Transformer substation flood prevention water pump transfer device and control method thereof

Abstract

The invention provides a transformer substation flood prevention water pump transfer device and a control method thereof, and belongs to the technical field of transformer substation mobile flood prevention water pumps. The device comprises a fixed supporting mechanism and a control terminal, a lifting platform used for bearing the transformer substation flood prevention water pump is arranged on one side of the fixed supporting mechanism, and a motor transmission mechanism used for driving the lifting platform is arranged on the fixed supporting mechanism. A height sensor is arranged at the front end of the lifting platform; a camera is arranged at the top of the fixed supporting mechanism. The camera is used for collecting a vehicle body image of the transfer vehicle; the height sensor is used for acquiring a height signal of the lifting platform in real time and generating real-time height information; the control terminal is used for analyzing the vehicle body image according to an image recognition technology to recognize the height of the vehicle body and taking the height of the vehicle body as a target height; and when the real-time height information reaches the target height, a starting signal is sent to the motor transmission mechanism to drive the lifting platform to lift, and when the real-time height information reaches the target height, a stopping signal is sent to the motor transmission mechanism to control the lifting platform to stop lifting.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile flood control water pumps for substations, and more particularly to a substation flood control water pump transfer device and a control method thereof. Background Art

[0002] With the increase of extreme weather such as typhoons and rainstorms in recent years, the safe operation of substation equipment and supporting facilities faces severe challenges, and new demands have been put forward for the use of flood control equipment, especially substation flood control water pumps.

[0003] Substation flood control pump is an important flood control equipment, mainly used to deal with flooding and waterlogging that may occur in substations. This equipment can effectively resist flood disasters, protect the safe operation of substations, and thus ensure the stability of the power system.

[0004] The working principle of the flood control water pump is to use mechanical equipment to suck water into the pump body and convert it into compressed air through the rotating parts in the pump body to achieve the purpose of drainage and raising the water level. It has the characteristics of high efficiency and energy saving, which can save energy and reduce operating costs. At the same time, the parts of the flood control water pump are detachable and repairable, with a long service life, and it is safe and reliable and can maintain continuous operation.

[0005] At present, it is neither realistic nor necessary to equip each substation with a flood control pump. Therefore, it is necessary to ensure the mobility of the flood control pump so that it can be easily deployed to the required substation. However, medium and large flow flood control pumps are bulky and inconvenient to transport, and often require multiple people to transport them. The use of manual transportation not only poses a threat of personal injury, but also seriously affects the substation's flood control emergency response speed. Summary of the invention

[0006] In view of the above problems, the purpose of the present invention is to provide a substation flood control water pump transfer device and a control method thereof, which effectively solves the disadvantage that the substation flood control water pump is inconvenient to transfer, improves the emergency response speed of the substation, and can effectively avoid power outages and equipment damage caused by water ingress into the equipment area, thereby ensuring the safety and reliable power supply of the substation.

[0007] The present invention is to achieve the above-mentioned purpose through the following technical solutions: a substation flood control pump transfer device, including a fixed support mechanism and a control terminal; a lifting platform for carrying the substation flood control pump is provided on one side of the fixed support mechanism, a movable support leg is provided at the bottom of the fixed support mechanism, and a motor transmission mechanism for driving the lifting platform is provided on the fixed support mechanism; a height sensor is provided at the front end of the lifting platform, a camera is provided at the top of the fixed support mechanism, and the control terminal is respectively connected with the motor transmission mechanism, the height sensor and the camera signal. The camera is used to collect the body image of the transfer vehicle and send it to the control terminal; the height sensor is used to obtain the height signal of the lifting platform in real time, generate real-time height information, and send it to the control terminal; the control terminal is used to analyze the body image according to the image recognition technology to identify the body height, and use the body height as the target height; a start signal is sent to the motor transmission mechanism to drive the lifting platform to lift, and when the real-time height information reaches the target height, a stop signal is sent to the motor transmission mechanism to control the lifting platform to stop lifting.

[0008] Furthermore, the control terminal includes: An image acquisition module, used for sending a control signal to a camera to obtain a real-time image containing a transfer vehicle; The image preprocessing module is used to perform noise removal and edge detection on the real-time image of the vehicle and segment the vehicle body image; A contour extraction module is used to extract a contour image of a vehicle body from a vehicle body image; The calculation module is used to identify the pixel height of the vehicle body according to the contour image of the vehicle body, and calculate the actual height of the vehicle body according to the calibration value of the camera.

[0009] Furthermore, the image preprocessing module is also used to: after denoising the real-time image of the vehicle, use a high-pass filter to increase the contrast of the image and sharpen the edge information in the image.

[0010] Furthermore, a pulley is provided at the bottom of the movable leg.

[0011] Furthermore, a battery is provided on the fixed support mechanism, and the battery is electrically connected to the motor transmission mechanism.

[0012] Correspondingly, the present invention also discloses a control method for a substation flood control water pump transfer device, comprising: Push the substation flood control water pump transfer device to the front of the transfer vehicle; Sending a control signal to the camera to obtain a real-time image containing the transfer vehicle; Perform noise removal and edge detection on the real-time image of the vehicle and segment the vehicle body image; Extracting a contour image of a vehicle body from the vehicle body image; The pixel height of the vehicle body is identified based on the contour image of the vehicle body, and the actual height of the vehicle body is calculated based on the calibration value of the camera; Send a start signal to the motor transmission mechanism to drive the lifting platform to rise, and read the real-time height information measured by the height sensor in real time; When the real-time height information reaches the actual height of the vehicle body, an alarm signal is issued, and a stop signal is sent to the motor transmission mechanism to control the lifting platform to stop lifting.

[0013] Further, the real-time image of the vehicle is subjected to noise removal and edge detection, and the vehicle body image is segmented, including: Perform mean filtering and Gaussian filtering on the real-time image of the vehicle to remove salt and pepper noise and Gaussian noise in the real-time image of the vehicle; Using a high-pass filter to improve the contrast of the real-time image of the vehicle and sharpen the edge information in the image; Convert the real-time image of the vehicle from RGB space to HSV space; The edges of the vehicle in the real-time image are detected and segmented through the gradient feature extraction algorithm.

[0014] Further, the step of identifying the pixel height of the vehicle body according to the contour image of the vehicle body and calculating the actual height of the vehicle body according to the calibration value of the camera includes: Use image processing library to find the contours of the car body in the image; Determine the coordinates of the highest and lowest points of the contour; According to the coordinates of the highest and lowest points of the contour, calculate the vertical distance between the two points in the image coordinate system; Calculating the pixel height h of the vehicle body according to the image resolution of the vehicle body contour and the vertical distance; Get the camera's calibration value D, and calculate the actual height H of the vehicle body according to the formula H=h / D.

[0015] Compared with the prior art, the beneficial effect of the present invention is that: the present invention discloses a substation flood control water pump transfer device and a control method thereof, which can carry the substation flood control water pump and move the substation flood control water pump to the side of the body of the transfer vehicle. Through the configured control terminal, signal acquisition analysis and linkage control are performed with the motor transmission mechanism, height sensor and camera respectively, and the vehicle body height is automatically identified by image recognition technology, and the substation flood control water pump is automatically lifted to the vehicle body height, so that the substation flood control water pump can be easily pushed into the transfer vehicle. The present invention effectively solves the disadvantage that the substation flood control water pump is inconvenient to transfer, improves the emergency response speed of the substation, can effectively avoid power outages and equipment damage caused by water ingress into the equipment area, and ensures the safety and reliable power supply of the substation.

[0016] It can be seen that compared with the prior art, the present invention has outstanding substantive features and significant progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the device structure of the present invention.

[0019] Figure 2 It is the electrical schematic diagram of the present invention.

[0020] Figure 3 It is a flow chart of the method of the present invention.

[0021] In the figure, 1. fixed support mechanism; 2. control terminal; 3. lifting platform; 4. movable legs; 5. motor transmission mechanism; 6. height sensor; 7. camera; 8. substation flood control water pump; 9. pulley; 21. image acquisition module; 22. image preprocessing module; 23. contour extraction module; 24. calculation module. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] See also Figure 1 As shown, this embodiment provides a substation flood control water pump transfer device, including a fixed support mechanism 1 and a control terminal 2; a lifting platform 3 for carrying a substation flood control water pump 8 is provided on one side of the fixed support mechanism 1, and a movable leg 4 is provided at the bottom of the fixed support mechanism 1, and a pulley 9 is provided at the bottom of the movable leg 4. A motor transmission mechanism 5 for driving the lifting platform 3 is provided on the fixed support mechanism 1, a height sensor 6 is provided at the front end of the lifting platform 3, a camera 7 is provided at the top of the fixed support mechanism 1, and a battery is also provided on the fixed support mechanism 1, and the battery is electrically connected to the motor transmission mechanism 5.

[0024] It can be seen from the above structure that the lifting platform 3 is used to lift the height of the substation flood control water pump 8, and the substation flood control water pump 8 and the lifting platform 3 can be lifted as a whole through the motor transmission mechanism 5.

[0025] The fixed support mechanism 1 is used for structural support during the lifting process of the substation flood control water pump 8. The bottom of the movable leg 4 is provided with a pulley 9, which is convenient for pushing the substation flood control water pump 8 on a horizontal road. The substation flood control water pump 8 is a medium-to-large flood control drainage pump that is not convenient to transport during actual use, and can be fixed on the lifting platform 3 by bolts.

[0026] like Figure 2 As shown, the control terminal 2 is signal-connected to the motor transmission mechanism 5 , the height sensor 6 and the camera 7 respectively.

[0027] The camera 7 is used to collect the body image of the transfer vehicle and send it to the control terminal 2.

[0028] The height sensor 6 is used to obtain the height signal of the lifting platform 3 in real time, generate real-time height information, and send it to the control terminal 2.

[0029] The control terminal 2 is used to analyze the vehicle body image according to the image recognition technology to identify the vehicle body height and use the vehicle body height as the target height; send a start signal to the motor transmission mechanism 5 to drive the lifting platform 3 to lift, and when the real-time height information reaches the target height, send a stop signal to the motor transmission mechanism 5 to control the lifting platform 3 to stop lifting.

[0030] The control terminal 2 is the control core of the entire device. It can determine the height of the transfer vehicle based on the body image of the transfer vehicle captured by the camera 7, and drive the lifting platform 3 to the same height according to the height of the body, so as to facilitate pushing the substation flood control water pump 8 into the transfer vehicle.

[0031] In a specific implementation, the control terminal 2 includes: an image acquisition module 21 , an image preprocessing module 22 , a contour extraction module 23 and a calculation module 24 .

[0032] The image acquisition module 21 is used to send a control signal to the camera 7 to obtain a real-time image containing the transfer vehicle.

[0033] The image preprocessing module 22 is used to perform noise removal and edge detection on the real-time image of the vehicle and segment the vehicle body image. In addition, after the real-time image of the vehicle is noise removed, the image preprocessing module 22 is used to use a high-pass filter to increase the contrast of the image and sharpen the edge information in the image.

[0034] The contour extraction module 23 is used to extract the contour image of the vehicle body from the vehicle body image.

[0035] The calculation module 24 is used to identify the pixel height of the vehicle body according to the contour image of the vehicle body, and calculate the actual height of the vehicle body according to the calibration value of the camera.

[0036] Based on the above structural features and functional features, the use steps of the substation flood control water pump transfer device disclosed in the present invention are as follows: Push the substation flood control pump transfer device to the side of the vehicle body that needs to be transferred. The control terminal starts the camera to collect images and perform image recognition to determine the height of the vehicle body. The control terminal controls the lifting platform to the corresponding height according to the determined vehicle body height. Push the substation flood control pump to the transfer vehicle. Use the control terminal to lower the lifting platform to the initial position, retract the movable legs, and complete the storage of the substation flood control pump transfer device. Figure 3 As shown, the present invention also discloses a control method for a substation flood control water pump transfer device, comprising the following steps: S1: Push the substation flood control water pump transfer device to the front of the transfer vehicle.

[0037] S2: Send a control signal to the camera to obtain a real-time image containing the transfer vehicle.

[0038] S3: De-noising and edge detection are performed on the real-time image of the vehicle, and the vehicle body image is segmented.

[0039] In a specific implementation, first, the real-time image of the vehicle is processed by mean filtering and Gaussian filtering to remove salt and pepper noise and Gaussian noise in the real-time image of the vehicle. Then, a high-pass filter is used to improve the contrast of the real-time image of the vehicle and sharpen the edge information in the image. At this time, the real-time image of the vehicle is converted from RGB space to HSV space. Finally, the edges in the real-time image of the vehicle are detected and segmented by a gradient feature extraction algorithm.

[0040] In addition, depending on the specific application requirements, the preprocessing process may also include grayscale, binarization, histogram equalization and other technologies. Grayscale is to convert a color image into a grayscale image to reduce the amount of data and storage space. Binarization is to convert a grayscale image into an image with only two colors, black and white, to further simplify data processing. Histogram equalization is used to improve the contrast of the image and make the details of the image clearer.

[0041] S4: Extracting the contour image of the vehicle body from the vehicle body image.

[0042] In a specific implementation, firstly, the findContours function of OpenCV is used to find the contours in the vehicle body image and filter out the vehicle body contours. Then, the filtered vehicle body contours are drawn on the original image. Finally, the result image is saved as the contour image of the vehicle body.

[0043] S5: Identify the pixel height of the vehicle body according to the contour image of the vehicle body, and calculate the actual height of the vehicle body according to the calibration value of the camera.

[0044] In a specific implementation, OpenCV is first used to find the contour in the contour image of the vehicle body. Then the top and bottom reference points of the contour are determined, which can be achieved by finding the highest and lowest points of the contour. After finding the highest and lowest points of the contour, the coordinates of the highest and lowest points of the contour are recorded.

[0045] At this time, the vertical distance between the two points in the image coordinate system is calculated based on the coordinates of the highest and lowest points of the contour. Then, the pixel height h of the vehicle body is calculated based on the resolution of the contour image of the vehicle body and the vertical distance. Since the resolution of the image will affect the accuracy of the measurement, a camera can be used to capture high-resolution images as required to provide more accurate measurement results.

[0046] Finally, obtain the calibration value D of the camera, and calculate the actual height H of the vehicle body according to the formula H=h / D. It should be noted that camera calibration is a complex process involving multiple steps and calculations. In order to obtain accurate calibration values, it is necessary to ensure that the production and pasting of the calibration object, the shooting and processing of photos, and the detection and calculation of feature points are accurate. In addition, different cameras and application scenarios may require the use of different calibration methods and tools, so in actual operation, it is necessary to select and adjust according to the specific situation. In the present invention, the camera calibration value D is the ratio of pixel distance to actual distance, and the unit is pixel / cm.

[0047] S6: Send a start signal to the motor transmission mechanism to drive the lifting platform to lift, and read the real-time height information measured by the height sensor in real time.

[0048] S7: When the real-time height information reaches the actual height of the vehicle body, an alarm signal is issued, and a stop signal is sent to the motor transmission mechanism to control the lifting platform to stop lifting.

[0049] In a specific implementation, a cyclic judgment method is used to determine in real time whether the height information collected by the height sensor is equal to the calculated actual height of the vehicle body. When it is determined to be equal, a stop signal is immediately triggered to suspend the lifting platform so that the substation flood control water pump can be pushed into the transfer vehicle.

[0050] In summary, the present invention effectively solves the shortcoming that flood control water pumps in substations are inconvenient to transport, improves the emergency response speed of substations, can effectively avoid problems such as power outages and equipment damage caused by water ingress into equipment areas, and ensures the safety and reliable power supply of substations.

[0051] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. As for the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0052] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0053] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0054] The above is a detailed introduction to the substation flood control water pump transfer device and its control method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A substation flood control water pump transfer device, characterized in that: It includes a fixed support mechanism and a control terminal; a lifting platform for carrying a flood control water pump of a substation is provided on one side of the fixed support mechanism, a movable support leg is provided at the bottom of the fixed support mechanism, and a motor transmission mechanism for driving the lifting platform is provided on the fixed support mechanism; a height sensor is provided at the front end of the lifting platform, a camera is provided at the top of the fixed support mechanism, and the control terminal is respectively connected with the motor transmission mechanism, the height sensor and the camera signal; A camera is used to collect images of the body of the transfer vehicle and send them to the control terminal; The height sensor is used to obtain the height signal of the lifting platform in real time, generate real-time height information, and send it to the control terminal; The control terminal is used to analyze the vehicle body image based on image recognition technology to identify the vehicle body height and use the vehicle body height as the target height; send a start signal to the motor transmission mechanism to drive the lifting platform to lift, and when the real-time height information reaches the target height, send a stop signal to the motor transmission mechanism to control the lifting platform to stop lifting.

2. The substation flood control water pump transfer device according to claim 1, characterized in that: The control terminal comprises: An image acquisition module, used for sending a control signal to a camera to obtain a real-time image containing a transfer vehicle; Image preprocessing module, used to perform noise removal and edge detection on the real-time image of the vehicle and segment the vehicle body image; A contour extraction module is used to extract a contour image of a vehicle body from a vehicle body image; The calculation module is used to identify the pixel height of the vehicle body according to the contour image of the vehicle body, and calculate the actual height of the vehicle body according to the calibration value of the camera.

3. The substation flood control water pump transfer device according to claim 2, characterized in that: The image preprocessing module is also used to: after de-noising the real-time image of the vehicle, use a high-pass filter to increase the contrast of the image and sharpen the edge information in the image.

4. The substation flood control water pump transfer device according to claim 1, characterized in that: A pulley is arranged at the bottom of the movable supporting leg.

5. The substation flood control water pump transfer device according to claim 1, characterized in that: The fixed support mechanism is also provided with a battery, and the battery is electrically connected to the motor transmission mechanism.

6. A control method for a substation flood control water pump transfer device, characterized in that: include: Push the substation flood control water pump transfer device to the front of the transfer vehicle; Sending a control signal to the camera to obtain a real-time image containing the transfer vehicle; Perform noise removal and edge detection on the real-time image of the vehicle and segment the vehicle body image; Extracting a contour image of a vehicle body from the vehicle body image; The pixel height of the vehicle body is identified based on the contour image of the vehicle body, and the actual height of the vehicle body is calculated based on the calibration value of the camera; Send a start signal to the motor transmission mechanism to drive the lifting platform to rise, and read the real-time height information measured by the height sensor in real time; When the real-time height information reaches the actual height of the vehicle body, an alarm signal is issued, and a stop signal is sent to the motor transmission mechanism to control the lifting platform to stop lifting.

7. The control method of the substation flood control water pump transfer device according to claim 6 is characterized in that: The method of performing noise removal and edge detection on the real-time image of the vehicle and segmenting the vehicle body image includes: Perform mean filtering and Gaussian filtering on the real-time image of the vehicle to remove salt and pepper noise and Gaussian noise in the real-time image of the vehicle; Using a high-pass filter to improve the contrast of the real-time image of the vehicle and sharpen the edge information in the image; Convert the real-time image of the vehicle from RGB space to HSV space; The edges of the vehicle in the real-time image are detected and segmented through the gradient feature extraction algorithm.

8. The control method of the substation flood control water pump transfer device according to claim 6, characterized in that: The method of identifying the pixel height of the vehicle body according to the contour image of the vehicle body and calculating the actual height of the vehicle body according to the calibration value of the camera includes: Use image processing libraries to find contours in the image of the body's outline; Determine the coordinates of the highest and lowest points of the contour; According to the coordinates of the highest and lowest points of the contour, calculate the vertical distance between the two points in the image coordinate system; Calculating the pixel height h of the vehicle body according to the image resolution of the vehicle body contour and the vertical distance; Get the camera's calibration value D, and calculate the actual height H of the vehicle body according to the formula H=h / D.

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