A hazard detection method and terminal for circuit breaker transport vehicle

Abstract

The present invention discloses a danger detection method and terminal for a circuit breaker transfer vehicle, which can obtain ultrasonic data returned by an ultrasonic module in real time, obtain obstacle distance according to the ultrasonic data, and detect the height of a pallet in real time; when the obstacle distance is less than a preset danger threshold, the pallet is locked and the wheel hub brake is controlled; when the height of the pallet is lower than the height threshold, the state information of two left and right proximity switches is obtained, and it is determined whether the two left and right proximity switches are triggered at the same time, and if not, a non-arrival reminder is issued; obstacle distance measurement is performed by using an ultrasonic module arranged at a low position, so that even relatively small obstacles can be effectively identified, and in the docking process, by determining whether the two left and right proximity switches are triggered at the same time, it is determined whether the vehicle body is accurately aligned or tilted, so that obstacles in front of the transfer vehicle can be identified, vehicle body abnormalities can be identified, and accurate and safe docking with a switch cabinet can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of circuit breaker transfer vehicle control, and in particular to a danger detection method and terminal for a circuit breaker transfer vehicle. Background Art

[0002] The existing method of connecting the circuit breaker transfer vehicle to the switch cabinet is to achieve the connection between the circuit breaker transfer vehicle and the switch cabinet, but the connection accuracy is required to a certain extent. During the connection between the transfer vehicle and the switch cabinet, the transfer vehicle may collide with obstacles or the obstacles may cause the transfer vehicle to bump or tilt, resulting in danger. When the switch cabinet is connected at a close distance, the connection may fail due to obstacles, resulting in danger and loss.

[0003] How to effectively detect obstacles in front of the transfer vehicle, discover abnormalities in the vehicle body, and ensure accurate and safe docking with the switch cabinet is the current problem to be solved. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a danger detection method and terminal for a circuit breaker transport vehicle, which can identify obstacles in front of the transport vehicle, identify vehicle body abnormalities, and ensure accurate and safe docking with a switch cabinet.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A method for detecting danger of a circuit breaker transport vehicle comprises the following steps:

[0007] S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time;

[0008] The ultrasonic module is set at a height lower than a preset height threshold;

[0009] S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake;

[0010] S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

[0011] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0012] A danger detection terminal for a circuit breaker transport vehicle comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0013] S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time;

[0014] The ultrasonic module is set at a height lower than a preset height threshold;

[0015] S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake;

[0016] S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

[0017] The beneficial effects of the present invention are as follows: a danger detection method and terminal for a circuit breaker transfer vehicle of the present invention utilizes an ultrasonic module arranged at a low position to perform obstacle ranging, and even relatively small obstacles can be effectively identified. In the docking process, by determining whether the two left and right proximity switches are triggered at the same time, it is determined whether the vehicle body is accurately aligned or tilted, and obstacles in front of the transfer vehicle can be identified, abnormalities of the vehicle body can be identified, and accurate and safe docking with the switch cabinet can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a transfer vehicle with a load applicable to the present invention;

[0019] Figure 2 It is a schematic diagram of the lifting and assembly of a transfer vehicle applicable to the present invention;

[0020] Figure 3 It is a schematic diagram of a chassis assembly of a transfer vehicle applicable to the present invention;

[0021] Figure 4 A schematic diagram of a posture adjustment component of a transfer vehicle applicable to the present invention Figure 1 ;

[0022] Figure 5 A schematic diagram of a posture adjustment component of a transfer vehicle applicable to the present invention Figure 2 ;

[0023] Figure 6 A schematic diagram of pallet stacking of a transfer vehicle applicable to the present invention;

[0024] Figure 7 A flow chart of a danger detection method for a circuit breaker transport vehicle according to an embodiment of the present invention;

[0025] Figure 8 This is a structural diagram of a danger detection terminal for a circuit breaker transport vehicle according to an embodiment of the present invention;

[0026] Fig. 9 This is an example diagram of image data collected by an auxiliary alignment camera in a danger detection method for a circuit breaker transport vehicle according to an embodiment of the present invention;

[0027] Description of labels:

[0028] 1. Interactive display screen; 2. Lifting screw rod; 3. Lifting synchronous pulley; 4. Lifting adapter block; 5. Driving throttle; 6. Lifting docking shaft; 7. Electric auxiliary wheel; 8. Lifting docking hole; 9. Control compartment; 10. Rolling drive screw rod; 11. Rolling drive nut; 12. Translation drive screw rod; 13. Pallet translation docking slot; 14. Auxiliary alignment camera; 15. Auxiliary alignment laser; 16. Locking electromagnet; 17. Second sensor; 18. Support wheel; 19 Pallet; 20. Translation docking rod; 21. Magnetic encoding; 22. Posture adjustment component; 23. Lifting component; 24. Rolling component; 25. Translation component; 26. Walking component; 27. Translation support rod; 28. Posture adjustment bracket; 29. ​​Pressure sensor; 30. A hazard detection terminal for a circuit breaker transport vehicle; 31. Processor; 32. Memory. DETAILED DESCRIPTION

[0029] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0030] Please refer to Figure 7 , a hazard detection method for a circuit breaker transport vehicle, comprising the steps of:

[0031] S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time;

[0032] The ultrasonic module is set at a height lower than a preset height threshold;

[0033] S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake;

[0034] S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

[0035] From the above description, it can be seen that the beneficial effects of the present invention are: a danger detection method and terminal for a circuit breaker transfer vehicle of the present invention utilizes an ultrasonic module arranged at a low position to perform obstacle ranging, and even relatively small obstacles can be effectively identified, and during the docking process, by judging whether the two left and right proximity switches are triggered at the same time, it is judged whether the vehicle body is accurately aligned or tilted, and obstacles in front of the transfer vehicle can be identified, abnormalities of the vehicle body can be identified, and accurate and safe docking with the switch cabinet can be ensured.

[0036] Furthermore, the method further comprises the steps of:

[0037] S4, acquiring image data collected by the auxiliary alignment camera, and identifying whether the vehicle body is tilted according to the image data, and issuing a tilt reminder if the vehicle body is tilted.

[0038] It can be seen from the above description that by collecting image data through the auxiliary alignment camera, and then identifying whether the vehicle body is tilted based on the image data, the efficiency of identifying the tilt of the vehicle body is further improved.

[0039] Further, the identifying whether the vehicle body is tilted according to the image data is specifically:

[0040] Identify the model of the switch cabinet, obtain a reference object according to the switch cabinet model, and identify the reference object according to the image data;

[0041] The reference object is subjected to edge recognition, the slope of the edge is calculated, whether the vehicle body is tilted and the tilt angle of the vehicle body are determined according to the slope, and a reminder is issued to the user.

[0042] From the above description, it can be seen that by identifying the reference objects on the switch cabinet, since the switch cabinet is generally fixed, using the features on the switch cabinet as reference objects can effectively identify whether the vehicle body is tilted, avoiding docking when the vehicle body is tilted, which may lead to danger.

[0043] Further, the identifying the model of the switch cabinet, obtaining the reference object according to the switch cabinet model, and identifying the reference object according to the image data are specifically:

[0044] According to the image data collected by the auxiliary alignment camera when the vehicle body approaches the switch cabinet, the model information printed on the switch cabinet is identified by ORC text recognition technology to obtain the model of the switch cabinet, and the model is matched with a preset comparison table to obtain the image features of the reference object;

[0045] A reference object is identified based on the image features and the image data.

[0046] From the above description, it can be seen that the model information printed on the switch cabinet is read through the ORC text recognition technology, so as to identify the model of the switch cabinet and ensure the effectiveness of the reference object selection.

[0047] Furthermore, after the ultrasonic data returned by the ultrasonic module is acquired in real time, the method further includes performing median filtering on the ultrasonic data to remove noise in the ultrasonic data.

[0048] It can be seen from the above description that after acquiring the ultrasonic data, the ultrasonic data is also subjected to median filtering to remove noise, which can effectively reduce measurement errors.

[0049] Please refer to Figure 8 , a danger detection terminal for a circuit breaker transport vehicle, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:

[0050] S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time;

[0051] The ultrasonic module is set at a height lower than a preset height threshold;

[0052] S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake;

[0053] S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

[0054] From the above description, it can be seen that the beneficial effects of the present invention are: a danger detection method and terminal for a circuit breaker transfer vehicle of the present invention utilizes an ultrasonic module arranged at a low position to perform obstacle ranging, and even relatively small obstacles can be effectively identified, and during the docking process, by judging whether the two left and right proximity switches are triggered at the same time, it is judged whether the vehicle body is accurately aligned or tilted, and obstacles in front of the transfer vehicle can be identified, abnormalities of the vehicle body can be identified, and accurate and safe docking with the switch cabinet can be ensured.

[0055] Furthermore, the method further comprises the steps of:

[0056] S4, acquiring image data collected by the auxiliary alignment camera, and identifying whether the vehicle body is tilted according to the image data, and issuing a tilt reminder if the vehicle body is tilted.

[0057] It can be seen from the above description that by collecting image data through the auxiliary alignment camera, and then identifying whether the vehicle body is tilted based on the image data, the efficiency of identifying the tilt of the vehicle body is further improved.

[0058] Further, the identifying whether the vehicle body is tilted according to the image data is specifically:

[0059] Identify the model of the switch cabinet, obtain a reference object according to the switch cabinet model, and identify the reference object according to the image data;

[0060] The reference object is subjected to edge recognition, the slope of the edge is calculated, whether the vehicle body is tilted and the tilt angle of the vehicle body are determined according to the slope, and a reminder is issued to the user.

[0061] From the above description, it can be seen that by identifying the reference objects on the switch cabinet, since the switch cabinet is generally fixed, using the features on the switch cabinet as reference objects can effectively identify whether the vehicle body is tilted, avoiding docking when the vehicle body is tilted, which may lead to danger.

[0062] Further, the identifying the model of the switch cabinet, obtaining the reference object according to the switch cabinet model, and identifying the reference object according to the image data are specifically:

[0063] According to the image data collected by the auxiliary alignment camera when the vehicle body approaches the switch cabinet, the model information printed on the switch cabinet is identified by ORC text recognition technology to obtain the model of the switch cabinet, and the model is matched with a preset comparison table to obtain the image features of the reference object;

[0064] A reference object is identified based on the image features and the image data.

[0065] From the above description, it can be seen that the model information printed on the switch cabinet is read through the ORC text recognition technology, so as to identify the model of the switch cabinet and ensure the effectiveness of the reference object selection.

[0066] Furthermore, after the ultrasonic data returned by the ultrasonic module is acquired in real time, the method further includes performing median filtering on the ultrasonic data to remove noise in the ultrasonic data.

[0067] It can be seen from the above description that after acquiring the ultrasonic data, the ultrasonic data is also subjected to median filtering to remove noise, which can effectively reduce measurement errors.

[0068] A hazard detection method and terminal for a circuit breaker transport vehicle of the present invention are suitable for hazard detection and identification during the driving and docking process of the circuit breaker transport vehicle.

[0069] Please refer to Figure 7 and Fig. 9 , Embodiment 1 of the present invention is:

[0070] A method for detecting danger of a circuit breaker transport vehicle comprises the following steps:

[0071] S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time;

[0072] The ultrasonic module is set at a height lower than a preset height threshold.

[0073] After the ultrasonic data returned by the ultrasonic module is acquired in real time, the ultrasonic data is subjected to median filtering to remove noise in the ultrasonic data.

[0074] The principle of ultrasonic ranging is that the ultrasonic transmitter emits ultrasonic waves, and the receiver receives ultrasonic waves. According to the time difference when the receiver receives the ultrasonic waves and the propagation speed of the ultrasonic waves in the medium, the distance of the object from the module is calculated, which is similar to the principle of radar ranging. The ultrasonic transmitter emits ultrasonic waves in a certain direction, and the timing starts at the same time as the emission. The ultrasonic waves propagate in the air and return immediately when they encounter obstacles on the way. The ultrasonic receiver stops timing immediately when it receives the reflected wave.

[0075] The median filter is a nonlinear smoothing technique that sets the grayscale value of each pixel to the median of all the pixel grayscale values ​​in a certain neighborhood window of the point. When using ultrasound, the main data obtained is distance data similar to the laser radar point cloud, which is used to determine the distance of the object in front. Median filtering and smoothing of ultrasonic data is mainly to remove noise and reduce measurement errors.

[0076] S2. When the distance of the obstacle is less than a preset danger threshold, the tray is locked and the wheel hub is controlled to brake.

[0077] In this embodiment, when it is detected that the distance to the obstacle is less than the danger threshold, the pallet is locked and the wheel hub is controlled to brake, thereby effectively preventing the transport vehicle from continuing to move, causing a collision with the obstacle and thus causing danger.

[0078] S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

[0079] In this embodiment, when the height of the tray is higher than the height threshold, a reminder will also be issued to the user.

[0080] S4, acquiring image data collected by the auxiliary alignment camera, and identifying whether the vehicle body is tilted according to the image data, and issuing a tilt reminder if the vehicle body is tilted;

[0081] The step of identifying whether the vehicle body is tilted according to the image data is specifically as follows:

[0082] Identify the model of the switch cabinet, obtain a reference object according to the switch cabinet model, and identify the reference object according to the image data;

[0083] The reference object is subjected to edge recognition, the slope of the edge is calculated, whether the vehicle body is tilted and the tilt angle of the vehicle body are determined according to the slope, and a reminder is issued to the user.

[0084] In this embodiment, by storing the image features of the reference object, after the image data is acquired, the content of the image data is matched using the image features.

[0085] In other equivalent embodiments, in order to simplify this process, a standard image may be stored in advance, and the image data may be rotated, enlarged, reduced, etc., and matched with the standard image to thereby identify the reference object.

[0086] In this embodiment, the edge of the reference object in the image data collected by the auxiliary alignment camera is extracted, and fitting is performed by the least square method and random sampling consistency to obtain the slope of the edge. The angle between the straight line of the edge and the coordinate axis (the X axis is used as an example in this embodiment) is determined according to the slope, thereby determining the tilt angle of the vehicle body. Fig. 9 The image data shown is framed as an edge, and its slope is calculated to determine the tilt angle.

[0087] The step of identifying the model of the switch cabinet, obtaining a reference object according to the model of the switch cabinet, and identifying the reference object according to the image data is specifically as follows:

[0088] According to the image data collected by the auxiliary alignment camera when the vehicle body approaches the switch cabinet, the model information printed on the switch cabinet is identified by ORC text recognition technology to obtain the model of the switch cabinet, and the model is matched with a preset comparison table to obtain the image features of the reference object;

[0089] A reference object is identified based on the image features and the image data.

[0090] Embodiment 2 of the present invention is:

[0091] A danger detection method for a circuit breaker transport vehicle, which differs from the first embodiment in that it further comprises the steps of:

[0092] The laser point cloud data collected by the laser sensor is acquired in real time, and the obstacle distance is determined according to the laser point cloud data.

[0093] Since the laser sensor is set at a higher position than the ultrasonic sensor, and the obstacle recognition may not be accurate due to occlusion, it cannot detect relatively low obstacles. Therefore, in this embodiment, the obstacle distance measured by the laser sensor is compared with the obstacle distance measured by the ultrasonic module. If the obstacle distance measured by the ultrasonic module is smaller than the obstacle distance measured by the laser sensor, it means that the obstacle is relatively short and the laser radar has not recognized it. Moreover, since the obstacle itself is relatively short, it may be difficult for the staff to find it, so a short obstacle reminder is issued.

[0094] Please refer to Figure 8 , Embodiment 3 of the present invention is:

[0095] A danger detection terminal 30 for a circuit breaker transport vehicle comprises a processor 31, a memory 32, and a computer program stored in the memory 32 and executable on the processor 31. When the processor 31 executes the computer program, the steps of the danger detection method for a circuit breaker transport vehicle in the first or second embodiment above are implemented.

[0096] The following is a structural example of a circuit breaker transport vehicle used in an embodiment of the present invention. Figure 1-Figure 6 , which includes: a posture adjustment component 22, a lifting component 23, a walking component 26, an RFID tag reading device, left and right proximity switches and an ultrasonic module;

[0097] The RFID tag reading device can be set at any position that does not affect the normal function of the vehicle body;

[0098] The lifting component 23 is provided with an interactive display 1, a control compartment 9 is provided in the middle of the walking component 26, a driving throttle 5 is provided at the lower part of the interactive display 1, the interactive display 1 is electrically connected to the control compartment 9 and the driving throttle 5, a lifting docking shaft 6 is provided on the lifting component 23, lifting docking holes 8 are provided on both sides of the walking component 26, the lifting component 23 and the walking component 26 are assembled and connected through the lifting docking shaft 6 and the lifting docking holes 8, the lifting component 23 includes a symmetrically arranged lifting screw 2, a lifting synchronous pulley 3 symmetrically arranged at the lower part of the lifting screw 2 and a lifting adapter block 4 installed on the lifting screw 2, and a posture adjustment bracket 28 is provided on the posture adjustment component 22, and the lifting component 23 and the posture adjustment component 22 are fixedly connected to the posture adjustment bracket 28 through the lifting adapter block 4.

[0099] See also Figure 1-Figure 6The posture adjustment component 22 includes a rolling component 24, a translation component 25, a support wheel 18 and a pressure sensor 29. The rolling component 24 includes a rolling drive nut 11 installed on the posture adjustment bracket and a rolling drive screw 10 connected to the two groups of support wheels 18 on the right side through a hinge axis. The translation component 25 includes a translation support rod 27 and a translation drive screw 12 connected to the translation support rod 27. The translation drive screw 12 is driven by a motor.

[0100] See also Figure 1-Figure 6 The support wheels 18 are provided with four groups. The two left groups of support wheels 18 are connected to the posture adjustment bracket 28 through the two pressure sensors 29. The left and right groups of support wheels 18 are connected through the translation support rod 27. The lifting assembly 23 is installed on the translation support rod 27.

[0101] See also Figure 1-Figure 6 The translation assembly 25 is provided with a tray translation docking groove 13 installed on the translation support rod 27, and the translation assembly 25 is provided with an auxiliary alignment camera 14 installed on the translation support rod 27, and the auxiliary alignment camera 14 is electrically connected to the interactive display 1.

[0102] See also Figure 1-Figure 6 The translation component 25 is provided with an auxiliary alignment laser 15 (laser sensor) installed on the translation support rod 27 and a coding sensor 17 installed on the translation support rod 27. The coding sensor 17 and the auxiliary alignment laser 15 are connected to the interactive display 1.

[0103] See also Figure 1-Figure 6 The present solution also includes a pallet body 19, to which a translation docking rod 20 is connected. The pallet translation docking groove 13 corresponds to the translation docking rod 20. The pallet body 19 has a three-layer structure, and the three-layer pallet body 19 has different specifications. A magnetic code 21 is arranged in the middle of the pallet body 19.

[0104] See also Figure 1-Figure 6 This solution also includes an electric auxiliary wheel 7 arranged at the bottom of the walking component 26 and two locking electromagnets 16 arranged on the translation support rod 27.

[0105] Working principle: The circuit breaker intelligent transfer vehicle described in the present invention is mainly composed of a posture adjustment component 22, a lifting component 23, and a walking component 26. The lifting component 23 and the walking component 26 are assembled and connected through a lifting docking shaft 6 and a lifting docking hole 8. The lifting component 23 and the posture adjustment component 22 are installed and fastened through a lifting adapter block 4 and a posture adjustment bracket 28.

[0106] The posture adjustment component 22 is composed of a rolling component 24, a translation component 25, a support wheel 18, a translation support rod 27, a posture adjustment bracket 28, and a pressure sensor 29. The two groups of support wheels 18 on the left are connected to the posture adjustment bracket 28 through two pressure sensors 29, and the two groups of support wheels 18 on the right are connected to the rolling drive screw 10 through a hinge shaft. The rolling drive nut 11 is installed on the posture adjustment bracket 28, and the left and right groups of support wheels 18 are connected through the translation support rod 27. The lifting component 23 is installed on the translation support rod 27 and drives the translation mechanism translation component 25 to achieve left and right translation by driving the translation drive screw 12 to rotate through the driving motor.

[0107] The translation mechanism translation assembly 25 is provided with a tray translation docking groove 13, an auxiliary position alignment camera, an auxiliary alignment camera, a laser 15, a magnetic code 21, and a sensor 17.

[0108] During the pallet docking process, the pallet translation docking groove 13 is used to cooperate with the pallet translation docking rod 20. After the cooperation is completed, the lifting and raising height of the posture adjustment component 22 is driven to achieve contact between the support wheel 18 and the pallet and lift the pallet to achieve pallet docking and lifting posture adjustment.

[0109] After docking is completed, the entire load of the pallet is transferred to the four support wheels 18, and the rolling adjustment is achieved through the lifting and lowering actions of the left and right groups of support wheels 18. The pallet translation adjustment is achieved through the cooperation between the pallet translation docking groove 13 and the translation docking rod 20 and the transmission of translational force.

[0110] The intelligent transfer vehicle realizes pallet encoding through matching induction between the magnetic encoding sensor 17 and the magnetic encoding 21, and realizes load sensing through the pressure sensor 29 to distinguish whether a pallet or a circuit breaker is placed on the transfer vehicle.

[0111] When the intelligent transfer vehicle is docked with the cabinet, the auxiliary alignment laser 15 is used to ensure that the transfer vehicle is parallel to the cabinet. At the same time, the interactive display screen displays the monitoring image sent back by the auxiliary alignment camera 14. The operator uses the display screen to achieve precise alignment between the pallet and the cabinet. After the docking is completed, the locking electromagnet 16 is used to adsorb the cabinet surface to lock the transfer vehicle and the cabinet to prevent the transfer vehicle from moving and causing a fall accident during the process of pulling out the circuit breaker.

[0112] After the circuit breaker is pulled out, the intelligent transfer vehicle lowers its walking height to achieve a low walking center of gravity to avoid overturning during transportation, and reduces the pushing resistance through the electric auxiliary wheels 7. After the transfer is in place, the circuit breaker and the pallet are placed on the ground as a whole and connected to the idle pallet to complete the placement of the remaining circuit breakers to achieve efficient utilization of the transfer vehicle. Only a sufficient number of pallets need to be configured in the station to complete the batch pulling of circuit breakers. The pallets are stacked and stored to reduce the space occupied by the pallets to avoid space waste.

[0113] What is not shown in the figure is that in this embodiment, the ultrasonic module is arranged at the bottom of the control compartment.

[0114] In summary, the present invention provides a danger detection method and terminal for a circuit breaker transfer vehicle, which utilizes an ultrasonic module arranged at a low position to measure the distance between obstacles. Even relatively small obstacles can be effectively identified. In the docking process, by judging whether the two left and right proximity switches are triggered at the same time, it is judged whether the vehicle body is accurately aligned or tilted. It is able to identify obstacles in front of the transfer vehicle, identify vehicle body abnormalities, and ensure accurate and safe docking with the switch cabinet.

[0115] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A danger detection method for a circuit breaker transport vehicle, characterized in that: Includes steps: S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time; The ultrasonic module is set at a height lower than a preset height threshold; S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake; S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

2. A danger detection method for a circuit breaker transport vehicle according to claim 1, characterized in that: Also includes the steps: S4, acquiring image data collected by the auxiliary alignment camera, and identifying whether the vehicle body is tilted according to the image data, and issuing a tilt reminder if the vehicle body is tilted.

3. A danger detection method for a circuit breaker transport vehicle according to claim 2, characterized in that: The step of identifying whether the vehicle body is tilted according to the image data is specifically as follows: Identify the model of the switch cabinet, obtain a reference object according to the switch cabinet model, and identify the reference object according to the image data; The reference object is subjected to edge recognition, the slope of the edge is calculated, whether the vehicle body is tilted and the tilt angle of the vehicle body are determined according to the slope, and a reminder is issued to the user.

4. A danger detection method for a circuit breaker transport vehicle according to claim 3, characterized in that: The step of identifying the model of the switch cabinet, obtaining a reference object according to the model of the switch cabinet, and identifying the reference object according to the image data is specifically as follows: According to the image data collected by the auxiliary alignment camera when the vehicle body approaches the switch cabinet, the model information printed on the switch cabinet is identified by ORC text recognition technology to obtain the model of the switch cabinet, and the model is matched with a preset comparison table to obtain the image features of the reference object; A reference object is identified based on the image features and the image data.

5. The danger detection method for a circuit breaker transport vehicle according to claim 1, characterized in that: After the ultrasonic data returned by the ultrasonic module is acquired in real time, the ultrasonic data is subjected to median filtering to remove noise in the ultrasonic data.

6. A danger detection terminal for a circuit breaker transport vehicle, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: S1. Acquire the ultrasonic data returned by the ultrasonic module in real time, obtain the obstacle distance according to the ultrasonic data, and detect the height of the pallet in real time; The ultrasonic module is set at a height lower than a preset height threshold; S2, when the distance of the obstacle is less than a preset danger threshold, locking the tray and controlling the wheel hub brake; S3. When the height of the tray is lower than the height threshold, the status information of the left and right proximity switches is obtained to determine whether the left and right proximity switches are triggered at the same time. If not, a reminder of not being in place is issued.

7. A danger detection terminal for a circuit breaker transport vehicle according to claim 6, characterized in that: Also includes the steps: S4, acquiring image data collected by the auxiliary alignment camera, and identifying whether the vehicle body is tilted according to the image data, and issuing a tilt reminder if the vehicle body is tilted.

8. A danger detection terminal for a circuit breaker transport vehicle according to claim 7, characterized in that: The step of identifying whether the vehicle body is tilted according to the image data is specifically as follows: Identify the model of the switch cabinet, obtain a reference object according to the switch cabinet model, and identify the reference object according to the image data; The reference object is subjected to edge recognition, the slope of the edge is calculated, whether the vehicle body is tilted and the tilt angle of the vehicle body are determined according to the slope, and a reminder is issued to the user.

9. A danger detection terminal for a circuit breaker transport vehicle according to claim 8, characterized in that: The step of identifying the model of the switch cabinet, obtaining a reference object according to the model of the switch cabinet, and identifying the reference object according to the image data is specifically as follows: According to the image data collected by the auxiliary alignment camera when the vehicle body approaches the switch cabinet, the model information printed on the switch cabinet is identified by ORC text recognition technology to obtain the model of the switch cabinet, and the model is matched with a preset comparison table to obtain the image features of the reference object; A reference object is identified based on the image features and the image data.

10. The danger detection terminal of a circuit breaker transport vehicle according to claim 6, characterized in that: After the ultrasonic data returned by the ultrasonic module is acquired in real time, the ultrasonic data is subjected to median filtering to remove noise in the ultrasonic data.

Images