Method and terminal for anomaly detection of a circuit breaker transfer car

Abstract

The application discloses a kind of abnormal detection method and terminal of circuit breaker transfer trolley, real-time acquisition pressure data of pressure sensor and displacement data in the first time period of pre-set;Whether foreign matter is pressed according to pressure sensor data and displacement data is judged, and whether the body is tilted is identified according to the image data of auxiliary alignment camera acquisition;If it is judged that foreign matter is pressed or the body is tilted, the user is reminded;The abnormal detection method and terminal of a kind of circuit breaker transfer trolley according to pressure sensor data and displacement data judge whether the body is pressed to foreign matter, and the detection of body tilt is realized according to image data, to identify the abnormality possibly existing in the process that transfer trolley is connected with switch cabinet, improve the accuracy and safety of connection.

Description

Technical Field

[0001] This invention relates to the field of circuit breaker transfer trolley control technology, and in particular to a method and terminal for detecting anomalies in a circuit breaker transfer trolley. Background Technology

[0002] Currently, circuit breaker transfer vehicles are used to connect circuit breakers to switchgear, but this requires a certain level of accuracy. During the connection process, foreign objects or other abnormalities on the underside of the vehicle may affect the process, such as causing the vehicle to tilt, leading to incorrect connection and potential losses or hazards. Therefore, effectively detecting any abnormalities in the transfer vehicle during the connection process is the current problem to be solved. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and terminal for detecting anomalies in a circuit breaker transfer vehicle, which can detect possible anomalies during the docking process between the transfer vehicle and the switchgear, thereby improving the accuracy and safety of the docking.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A method for detecting anomalies in a circuit breaker transport vehicle, comprising the following steps:

[0006] S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period;

[0007] S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, and identify whether the vehicle body has tilted based on image data collected by the auxiliary alignment camera.

[0008] S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

[0009] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0010] A terminal for anomaly detection of a circuit breaker transport vehicle includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0011] S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period;

[0012] S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, and identify whether the vehicle body has tilted based on image data collected by the auxiliary alignment camera.

[0013] S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

[0014] The beneficial effects of the present invention are as follows: The present invention provides a method and terminal for abnormal detection of a circuit breaker transfer vehicle, which determines whether the vehicle body has pressed against a foreign object based on pressure sensor data and displacement data, and detects the tilt of the vehicle body based on image data, thereby identifying possible abnormalities in the process of docking the transfer vehicle with the switch cabinet, and improving the accuracy and safety of docking. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a transfer vehicle carrying a load, to which this invention applies;

[0016] Figure 2 This is a schematic diagram of the lifting assembly of a transfer vehicle to which this invention applies;

[0017] Figure 3 This is a schematic diagram of the chassis assembly of a transfer vehicle to which this invention applies;

[0018] Figure 4 Schematic diagram of an attitude adjustment component for a transfer vehicle to which this invention applies. Figure 1 ;

[0019] Figure 5 Schematic diagram of an attitude adjustment component for a transfer vehicle to which this invention applies. Figure 2 ;

[0020] Figure 6 This is a schematic diagram of pallet stacking for a transfer vehicle to which this invention applies;

[0021] Figure 7 This is an example diagram of image data acquired by an auxiliary positioning camera in a method for anomaly detection of a circuit breaker transport vehicle according to an embodiment of the present invention;

[0022] Figure 8 This is a flowchart of an anomaly detection method for a circuit breaker transport vehicle according to an embodiment of the present invention;

[0023] Figure 9 This is a structural diagram of an anomaly detection terminal for a circuit breaker transport vehicle according to an embodiment of the present invention;

[0024] Label Explanation:

[0025] 1. Interactive display screen; 2. Lifting screw; 3. Lifting synchronous pulley; 4. Lifting adapter block; 5. Drive throttle; 6. Lifting docking shaft; 7. Electric auxiliary wheel; 8. Lifting docking hole; 9. Control compartment; 10. Roll drive screw; 11. Roll drive nut; 12. Translation drive screw; 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 encoder; 22. Attitude adjustment component; 23. Lifting component; 24. Roll component; 25. Translation component; 26. Traveling component; 27. Translation support rod; 28. Attitude adjustment bracket; 29. ​​Pressure sensor; 30. A terminal for abnormal detection of a circuit breaker transport vehicle; 31. Processor; 32. Memory. Detailed Implementation

[0026] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0027] Please refer to Figure 8 A method for detecting anomalies in a circuit breaker transport vehicle, comprising the following steps:

[0028] S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period;

[0029] S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, and identify whether the vehicle body has tilted based on image data collected by the auxiliary alignment camera.

[0030] S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

[0031] As can be seen from the above description, the beneficial effects of the present invention are as follows: The present invention provides a method for abnormal detection of a circuit breaker transfer vehicle, which determines whether the vehicle body has pressed against a foreign object based on pressure sensor data and displacement data, and detects the tilt of the vehicle body based on image data, thereby identifying possible abnormalities in the process of docking the transfer vehicle with the switch cabinet, and improving the accuracy and safety of docking.

[0032] Furthermore, in step S2, determining whether a foreign object has been pressed based on the sensor and unique data specifically involves:

[0033] The displacement data recorded by the laser sensor during the first time period is obtained, and the number of rotations of the electric auxiliary wheel is obtained. The displacement estimate is calculated based on the number of rotations of the electric auxiliary wheel.

[0034] The pressure data acquired in real time is compared with the historical pressure data within a preset second time period. The first difference between the pressure data and the historical pressure data is determined to be greater than a preset pressure difference threshold.

[0035] Determine whether the second difference between the displacement data and the estimated displacement value is greater than a preset displacement difference threshold;

[0036] If the first difference is greater than the pressure difference threshold and the second difference is greater than the displacement difference threshold, then it is determined that the vehicle body has run over a foreign object.

[0037] As described above, by acquiring displacement data over a period of time using a laser sensor and combining it with the number of rotations of the electric auxiliary wheel, it is possible to determine whether the electric auxiliary track is spinning idly due to running over a foreign object. At the same time, based on changes in the pressure sensor, it is possible to effectively identify abnormal pressure sensor data caused by running over a foreign object.

[0038] Furthermore, the step S2, which involves identifying whether the vehicle body is tilted based on the image data acquired by the auxiliary alignment camera, specifically involves:

[0039] Identify the model of the switchgear, obtain a reference object based on the switchgear model, and identify the reference object based on the image data;

[0040] Edge recognition is performed on the reference object, the slope of the edge is calculated, and the vehicle body is determined to be tilted and the angle of tilt based on the slope, and a reminder is issued to the user.

[0041] As described above, identifying reference objects on the switch cabinet is crucial. Since switch cabinets are generally fixed in place, using the features on the switch cabinet as reference objects can effectively identify whether the vehicle body is tilted, thus avoiding docking when the vehicle body is tilted, which could lead to danger.

[0042] Furthermore, the identification of the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves:

[0043] The RFID tag information of the switch cabinet is read in real time by an RFID tag reader, and the RFID tag information is obtained when the vehicle body approaches the switch cabinet.

[0044] The RFID tag information is read and matched with a preset lookup table to obtain the model of the switch cabinet and the image features of the reference object;

[0045] Reference object identification is performed based on the image features and the image data.

[0046] As described above, the reference objects for different types of switchgear are not the same. By using RFID to match the type of switchgear, the effectiveness of the reference object selection can be ensured, and the accuracy and effectiveness of tilt identification can be guaranteed.

[0047] Furthermore, the identification of the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves:

[0048] Based on the image data collected by the auxiliary alignment camera during the process of the vehicle approaching the switch cabinet, the model information printed on the switch cabinet is identified by ORC character recognition technology to obtain the model of the switch cabinet, and then matched with a preset lookup table to obtain the image features of the reference object;

[0049] Reference object identification is performed based on the image features and the image data.

[0050] As can be seen from the description, ORC character recognition technology can also be used to read the model information printed on the switch cabinet, thereby identifying the model of the switch cabinet and ensuring the effectiveness of the reference object selection.

[0051] Please refer to Figure 9 A terminal for anomaly detection of a circuit breaker transport vehicle includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0052] S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period;

[0053] S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, and identify whether the vehicle body has tilted based on image data collected by the auxiliary alignment camera.

[0054] S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

[0055] As can be seen from the above description, the beneficial effects of the present invention are as follows: The present invention provides a method for abnormal detection of a circuit breaker transfer vehicle, which determines whether the vehicle body has pressed against a foreign object based on pressure sensor data and displacement data, and detects the tilt of the vehicle body based on image data, thereby identifying possible abnormalities in the process of docking the transfer vehicle with the switch cabinet, and improving the accuracy and safety of docking.

[0056] Furthermore, in step S2, determining whether a foreign object has been pressed based on the sensor and unique data specifically involves:

[0057] The displacement data recorded by the laser sensor during the first time period is obtained, and the number of rotations of the electric auxiliary wheel is obtained. The displacement estimate is calculated based on the number of rotations of the electric auxiliary wheel.

[0058] The pressure data acquired in real time is compared with the historical pressure data within a preset second time period. The first difference between the pressure data and the historical pressure data is determined to be greater than a preset pressure difference threshold.

[0059] Determine whether the second difference between the displacement data and the estimated displacement value is greater than a preset displacement difference threshold;

[0060] If the first difference is greater than the pressure difference threshold and the second difference is greater than the displacement difference threshold, then it is determined that the vehicle body has run over a foreign object.

[0061] As described above, by acquiring displacement data over a period of time using a laser sensor and combining it with the number of rotations of the electric auxiliary wheel, it is possible to determine whether the electric auxiliary track is spinning idly due to running over a foreign object. At the same time, based on changes in the pressure sensor, it is possible to effectively identify abnormal pressure sensor data caused by running over a foreign object.

[0062] Furthermore, the step S2, which involves identifying whether the vehicle body is tilted based on the image data acquired by the auxiliary alignment camera, specifically involves:

[0063] Identify the model of the switchgear, obtain a reference object based on the switchgear model, and identify the reference object based on the image data;

[0064] Edge recognition is performed on the reference object, the slope of the edge is calculated, and the vehicle body is determined to be tilted and the angle of tilt based on the slope, and a reminder is issued to the user.

[0065] As described above, identifying reference objects on the switch cabinet is crucial. Since switch cabinets are generally fixed in place, using the features on the switch cabinet as reference objects can effectively identify whether the vehicle body is tilted, thus avoiding docking when the vehicle body is tilted, which could lead to danger.

[0066] Furthermore, the identification of the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves:

[0067] The RFID tag information of the switch cabinet is read in real time by an RFID tag reader, and the RFID tag information is obtained when the vehicle body approaches the switch cabinet.

[0068] The RFID tag information is read and matched with a preset lookup table to obtain the model of the switch cabinet and the image features of the reference object;

[0069] Reference object identification is performed based on the image features and the image data.

[0070] As described above, the reference objects for different types of switchgear are not the same. By using RFID to match the type of switchgear, the effectiveness of the reference object selection can be ensured, and the accuracy and effectiveness of tilt identification can be guaranteed.

[0071] Furthermore, the identification of the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves:

[0072] Based on the image data collected by the auxiliary alignment camera during the process of the vehicle approaching the switch cabinet, the model information printed on the switch cabinet is identified by ORC character recognition technology to obtain the model of the switch cabinet, and then matched with a preset lookup table to obtain the image features of the reference object;

[0073] Reference object identification is performed based on the image features and the image data.

[0074] As can be seen from the description, ORC character recognition technology can also be used to read the model information printed on the switch cabinet, thereby identifying the model of the switch cabinet and ensuring the effectiveness of the reference object selection.

[0075] The present invention provides a method and terminal for detecting anomalies in a circuit breaker transfer vehicle, applicable to detecting vehicle anomalies during the docking process between the circuit breaker transfer vehicle and the switchgear.

[0076] Please refer to Figure 7 and Figure 8 Embodiment 1 of the present invention is as follows:

[0077] A method for detecting anomalies in a circuit breaker transport vehicle, characterized by comprising the following steps:

[0078] S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period;

[0079] S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, and identify whether the vehicle body has tilted based on image data collected by the auxiliary alignment camera.

[0080] In step S2, determining whether a foreign object has been pressed based on the sensor and unique data specifically involves:

[0081] The displacement data recorded by the laser sensor during the first time period is obtained, and the number of rotations of the electric auxiliary wheel is obtained. The displacement estimate is calculated based on the number of rotations of the electric auxiliary wheel.

[0082] The pressure data acquired in real time is compared with the historical pressure data within a preset second time period. The first difference between the pressure data and the historical pressure data is determined to be greater than a preset pressure difference threshold.

[0083] Determine whether the second difference between the displacement data and the estimated displacement value is greater than a preset displacement difference threshold;

[0084] If the first difference is greater than the pressure difference threshold and the second difference is greater than the displacement difference threshold, then it is determined that the vehicle body has run over a foreign object.

[0085] In this embodiment, identifying the switch cabinet model, obtaining a reference object based on the switch cabinet model, and identifying the reference object based on the image data specifically involves:

[0086] The RFID tag information of the switch cabinet is read in real time by an RFID tag reader, and the RFID tag information is obtained when the vehicle body approaches the switch cabinet.

[0087] The RFID tag information is read and matched with a preset lookup table to obtain the model of the switch cabinet and the image features of the reference object;

[0088] Reference object identification is performed based on the image features and the image data.

[0089] In this embodiment, the switch cabinet model is obtained more quickly by using RFID tags and RFID tag reading devices.

[0090] In this application, by saving the image features of a reference object, the content of the image data is matched using these image features after the image data is acquired. This can be achieved through machine learning algorithms.

[0091] In other equivalent embodiments, to simplify this process, a standard image can be pre-stored, and the image data can be rotated, enlarged, or reduced to match the standard image, thereby identifying the reference object.

[0092] The step S2, which involves identifying whether the vehicle body is tilted based on the image data acquired by the auxiliary alignment camera, specifically includes:

[0093] Identify the model of the switchgear, obtain a reference object based on the switchgear model, and identify the reference object based on the image data;

[0094] Edge recognition is performed on the reference object, the slope of the edge is calculated, and the vehicle body is determined to be tilted and the angle of tilt based on the slope, and a reminder is issued to the user.

[0095] In this embodiment, edge extraction is performed on the reference objects in the image data acquired by the auxiliary alignment camera, and the slope of the edge is obtained by fitting the data using methods such as least squares and random sampling consistency. Based on the slope, the angle between the straight line of the edge and the coordinate axis (using the X-axis as an example in this embodiment) is determined, thereby determining the angle of vehicle body tilt. Figure 7 The image data shown is used as an edge, and its slope is calculated to determine the tilt angle.

[0096] S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

[0097] Embodiment 2 of the present invention is as follows:

[0098] A method for detecting anomalies in a circuit breaker transport vehicle, differing from Embodiment 1, in that the identification of the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves:

[0099] Based on the image data collected by the auxiliary alignment camera during the process of the vehicle approaching the switch cabinet, the model information printed on the switch cabinet is identified by ORC character recognition technology to obtain the model of the switch cabinet, and then matched with a preset lookup table to obtain the image features of the reference object;

[0100] Reference object identification is performed based on the image features and the image data.

[0101] Please refer to Figure 9 Embodiment 3 of the present invention is as follows:

[0102] A terminal 30 for detecting anomalies in a circuit breaker transport vehicle includes 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, it implements the steps in the method for detecting anomalies in a circuit breaker transport vehicle according to Embodiment 1 or 2 above.

[0103] The following is a structural example of a circuit breaker transfer vehicle used in an embodiment of the present invention. Please refer to [link / reference]. Figures 1-6 It includes: an attitude adjustment component 22, a lifting component 23, a walking component 26, and an RFID tag reading device;

[0104] The RFID tag reading device can be placed in any location without affecting the normal function of the vehicle body;

[0105] An interactive display 1 is provided on the lifting assembly 23, a control compartment 9 is provided in the middle of the walking assembly 26, a drive 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 drive throttle 5, a lifting docking shaft 6 is provided on the lifting assembly 23, and lifting docking holes 8 are provided on both sides of the walking assembly 26. The lifting assembly 23 and the walking assembly 26 are assembled and connected through the lifting docking shaft 6 and the lifting docking holes 8. The lifting assembly 23 includes symmetrically arranged lifting screws 2, lifting synchronous pulleys 3 symmetrically arranged at the lower part of the lifting screws 2, and a lifting adapter block 4 installed on the lifting screws 2. An attitude adjustment bracket 28 is provided on the attitude adjustment assembly 22, and the lifting assembly 23 and the attitude adjustment assembly 22 are fixedly connected to the attitude adjustment bracket 28 through the lifting adapter block 4.

[0106] Please see Figures 1-6 The attitude adjustment component 22 includes a roll component 24, a translation component 25, support wheels 18, and a pressure sensor 29. The roll component 24 includes a roll drive nut 11 mounted on the attitude adjustment bracket and a roll drive screw 10 connected to the two sets of support wheels 18 on the right side via a hinge shaft. 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.

[0107] Please see Figures 1-6 The support wheels 18 are provided in four sets. The two sets of support wheels 18 on the left are connected to the attitude adjustment bracket 28 through the two pressure sensors 29. The two sets of support wheels 18 on the left and right are connected by the translation support rod 27. The lifting component 23 is installed on the translation support rod 27.

[0108] Please see Figures 1-6 The translation component 25 is provided with a tray translation docking groove 13 for mounting the translation support rod 27, and the translation component 25 is provided with an auxiliary alignment camera 14 mounted on the translation support rod 27. The auxiliary alignment camera 14 is electrically connected to the interactive display 1.

[0109] Please see Figures 1-6 The translation component 25 is provided with an auxiliary alignment laser 15 (laser sensor) mounted on the translation support rod 27 and an encoding sensor 17 mounted on the translation support rod 27. The encoding sensor 17 and the auxiliary alignment laser 15 are connected to the interactive display 1.

[0110] Please see Figures 1-6The solution also includes a pallet body 19, on 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 layers of the pallet body 19 have different specifications. A magnetic code 21 is provided in the middle of the pallet body 19.

[0111] Please see Figures 1-6 The solution also includes an electric auxiliary wheel 7 located at the bottom of the walking assembly 26 and two locking electromagnets 16 located on the translation support rod 27.

[0112] Working principle: The intelligent transfer vehicle for circuit breakers described in this invention is mainly composed of an attitude adjustment component 22, a lifting component 23, and a traveling component 26. The lifting component 23 and the traveling component 26 are assembled and connected through a lifting docking shaft 6 and a lifting docking hole 8. The lifting component 23 and the attitude adjustment component 22 are installed and fastened through a lifting adapter block 4 and an attitude adjustment bracket 28.

[0113] The attitude adjustment component 22 consists of a roll component 24, a translation component 25, support wheels 18, a translation support rod 27, an attitude adjustment bracket 28, and pressure sensors 29. The two sets of support wheels 18 on the left are connected to the attitude adjustment bracket 28 through two pressure sensors 29. The two sets of support wheels 18 on the right are connected to the roll drive screw 10 through hinge shafts. The roll drive nut 11 is installed on the attitude adjustment bracket 28. The two sets of support wheels 18 on the left and right are connected by the translation support rod 27. The lifting component 23 is installed on the translation support rod 27 and drives the translation drive screw 12 to rotate through the drive motor, thereby driving the translation mechanism and the translation component 25 to achieve left and right translation.

[0114] The translation mechanism translation component 25 is provided with a tray translation docking groove 13, an auxiliary positioning camera, an auxiliary alignment laser 15, a magnetic code 21, and a sensor 17.

[0115] The pallet docking process mainly involves the pallet translation docking slot 13, which is used to cooperate with the pallet translation docking rod 20. After the cooperation is completed, the lifting and raising component 22 is driven to make the support wheel 18 contact the pallet and lift the pallet to achieve pallet docking and lifting and raising.

[0116] After docking, the entire load of the pallet is transferred to the four support wheels 18, and the horizontal rolling posture is achieved by the lifting and lowering action of the two sets of support wheels 18 on the left and right. The pallet's horizontal movement posture is achieved by the cooperation of the pallet horizontal docking groove 13 and the horizontal docking rod 20 and the transmission of horizontal movement force.

[0117] The intelligent transfer vehicle encodes the pallet by matching the magnetic code 21 sensor 17 with the magnetic code 21, and distinguishes whether there is a pallet or circuit breaker on the transfer vehicle by load sensing through the pressure sensor 29.

[0118] When the intelligent transfer cart docks with the cabinet, the auxiliary alignment laser 15 ensures that the transfer cart and the cabinet are parallel. At the same time, the interactive display screen shows the monitoring images transmitted by the auxiliary alignment camera 14. The operator can achieve precise alignment between the pallet and the cabinet through the display screen. After docking, the locking electromagnet 16 is used to attract the cabinet surface to lock the transfer cart and the cabinet to prevent the transfer cart from moving and falling during the process of pulling out the circuit breaker.

[0119] After the circuit breaker is pulled out, the intelligent transfer vehicle lowers its walking height to achieve a low center of gravity and avoids tipping over during transport. The electric auxiliary wheels 7 reduce pushing resistance. After the transfer is completed, the circuit breaker and the pallet are placed on the ground as a whole and connected to an empty pallet to complete the retrieval and placement of the remaining circuit breakers, thus achieving efficient utilization of the transfer vehicle. Only a sufficient number of pallets need to be configured in the station to complete the batch pulling out of the circuit breakers. By stacking the pallets, the space occupied by the pallets is reduced and space waste is avoided.

[0120] In summary, the present invention provides a method and terminal for anomaly detection of a circuit breaker transfer vehicle. It determines whether the vehicle body has pressed against a foreign object based on pressure sensor data and displacement data, and detects vehicle body tilt based on image data, thereby identifying possible anomalies during the docking process between the transfer vehicle and the switch cabinet, and improving the accuracy and safety of the docking.

[0121] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for detecting anomalies in a circuit breaker transport vehicle, characterized in that, Including the following steps: S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period; S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, specifically: The displacement data recorded by the laser sensor during the first time period is obtained, and the number of rotations of the electric auxiliary wheel is obtained. The displacement estimate is calculated based on the number of rotations of the electric auxiliary wheel. The pressure data acquired in real time is compared with the historical pressure data within a preset second time period. The first difference between the pressure data and the historical pressure data is determined to be greater than a preset pressure difference threshold. Determine whether the second difference between the displacement data and the estimated displacement value is greater than a preset displacement difference threshold, wherein when the electric auxiliary wheel spins freely due to pressing on a foreign object, the displacement data and the estimated displacement value generate a second difference; If the first difference is greater than the pressure difference threshold and the second difference is greater than the displacement difference threshold, then it is determined that the body of the transport vehicle has run over a foreign object; And based on the image data collected by the auxiliary alignment camera, it identifies whether the vehicle body has tilted, specifically: Identify the model of the switchgear, obtain a reference object based on the switchgear model, and identify the reference object based on the image data; Edge recognition is performed on the reference object, the slope of the edge is calculated, and the tilt of the vehicle body relative to the switch cabinet is determined based on the slope, and a reminder is issued to the user. S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

2. The method for detecting anomalies in a circuit breaker transport vehicle according to claim 1, characterized in that, The process of identifying the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves: The RFID tag information of the switch cabinet is read in real time by an RFID tag reader, and the RFID tag information is obtained when the vehicle body approaches the switch cabinet. The RFID tag information is read and matched with a preset lookup table to obtain the model of the switch cabinet and the image features of the reference object; Reference object identification is performed based on the image features and the image data.

3. The method for anomaly detection of a circuit breaker transport vehicle according to claim 1, characterized in that, The process of identifying the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves: Based on the image data collected by the auxiliary alignment camera during the process of the vehicle approaching the switch cabinet, the model information printed on the switch cabinet is identified by ORC character recognition technology to obtain the model of the switch cabinet, and then matched with a preset lookup table to obtain the image features of the reference object; Reference object identification is performed based on the image features and the image data.

4. A terminal for anomaly detection of 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, it performs the following steps: S1. Real-time acquisition of pressure data from the pressure sensor and displacement data within a preset first time period; S2. Determine whether a foreign object has been pressed based on pressure sensor data and displacement data, specifically: The displacement data recorded by the laser sensor during the first time period is obtained, and the number of rotations of the electric auxiliary wheel is obtained. The displacement estimate is calculated based on the number of rotations of the electric auxiliary wheel. The pressure data acquired in real time is compared with the historical pressure data within a preset second time period. The first difference between the pressure data and the historical pressure data is determined to be greater than a preset pressure difference threshold. Determine whether the second difference between the displacement data and the estimated displacement value is greater than a preset displacement difference threshold, wherein when the electric auxiliary wheel spins freely due to pressing on a foreign object, the displacement data and the estimated displacement value generate a second difference; If the first difference is greater than the pressure difference threshold and the second difference is greater than the displacement difference threshold, then it is determined that the vehicle body has run over a foreign object. And based on the image data collected by the auxiliary alignment camera, it identifies whether the vehicle body has tilted, specifically: Identify the model of the switchgear, obtain a reference object based on the switchgear model, and identify the reference object based on the image data; Edge recognition is performed on the reference object, the slope of the edge is calculated, and the tilt of the vehicle body relative to the switch cabinet is determined based on the slope, and a reminder is issued to the user. S3. If it is determined that a foreign object has been pressed or the vehicle body has tilted, a reminder will be issued to the user.

5. The terminal for anomaly detection of a circuit breaker transport vehicle according to claim 4, characterized in that, The process of identifying the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves: The RFID tag information of the switch cabinet is read in real time by an RFID tag reader, and the RFID tag information is obtained when the vehicle body approaches the switch cabinet. The RFID tag information is read and matched with a preset lookup table to obtain the model of the switch cabinet and the image features of the reference object; Reference object identification is performed based on the image features and the image data.

6. The terminal for anomaly detection of a circuit breaker transport vehicle according to claim 4, characterized in that, The process of identifying the switchgear model, obtaining a reference object based on the switchgear model, and identifying the reference object based on the image data specifically involves: Based on the image data collected by the auxiliary alignment camera during the process of the vehicle approaching the switch cabinet, the model information printed on the switch cabinet is identified by ORC character recognition technology to obtain the model of the switch cabinet, and then matched with a preset lookup table to obtain the image features of the reference object; Reference object identification is performed based on the image features and the image data.

Images