, The intelligent line inspection vehicle includes: A circuit board and a vehicle body, wherein the circuit board is located at the bottom of the vehicle body; M first sensors and N second sensors, the M first sensors are disposed at the front end of the circuit board and the N second sensors are disposed on both sides of the circuit board. Each first sensor is used to detect the gray value of the black line and output a corresponding first gray value signal, and each second sensor is used to detect the gray value of the background and output a corresponding second gray value signal. A controller is mounted on the circuit board and is connected to M first sensors and N second sensors respectively. The controller is used to output a reference grayscale signal based on the M first grayscale signals and N second grayscale signals, and to control the movement direction of the vehicle body based on the reference grayscale signal.

2. The intelligent line inspection vehicle according to claim 1, characterized in that, M is 4, and N is 2.

3. The intelligent line inspection vehicle according to claim 1, characterized in that, The intelligent line inspection vehicle also includes: A switching assembly, the output of which is connected to the controller, is used to output a corresponding switching signal when triggered. The controller is used to receive the switch signal and control the trolley body to enter the calibration mode according to the switch signal.

4. The intelligent line inspection vehicle according to claim 3, characterized in that, The switch assembly is a toggle switch.

5. The intelligent line inspection vehicle according to claim 3, characterized in that, The intelligent line inspection vehicle also includes: An indicator light, the controlled end of which is connected to the controller, is used to indicate the operating status of the vehicle body during operation; The controller is used to control the indicator light to operate according to the calibration switch signal, so as to indicate that the trolley body is in calibration mode or working mode.

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