CN-121999034-A - Visual alignment system and method of circuit breaker transfer trolley and circuit breaker transfer trolley

CN121999034ACN 121999034 ACN121999034 ACN 121999034ACN-121999034-A

Abstract

The application relates to the technical field of control of circuit breaker transfer vehicles, in particular to a visual alignment system and method of a circuit breaker transfer vehicle and the circuit breaker transfer vehicle, which are used for automatically realizing alignment and positioning of the circuit breaker transfer vehicle and a switch cabinet. The visual alignment system of the circuit breaker transfer trolley is configured to acquire corresponding image data through an image acquisition unit, obtain a left hole site mask, a right hole site mask and a center point of a calibration piece through a pre-trained neural network model, judge an alignment state according to the left hole site mask, the right hole site mask, the center point of the corresponding image data and the center point of the calibration piece, and determine a vertical movement step length and a horizontal movement step length according to a first vertical offset value, a second vertical offset value, a first horizontal offset value, a second horizontal offset value and a corresponding target adjustment coefficient when the alignment state is not aligned, and drive the position correction module to move. According to the scheme provided by the application, the hole site butting efficiency and precision of the circuit breaker transfer trolley and the switch cabinet can be improved, and the manual operation difficulty is reduced.

Inventors

CHEN ZHIHONG
LIU JIAJIN
HUANG JIE
LIU XIAN
ZHANG QICONG

Assignees

珠海优特电力科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251217

Claims (10)

1. The visual alignment system of the circuit breaker transfer trolley is characterized by comprising a position correction module and a bearing frame, wherein the position correction module is arranged on the circuit breaker transfer trolley, one side of the position correction module is connected with the bearing frame, a circuit breaker placing platform is arranged on the bearing frame, one side of the circuit breaker placing platform facing the switch cabinet is provided with a first calibration piece and a second calibration piece which respectively correspond to a left hole and a right hole of the switch cabinet, and the bearing frame is provided with an image acquisition unit respectively corresponding to the two calibration pieces; the visual alignment system is configured to: The image data is input into a pre-trained neural network model for image processing to obtain left and right hole site masks of the hole site of the switch cabinet and the center point of the calibration piece; Determining whether the first calibration piece and the second calibration piece are aligned with the hole site of the switch cabinet or not according to a first coordinate offset value between the left and right hole site masks and the center point of the image data, a second coordinate offset value between the center point of the calibration piece and the center point of the image data and a preset target offset interval, wherein the coordinate offset value comprises a horizontal offset value and a vertical offset value; When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not located in a preset target offset interval, determining the ratio of the actual hole site diameter to the pixel diameter of the hole site mask as a first target adjustment coefficient, and determining the ratio of the actual area of the calibration part to the pixel area of the calibration part as a second target adjustment coefficient; Determining a vertical movement step length according to the product of the first horizontal offset value and the first target adjustment coefficient and the product of the second horizontal offset value and the second target adjustment coefficient, and driving the position correction module to move so as to align the center point of the calibration piece with the center point of the switch cabinet hole position.
2. The vision alignment system of claim 1, wherein the position correction module comprises a vertical lifting mechanism and a horizontal movement mechanism, wherein two sides of the vertical lifting mechanism are respectively connected with the left side and the right side of the horizontal movement mechanism, one side of the horizontal movement mechanism is connected with one side of the bearing frame, the vertical lifting mechanism controls the vertical movement of the first calibration piece and the second calibration piece, and the horizontal movement mechanism controls the horizontal movement of the first calibration piece and the second calibration piece.
3. The vision alignment system of claim 2 wherein determining a vertical movement step based on a product of a first vertical offset value and a first target adjustment factor and a product of a second vertical offset value and a second target adjustment factor for the same hole site and driving the position correction module to move based on the vertical movement step comprises: Determining a vertical movement step size according to the sum of the product of the first left vertical offset value corresponding to the left hole site mask and the first target adjustment coefficient and the product of the second left vertical offset value corresponding to the first calibration piece and the second target adjustment coefficient, or, Determining a vertical movement step length according to the sum of the product of the first right vertical offset value corresponding to the right hole site mask and the first target adjustment coefficient and the product of the second right vertical offset value corresponding to the second calibration piece and the second target adjustment coefficient; And controlling the vertical lifting mechanism to move along the vertical direction according to the vertical movement step length, so that the first calibration piece is matched with the left hole of the switch cabinet, and the second calibration piece is matched with the right hole of the switch cabinet in the vertical direction.
4. The vision alignment system of claim 2 wherein the determining a horizontal movement step based on a product of a first horizontal offset value and a first target adjustment factor and a product of a second horizontal offset value and a second target adjustment factor for the same hole site and driving the position correction module to move based on the horizontal movement step comprises: Determining a horizontal movement step size according to the sum of the product of the first horizontal offset value corresponding to the left hole site mask and the first target adjustment coefficient and the product of the second horizontal offset value corresponding to the first calibration piece and the second target adjustment coefficient, or, Determining a horizontal movement step according to the sum of the product of the first horizontal offset value corresponding to the right hole site mask and the first target adjustment coefficient and the product of the second horizontal offset value corresponding to the second calibration piece and the second target adjustment coefficient; and controlling the horizontal moving mechanism to move in the horizontal direction according to the horizontal moving step length so that the first calibration piece is matched with the left hole of the switch cabinet and the second calibration piece is matched with the right hole of the switch cabinet in the horizontal direction.
5. The visual alignment system of claim 1, further comprising an audible and visual cue mounted on the circuit breaker transfer cart; The visual alignment system of the circuit breaker transfer cart is configured to: And generating an acousto-optic feedback signal through the acousto-optic prompter when the image data is free of holes, is not aligned or is being corrected and is aligned.
6. A visual alignment method of a circuit breaker transfer vehicle, applied to the visual alignment system of a circuit breaker transfer vehicle of any one of claims 1-5, comprising: acquiring image data comprising a calibration piece and a front image thereof by an image acquisition unit; Inputting the image data into a pre-trained neural network model for image processing to obtain left and right hole site masks of the hole sites of the switch cabinet and the center point of the calibration piece; Determining whether the first calibration piece and the second calibration piece are aligned with the hole site of the switch cabinet or not according to a first coordinate offset value between the left and right hole site masks and the center point of the image data, a second coordinate offset value between the center point of the calibration piece and the center point of the image data and a preset target offset interval, wherein the coordinate offset value comprises a horizontal offset value and a vertical offset value; When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not located in a preset target offset interval, determining the ratio of the actual hole site diameter to the pixel diameter of the hole site mask as a first target adjustment coefficient, and determining the ratio of the actual area of the calibration part to the pixel area of the calibration part as a second target adjustment coefficient; determining a vertical movement step according to the product of the first vertical offset value and the first target adjustment coefficient and the product of the second vertical offset value and the second target adjustment coefficient for the same hole site; and determining a horizontal movement step length according to the product of the first horizontal offset value and the first target adjustment coefficient and the product of the second horizontal offset value and the second target adjustment coefficient aiming at the same hole site, and driving the position correction module to move so as to align the center point of the calibration piece with the center point of the hole site of the switch cabinet.
7. The method of claim 6, wherein determining a vertical movement step based on a product of a first vertical offset value and a first target adjustment factor and a product of a second vertical offset value and a second target adjustment factor for the same hole site, and driving the position correction module to move based on the vertical movement step, comprises: Determining a vertical movement step size according to the sum of the product of the first left vertical offset value corresponding to the left hole site mask and the first target adjustment coefficient and the product of the second left vertical offset value corresponding to the first calibration piece and the second target adjustment coefficient, or, Determining a vertical movement step length according to the sum of the product of the first right vertical offset value corresponding to the right hole site mask and the first target adjustment coefficient and the product of the second right vertical offset value corresponding to the second calibration piece and the second target adjustment coefficient; And controlling the vertical lifting mechanism to move along the vertical direction according to the vertical movement step length, so that the first calibration piece is matched with the left hole of the switch cabinet, and the second calibration piece is matched with the right hole of the switch cabinet in the vertical direction.
8. The method of claim 6, wherein determining a horizontal movement step from a product of a first horizontal offset value and a first target adjustment factor and a product of a second horizontal offset value and a second target adjustment factor for the same hole site, and driving the position correction module to move according to the horizontal movement step, comprises: Determining a horizontal movement step size according to the sum of the product of the first horizontal offset value corresponding to the left hole site mask and the first target adjustment coefficient and the product of the second horizontal offset value corresponding to the first calibration piece and the second target adjustment coefficient, or, Determining a horizontal movement step according to the sum of the product of the first horizontal offset value corresponding to the right hole site mask and the first target adjustment coefficient and the product of the second horizontal offset value corresponding to the second calibration piece and the second target adjustment coefficient; and controlling the horizontal moving mechanism to move in the horizontal direction according to the horizontal moving step length so that the first calibration piece is matched with the left hole of the switch cabinet and the second calibration piece is matched with the right hole of the switch cabinet in the horizontal direction.
9. The method of claim 6, wherein the acousto-optic feedback signal is generated by an acousto-optic cue when the image data is hole site free, misaligned or being corrected, aligned.
10. The circuit breaker transfer vehicle is characterized by comprising a memory and at least one processor, wherein instructions are stored in the memory; the at least one processor invokes the instructions in the memory to cause the circuit breaker transporter to perform the visual alignment method of the circuit breaker transporter of any one of claims 6-9.

Description

Visual alignment system and method of circuit breaker transfer trolley and circuit breaker transfer trolley Technical Field The application relates to the technical field of control of circuit breaker transfer vehicles, in particular to a visual alignment system and method of a circuit breaker transfer vehicle and the circuit breaker transfer vehicle. Background The circuit breaker in the switch cabinet in the transformer substation is generally heavy and large in size, and a transfer vehicle is required to be used for carrying up and down in the operation, maintenance and overhaul process. However, the circuit breaker may obstruct the view of the operator of the transfer car when located on the transfer car, resulting in an inability to effectively complete the docking between the transfer car and the switchgear. In the related art, the original mode is that another person assists in observing the alignment condition of the butt joint holes of the transfer trolley and the switch cabinet on the front side surface of the transfer trolley, but the transfer trolley is not easy to adjust and move for many times during loading, and the risk of personal safety accidents exists. For realizing single person operation transfer car (buggy), at present, generally adopt template matching algorithm to carry out hole discernment to the image data that the camera gathered, for example can set up the location bolt on the tray of transfer car (buggy), be provided with the camera in the location bolt, after the camera gathered the image, obtain the corresponding position appearance adjustment information of transfer car (buggy) through calculating, but the hole site position of different cubicles is different, and the location bolt position on the tray is fixed, customize different location bolts according to the hole site of different cubicles, result in the unable switch cabinet that is suitable for of same kind of location bolt, and the camera sets up in the location bolt, the cost demand to the hardware is higher all need to set up the camera for each customized location bolt, when hole discernment failure, be difficult to realize the position appearance adjustment to the transfer car (buggy). Disclosure of Invention In order to solve or partially solve the problems in the related art, the application provides a visual alignment system and a visual alignment method of a circuit breaker transfer trolley and the circuit breaker transfer trolley, which are used for improving the butt joint efficiency of the circuit breaker transfer trolley and a switch cabinet and can be suitable for different switch cabinets. The application provides a visual alignment system of a circuit breaker transfer vehicle, which comprises a position correction module and a bearing frame, wherein the position correction module is used for correcting the position of the circuit breaker transfer vehicle; the position correction module is arranged on the circuit breaker transfer trolley, one side of the position correction module is connected with a bearing frame, a circuit breaker placing platform is arranged on the bearing frame, a first calibration piece and a second calibration piece which respectively correspond to a left hole and a right hole of the switch cabinet are arranged on one side of the circuit breaker placing platform facing the switch cabinet, and an image acquisition unit respectively corresponding to the two calibration pieces is arranged on the bearing frame; the visual alignment system is configured to acquire image data comprising a calibration part and a front image thereof through an image acquisition unit, input the image data into a pre-trained neural network model for image processing to obtain left and right hole position masks of a switch cabinet hole site and a center point of the calibration part, determine whether the first calibration part and the second calibration part are aligned with the switch cabinet hole site according to a first coordinate offset value between the left and right hole position masks and the center point of the image data, a second coordinate offset value between the center point of the calibration part and the center point of the image data and a preset target offset interval, determine whether the first calibration part and the second calibration part are aligned with the switch cabinet hole site according to a first coordinate offset value between the center point of the calibration part and the preset target offset interval, wherein the coordinate offset value comprises the horizontal offset value and the vertical offset value, determine the ratio of the actual hole position diameter to the hole position mask pixel diameter to be a first target adjustment coefficient when the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not located in the preset target offset interval, and determine the ratio of the actual hole position area of the ca