Power equipment general survey monitoring device based on space-air-ground sensor and safety control method thereof

Abstract

The invention discloses a power equipment general survey monitoring device based on a space-air-ground sensor and a safety control method thereof, and relates to the technical field of monitoring device control. The device comprises a bottom plate, a fixed seat, a rotating seat, a door-type framework, a rotating disc, a monitoring element, a monitoring assembly, a movable pipe, a limiting plate, a lifting mechanism and the like. The limiting plate is driven by the lifting mechanism to ascend and descend, limiting or releasing of the rotating disc is achieved, and the monitoring element conducts monitoring in the working process and withdraws protection between the stand columns in the storage process. The safety control method comprises the steps of detecting the using state of the device, monitoring surrounding dangerous goods, analyzing the collision direction and controlling the rotating seat to adjust the angle of the door type framework so as to protect the monitoring element. The monitoring element can be effectively prevented from being collided and damaged in the storage and transportation process, meanwhile, accurate monitoring of environment data is achieved, and the method is suitable for geological disaster monitoring and protection of power equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of monitoring device control, in particular to a power equipment census monitoring device based on space-ground-sensor and a safety control method thereof. BACKGROUND

[0002] The power equipment line is combined with space-ground-sensor technology to monitor the safe use of the line. In the monitoring process, the ground sensor is used to monitor the geological disasters, and the data monitored by the ground sensor is transmitted to the command center for analysis to avoid damage to the power equipment caused by geological disasters.

[0003] According to the patent document with the existing publication number CN210426626U, an environmental monitoring device is disclosed, which includes a telescopic frame, a mounting plate and a mounting frame. The lower end of the telescopic frame is provided with a support mechanism, and the upper end of the telescopic frame is provided with a fixed strip. The fixed strip is provided with a second detection mechanism and a power generation mechanism. The mounting plate is mounted on the support mechanism. The mounting plate is provided with a storage battery, an inverter and a wireless transceiver. The mounting frame is mounted on the fixed strip. The mounting frame is provided with a first detection mechanism. When the technical solution is used, the temperature and humidity detector can detect the air temperature and humidity. The noise detector can detect the noise of the place. The wind direction and speed instrument can detect the wind speed and direction. The air quality detector can comprehensively detect the air quality condition, making the monitoring content more comprehensive. For the above technical solution, although the scheme makes the monitoring content more comprehensive, since a large number of sensors are used, the sensors are easy to collide in the storage, storage and transportation state. If a protective box is used, additional components and volume will be increased, which is very inconvenient in use.

[0004] Therefore, a power equipment census monitoring device based on space-ground-sensor and a safety control method thereof are needed. SUMMARY

[0005] In view of the problem that the sensors are easy to collide in the storage, storage and transportation state in the prior art, the present application provides a power equipment census monitoring device based on space-ground-sensor and a safety control method thereof, which can control the state of the device to prevent the collision of the sensors in the storage, storage and transportation state. The specific technical solution is as follows: The utility model provides a kind of power equipment census monitoring device based on space-time sensor, including: bottom plate;Fixed seat is equipped on the bottom plate;Opening is opened in the fixed seat, rotating seat is rotatably mounted in the opening;Door type framework is equipped on the rotating seat;Rotatable rotating disc is respectively equipped on the both sides column of door type framework;Limiting slot is opened in one side of the rotating disc, and support plate is welded;Monitoring element is fixedly installed on the support plate;Springback mechanism is equipped between the rotating disc and column, so that in the state that limiting slot is not limited, support plate points to the midline of door type framework;Monitoring assembly is equipped at the top of door type framework;Movable pipe is respectively installed in the lower part of the both sides column of door type framework, and limiting plate is installed between the two movable pipes by rotating shaft;Further including lifting mechanism;Lifting mechanism is connected with the outside of movable pipe to promote the lifting of limiting plate;Limiting plate is cooperated with limiting slot when rising to limit rotating disc, and rotating disc rotates when descending to protect monitoring element between column, while monitoring surrounding environment state by monitoring assembly to protect column monitoring element by the angle of rotating seat;Further including control panel;Control panel is electrically connected with rotating seat, monitoring element, monitoring assembly, lifting mechanism respectively.

[0006] Further, the column includes the fixed pipe and support column; the support column is movably installed on the top of the fixed pipe; the rotating disc is rotatably installed on the support column; the connecting seat is welded on the support column; the connecting seat is located below the rotating disc.

[0007] Further, the support column is provided with a ring groove; the rotating disc is provided with an installation hole; a reset pipe is installed in the installation hole by a torsion spring, so that the reset pipe generates a return force when rotating relative to the rotating disc; the inner wall of the reset pipe is fixedly provided with a convex ring; the convex ring is installed in the ring groove; the convex ring is provided with a clamping groove, and the ring groove is provided with a clamping boss at a position corresponding to the clamping groove, so that the position of the reset pipe and the support column is fixed after installation.

[0008] Further, the bottom end of the support column is provided with a connecting column; the connecting column is fixedly provided with a limiting ring at one end; the fixed pipe is provided with an installation cavity in the inside and a clasp at the top end; the connecting column is movably installed in the inside of the installation cavity.

[0009] Further, the monitoring element includes a humidity sensor, a temperature sensor, a wind speed sensor and a level sensor.

[0010] Further, the free end of the limiting plate is provided with an arc-shaped groove, and a cleaning scraper is fixedly arranged on the inner wall of the arc-shaped groove; the monitoring assembly is arranged at the lower end of the top of the door type framework and cooperates with the arc-shaped groove of the limiting plate in the rising state to clean; the top of the door type framework is further provided with a power mechanism to drive the monitoring assembly to rotate.

[0011] Further, the monitoring component is a monitoring camera.

[0012] Further, the lifting mechanism is located inside the fixed seat; the outer side of the movable pipe is provided with a fixed plate; the bottom of the fixed plate is provided with a positioning hole; and the lifting end of the lifting mechanism extends out of the fixed seat and is movably installed in the inside of the positioning hole.

[0013] A safety control method of an aerospace sensor-based power equipment census monitoring device, applied to control the above-mentioned aerospace sensor-based power equipment census monitoring device, specifically comprising the following steps: S1: detecting whether the power equipment census monitoring device is in a use state, if not in a use state, entering step S2; S2: collecting images of the surrounding environment of the monitoring device through the monitoring component, and analyzing and determining whether there are dangerous goods that may collide with the monitoring device; if so, enter step S3; S3: analyze the collision direction that the dangerous goods are likely to approach; S4: control the rotating seat to drive the door type frame to rotate, so that the planes of the two side columns of the door type frame are in the same plane as the collision direction to protect the monitoring elements therein.

[0014] Further, in step S3, the analysis of the collision direction that the dangerous goods are likely to approach includes the following steps: S31: taking the center of the rotating seat of the monitoring device as the coordinate origin O to establish a monitoring device coordinate system; S32: using the image data of the monitoring component, combined with the camera calibration parameters, to calculate the position coordinates of the dangerous goods in the monitoring device coordinate system; S33: calculate the collision direction vector according to the position coordinates; S34: calculate the included angle between the collision direction vector of the dangerous goods and the X-axis to determine the collision direction; S35: protection interval division, according to the calculated determine the protection interval to which the dangerous goods belong as the collision direction.

[0015] Compared with the prior art, the beneficial effects of the present application are: I. The monitoring element protection is more intelligent and efficient The prior art needs to rely on an additional protective box when the sensor is stored, increasing the volume and cost, and the collision risk is high. The linkage mechanism of the limiting plate and the rotating disc is used in the present application. When stored, the limiting plate is lowered by the lifting mechanism, the rotating disc is released to automatically retract the monitoring element to the between the stand column under the action of the torsion spring, and a physical protection barrier is formed by the stand column. At the same time, the monitoring assembly monitors the surrounding environment in real time. When potential collision danger (such as obstacles within 1.5 meters) is detected, the angle of the door type frame is adjusted by the rotating seat, so that the stand column plane is directly opposite the dangerous direction, and the collision risk is actively avoided without manual intervention, and the protection is more intelligent.

[0016] II. High equipment integration and complex functions The existing device sensor layout is scattered, and the storage is complex. The humidity, temperature, wind speed sensor and monitoring camera are integrated on the rotating disc support plate in the present application. The monitoring assembly is driven to rotate and clean by the power mechanism at the top of the door type frame, and the arc-shaped groove scraper at the free end of the limiting plate is used to realize automatic cleaning of the lens, so as to ensure clear monitoring picture. In addition, the telescopic design (connecting column telescoping in fixed pipe) of the lifting mechanism and the support column can dynamically adjust the equipment height, taking into account the monitoring needs of different scenes, avoiding the limitations of traditional fixed height devices.

[0017] III. Precise and self-adaptive control method The safety control method uses multi-sensor fusion and image processing technology (such as YOLOv5 target detection and Hough transform straight line detection) to accurately calculate the position, motion trend and collision direction of dangerous objects, and divide the 360° range into 4 protection intervals, drive the rotating seat to quickly adjust the orientation by 90°, so that the stand column plane is aligned with the collision direction. Compared with the single physical protection in the prior art, the present application realizes the closed-loop control of "monitoring - analysis - response", especially for dynamic moving objects (such as vehicles and construction machinery), the protection direction can be adjusted in real time, improving the adaptability and reliability of the equipment in complex environment.

[0018] IV. Reduce maintenance cost and operation complexity The existing device sensor is exposed, which is easy to be damaged during transportation and needs frequent maintenance. The present application reduces the element wear caused by human intervention through automatic storage and orientation adjustment, and ensures the accuracy of the resetting state of the limiting plate through multiple detection methods such as displacement sensor and micro switch, reducing the risk of misjudgment. In addition, the automatic cleaning function of the monitoring assembly reduces the frequency of manual wiping, combined with remote data transmission (4G / 5G), the warning information can be transmitted in real time, further reducing the operation and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions.

[0020] Figure 1 It is a structure schematic view of a power equipment census monitoring device based on space-air-ground sensors. Figure 2 It is a structure schematic view of a limiting plate and a limiting groove. Figure 3 It is a structure schematic view of the upper part of a gate type frame. Figure 4 It is a structure schematic view of a support column. Figure 5 It is a structure schematic view of a rotating disc. Figure 6 It is a structure schematic view of a fixed seat side view section. Figure 7 It is a structure schematic view of a reset tube. Figure 8 It is a safety control method flowchart of a power equipment census monitoring device based on space-air-ground sensors.

[0021] Reference signs: 1, bottom plate; 2, fixed seat; 3, fixed hole; 4, fixed block; 5, opening; 6, rotating seat; 7, fixed tube; 8, movable tube; 9, fixed plate; 10, limiting plate; 11, arc-shaped groove; 12, support column; 13, connecting seat; 14, rotating disc; 15, humidity sensor; 16, temperature sensor; 17, wind speed sensor; 18, level sensor; 20, limiting groove; 21, mounting seat; 22, power mechanism; 23, monitoring assembly; 24, lifting mechanism; 25, connecting column; 26, limiting ring; 27, support plate; 28, ring groove; 29, reset tube; 30, convex ring; 31, positioning hole; 32, support frame; 33, rotating motor; 34, torsion spring. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] It should be understood that the terms "comprises" and "comprising," when used in this specification and accompanying claims, indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0024] It should also be understood that the terms used in the specification of the application merely for the purpose of describing particular embodiments and are not intended to limit the application. As used in the specification and the appended claims of the application, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0025] It should be further understood that the term "and / or" used in the specification of the application and the appended claims means one or more of the associated listed items as well as all possible combinations of these.

[0026] Embodiment one As shown in FIGS. 1-7, an aerospace sensor-based power equipment census monitoring device, comprising: a base plate 1; a fixed seat 2 is arranged on the base plate 1; an opening 5 is opened on the fixed seat 2, and a rotating seat 6 is rotatably installed inside the opening 5; a gate structure is arranged on the rotating seat 6; rotatable rotating discs 14 are arranged on the two side columns of the gate structure; a support plate 27 is welded on one side of the rotating disc 14, and a limiting groove 20 is opened on the other side; a monitoring element is fixedly installed on the support plate 27; a rebound mechanism is arranged between the rotating disc 14 and the column, so that the support plate 27 points to the center line of the gate structure in the state that the limiting groove 20 is not limited; a monitoring assembly 23 is arranged on the top of the gate structure; movable pipes 8 are respectively arranged on the lower parts of the two side columns of the gate structure, and a limiting plate 10 is installed between the two movable pipes 8 through a rotating shaft; a lifting mechanism 24 is further included; the lifting mechanism 24 is connected to the outer side of the movable pipe 8 to push the limiting plate 10 to rise and fall; the limiting plate 10 cooperates with the limiting groove 20 in the rising state to limit the rotating disc 14, and the rotating disc 14 rotates in the falling state to protect the monitoring element between the columns, and the surrounding environment state is monitored through the monitoring assembly 23 to protect the column monitoring element at the angle of the rotating seat 6; a control panel is further included; the control panel is electrically connected with the rotating seat 6, the monitoring element, the monitoring assembly 23, and the lifting mechanism 24 respectively.

[0027] When the monitoring device needs to be stored after use, the limiting plate 10 is lowered under the drive of the lifting mechanism 24, no longer limiting the rotating disc 14, so that the rotating disc 14 rotates under the action of the restoring force, the supporting plate 27 drives the monitoring element to return to between the two upright columns of the portal frame, and the upright columns protect the monitoring element to prevent the monitoring element from colliding with other articles in the storage and transportation state. At the same time, the monitoring assembly 23 periodically collects the surrounding photos, analyzes the positional relationship between the surrounding articles and the portal frame, and adjusts the angle of the portal frame through the rotating seat 6 if there is a hidden danger, thereby strengthening the safety protection of the monitoring element. Further, the device can monitor the wind direction, wind speed, temperature, humidity and video image in the ground environment data, accurately and detailedly transmit the data parameters to the rear monitoring equipment and evaluation platform, and monitor the geological disasters.

[0028] Further, the two sides of the limiting plate 10 are installed between the movable pipes 8 through rotating shafts. Further, the bottom plate 1 is provided with fixing holes 3 for installation. The fixed blocks 4 are welded on the fixed seats 2 and located on the two sides of the limiting plate 10 to cooperate with the limiting plate 10, so as to limit and fix the limiting plate 10 in the laid-down state, avoiding shaking.

[0029] Further, the upright column comprises a fixed pipe 7 and a supporting column 12; the supporting column 12 is movably installed on the top of the fixed pipe 7; the rotating disc 14 is rotatably installed on the supporting column 12; the connecting seat 13 is welded on the supporting column 12; and the connecting seat 13 is located below the rotating disc 14. The fixed pipe 7 is welded on the rotating seat 6, and the movable pipe 8 is movably sleeved on the fixed pipe 7.

[0030] Further, the supporting column 12 is provided with a ring groove 28; the rotating disc 14 is provided with an installation hole; the reset pipe 29 is installed in the installation hole through a torsion spring 34, one end of the torsion spring 34 is connected with the reset pipe 29, and the other end is connected with the wall of the installation hole, so that the reset pipe 29 generates a restoring force when relatively rotating with the rotating disc 14; the inner wall of the reset pipe 29 is fixed with a convex ring 30; the convex ring 30 is installed in the inner part of the ring groove 28; the convex ring 30 is provided with a clamping groove, and the ring groove 28 is provided with a clamping boss at a position corresponding to the clamping groove, so that the position of the reset pipe 29 and the supporting column 12 is fixed after installation.

[0031] Further, the bottom end of the supporting column 12 is provided with a connecting column 25; one end of the connecting column 25 is fixed with a limiting ring 26; the inside of the fixed pipe 7 is provided with an installation cavity, and the top end is provided with a clamping ring; and the connecting column 25 is movably installed in the inside of the installation cavity.

[0032] Further, the monitoring element comprises a humidity sensor 15, a temperature sensor 16, a wind speed sensor 17 and a level sensor 18.

[0033] Further, the free end of the limiting plate 10 is provided with an arc-shaped groove 11, and a cleaning scraper is fixed on the inner wall of the arc-shaped groove 11; the monitoring assembly 23 is arranged at the lower end of the top of the gate-shaped structure and cooperates with the arc-shaped groove 11 of the limiting plate 10 in the rising state to clean; the top of the gate-shaped structure is also provided with a power mechanism 22 to drive the monitoring assembly 23 to rotate.

[0034] Further, the monitoring assembly 23 is a monitoring camera.

[0035] Further, the lifting mechanism 24 is located inside the fixed seat 2; the outer side of the movable pipe 8 is provided with a fixed plate 9; the bottom of the fixed plate 9 is provided with a positioning hole 31; the lifting end of the lifting mechanism 24 extends out of the fixed seat 2 and is movably installed inside the positioning hole 31. Further, the lifting mechanism 24 is a linear reciprocating electric push rod, which pushes the movable pipe 8 to move upward to adjust the position of the limiting plate 10.

[0036] Further, the rotating seat 6 is internally provided with a rotating motor 33 electrically connected with a control panel; the inside of the fixed seat 2 is fixedly provided with a support frame 32, the support frame 32 is welded with a fixed rod, the fixed rod is fixedly installed with the rotating motor 33, the rotating motor 33 is installed at the bottom of the rotating seat 6 through a rotating column, the rotating motor 33 drives the rotating seat 6 to rotate, and the rotation of the rotating seat 6 adjusts the orientation of the monitoring element and the stand column to enhance the protection effect.

[0037] Further, the top of the gate-shaped structure is a mounting seat 21; the two ends of the mounting seat 21 are respectively installed on the support columns 12 on the two sides; the monitoring assembly 23 is installed at the lower part of the mounting seat 21, the power mechanism 22 is installed at the upper part of the mounting seat 21 and connected with the monitoring assembly 23; further, the power mechanism 22 is a direct current motor, which drives the monitoring assembly 23 to rotate and clean inside the arc-shaped groove 11.

[0038] The device is installed in the use position through the fixing hole 3 when in use, the bottom plate 1 is fixed, the rotating disc 14 is rotated, the limiting groove 20 is vertically distributed between the two columns after the rotating disc 14 is rotated, the limiting plate 10 is rotated by 90 degrees, the limiting plate 10 is vertically distributed with the rotating seat 6, the lifting mechanism 24 is started, one end of the lifting mechanism 24 enters the inside of the positioning hole 31 and is connected with the fixed plate 9, the lifting mechanism 24 continuously rises, the handheld limiting plate 10 enters the inside of the limiting groove 20, the limiting plate 10 and the limiting groove 20 limit and fix the rotating disc 14, the monitoring elements on the rotating disc 14 are distributed outside the two support columns 12 through the support plate 27 and monitor the environment, the humidity sensor 15 monitors the humidity in the air, the temperature sensor 16 monitors the temperature, and the wind speed sensor 17 monitors the wind speed and direction. The monitoring elements monitor the environment, thereby avoiding the damage caused by geological disasters to the power equipment, and the video image is transmitted to the monitoring center in real time when monitoring. The wind direction, wind speed, temperature, humidity and video image in the ground environment data are monitored, the accurate and detailed parameters of the data are transmitted to the monitoring equipment and the evaluation platform through the sensor, and the geological disasters are monitored. When the lifting mechanism 24 pushes the movable pipe 8 to contact the connecting seat 13 again, the arc-shaped groove 11 enters the monitoring assembly 23, the power mechanism 22 drives the monitoring assembly 23 to reciprocating rotate, and the rotation cleans the face mask of the monitoring assembly 23. The movable pipe 8 is pushed up again under the pushing of the lifting mechanism 24, the connecting column 25 at the bottom of the support column 12 is pulled out in the inside of the fixed pipe 7, the height at the position of the monitoring assembly 23 is adjusted for use after being pulled out. In addition, the limiting plate 10 can also complete the limiting of the rotating disc 14 while realizing the overall height adjustment of the equipment, and the environment is monitored through the sensor after the rotating disc 14 is limited. After the limiting plate 10 is taken out from the limiting groove 20 after use, the torsion spring 34 drives the sensor to rotate and move to between the columns for shielding protection, thereby avoiding the influence of collision on the monitoring accuracy.

[0039] The beneficial effects of the present application are as follows: 1. The power equipment census monitoring device based on the space-air-ground sensor, when in use, the limiting plate moves upwards into the inside of the limiting groove, the limiting plate limits and fixes the rotating disc, the monitoring elements on the rotating disc are distributed on the side of the support column and monitor, and the limiting plate moves downwards, and the rotating disc rotates, the detection sensor is distributed between the support columns and monitors when rotating, and the monitoring elements are protected from collision from both sides through the support columns.

[0040] 2. The space-based sensor-based power equipment census monitoring device, after the lifting mechanism pushes the movable pipe to contact the bottom of the connecting seat, the arc-shaped groove enters the side of the monitoring assembly, and the cleaning scraper on the inner wall of the arc-shaped groove is used to clean the monitoring assembly, so as to ensure the cleaning degree of the monitoring picture. The limiting plate is pushed up by the lifting mechanism again, the movable pipe is pushed up by the limiting plate, the connecting seat is pushed up by the movable pipe, the supporting column is moved upward, the height of the whole device is adjusted, and the limiting plate can also limit the rotating disc. After the rotating disc is limited, the sensor is rotated and moved to the fixed pipe for shielding protection by the torsional spring, so that the influence of collision on the monitoring accuracy is avoided.

[0041] 3. The space-based sensor-based power equipment census monitoring device, the limiting plate is installed between the fixed blocks after rotating 90 degrees, the limiting plate provides limiting and fixing force for the rotating seat, and the limiting plate is taken out between the blocks when rotation is needed. After taking out, the rotating motor drives the rotating seat to rotate, the rotating seat adjusts the monitoring direction of the monitoring element, and can also provide protection for the monitoring element in the recycling state.

[0042] Example two As Figure 8 The safety control method flow chart of the space-based sensor-based power equipment census monitoring device is shown, which specifically includes the following steps: S1: detecting whether the power equipment census monitoring device is in a use state, if not, entering step S2.

[0043] Further, the detection of whether the power equipment census monitoring device is in a use state includes the following steps: S11: detecting the position state of the lifting mechanism, if the lifting mechanism is in a reset state after descending, entering step S12; Specifically, the displacement sensor can be used for detection: reading the built-in displacement sensor data of the lifting mechanism (electric push rod), if the detection shows that the push rod extension amount is 0 or less than a preset threshold (such as 1 mm), entering the next step; otherwise, it is determined that the monitoring device is in a use state, ending S11 detection and not entering the subsequent process.

[0044] Specifically, the limit position micro switch can also be used for detection: checking the micro switch state at the bottom of the lifting path of the fixed seat, if the switch is in a closed state (the push rod touches the bottom), entering the next step; otherwise, it is determined that the monitoring device is in a use state, ending S11 detection and not entering the subsequent process.

[0045] Specifically, it can also be detected by motor encoder: if the electric push rod is driven by a servo motor, read the motor encoder data. If the encoder records that the number of motor rotations is 0 and the duration is ≥5 seconds, then the lifting mechanism is determined to be in the reset state; otherwise, the monitoring device is determined to be in the use state, and the S11 detection ends without proceeding to the subsequent process.

[0046] S12: Detect whether the limit plate is in the reset state after being laid down. If the limit plate is in the reset state after being laid down, it is determined that the monitoring device is in an unused state.

[0047] In practice, the detection of whether the limiting plate is in the reset state after being laid down can be achieved by acquiring an image of the limiting plate through a monitoring component, and then analyzing the image to determine the state of the limiting plate. The specific steps are as follows: I. Hardware Preparation and Image Acquisition 1. Monitoring component location Installation location: The surveillance camera (surveillance component 23) is fixed below the mounting base (21) at the top of the portal frame, with the lens vertically downward or tilted 15°-30° to align with the mating area of ​​the limiting plate (10) and the fixing block (4) (e.g., Figure 1 , Figure 6 (As shown).

[0048] Field of view: Ensure that the image includes the complete limiting plate, fixing block and the connecting gap between them, with a resolution of not less than 1080P to ensure edge detection accuracy.

[0049] 2. Image acquisition triggered Triggering condition: When step S11 determines that the lifting mechanism (24) is in the reset state (electric push rod fully retracted), the control panel triggers the camera to capture images through the GPIO signal, and captures 3 frames continuously (to avoid single frame error).

[0050] Acquisition frequency: 1 frame per second, ensuring that the shooting is completed when the device is stationary.

[0051] II. Image Processing Flow 1. Image preprocessing (1) Noise reduction: Median filtering (3×3 window) is used to remove salt-and-pepper noise, smooth image pixel values, and avoid noise interference with subsequent edge detection (such as misidentification of the edge of the limiting plate); the formula is: ; Image in coordinates The pixel value at that location. : Neighborhood range parameter, with values ​​of , indicates that the pixel is centered at the current pixel. Neighborhood. Function: Eliminate salt and pepper noise by taking the neighborhood value, and preserve edge details.

[0052] (2) Gray scale conversion: Convert RGB image to grayscale image, weaken color interference, and highlight contour features: ; : Red, green, and blue channel values of image pixels (range: 0-255). Weight coefficients: 0.299 (R channel weight), 0.587 (G channel weight), and 0.114 (B channel weight), based on human eye sensitivity to different colors. Convert color image to grayscale image to simplify subsequent calculations.

[0053] (3) ROI region extraction: Crop image through a pre-set rectangular region , retaining only the area where the limit plate (10) and the fixed block (4) are located (such as Figure 2 the contact position of the limit plate and the fixed block), reducing the amount of calculation and focusing on the key area. Upper left corner coordinates of the ROI region. Lower right corner coordinates of the ROI region.

[0054] 2. Edge detection and contour extraction (1) Gaussian smoothing Parameters: Use Gaussian kernel (standard deviation Convolve the grayscale image, , with the formula: ; Gradient calculation (Sobel operator) x-direction gradient (detect vertical edges) formula: ; y-direction gradient (detect horizontal edges) formula: ; Gradient amplitude and direction formula: ; ; (3) Non-maximum suppression Logic: For each pixel, along the gradient direction Compare the gradient amplitudes of adjacent pixels, and only retain the local maximum value to refine the edge to a single-pixel width.

[0055] (4) Double-threshold hysteresis processing Threshold setting: High threshold , low threshold .

[0056] Edge preserving rule: Gradient magnitude : strong edge, must preserve; Gradient magnitude between ~ and : preserve if connected to strong edge, otherwise discard.

[0057] 3. Feature extraction and state parameter calculation.

[0058] (1) Hough transform is used for straight line detection to detect the polar coordinate parameters of the limit plate rotating shaft and the fixed block edge , the formula is as follows: Polar coordinate parameters: ; (2) Calculate the angle between the two straight lines , take the acute angle (range: ); The angle between the limit plate and the fixed block; Target value: when the limit plate is reset, (for example Figure 1 , the limit plate is perpendicular to the fixed block).

[0059] (2) Position matching (template matching) Template creation: collect the standard image of the limit plate reset in advance as the template .

[0060] Normalized cross-correlation coefficient (NCC): ; is the ROI region of the real-time image, , respectively, are the mean values. If NCC , it indicates that the real-time image is highly matched with the template, and the limit plate position is correct; NCC is the template matching coefficient.

[0061] Three, state determination logic 1. Single frame image determination Condition 1: the angle satisfies (the limit plate is perpendicular to the fixed block).

[0062] Condition 2: template matching coefficient NCC (the limit plate edge is completely matched with the fixed block without gap).

[0063] Result: Both conditions 1 and 2 are met: marked as "single frame reset".

[0064] Otherwise: Mark as "Single Frame Unreset".

[0065] 2. Multi-frame verification (3 consecutive frames) Statistical rule: At least 2 frames out of 3 consecutive frames meet the "single frame reset" condition to determine "final reset".

[0066] Effect: Exclude accidental factors (such as edge detection error due to light reflection in a certain frame of image).

[0067] 3. Abnormal handling If 5 consecutive frames fail to determine: The control panel sends an alarm to the remote monitoring center, prompting "limit plate state abnormal, please check the mechanical structure".

[0068] Trigger backup detection method: Directly detect the physical position through the state sensor (such as micro switch) between the fixed seat and the limit plate to ensure reliability.

[0069] In specific implementation, a state sensor can also be set at the position corresponding to the fixed seat and the limit plate to detect whether the limit plate is in the reset state.

[0070] S2: Collect images of the environment around the monitoring device through the monitoring component and analyze whether there are dangerous items that may collide with the monitoring device; if so, go to step S3; S21: Image acquisition parameter setting Acquisition device: Use the monitoring component (such as monitoring camera 23), install it on the top of the gate structure, the lens is perpendicular downward or inclined 15°-30°, the field of view covers the area within 2 meters around the monitoring device.

[0071] Trigger condition: When step S1 determines that the monitoring device is in an unused state, trigger image acquisition every 5 minutes (the timing task can be set through the control panel).

[0072] Image specification: Resolution ≥1920×1080 pixels, format is JPEG, continuously collect 3 frames to reduce accidental errors.

[0073] S22: Standardize the collected images to improve subsequent detection accuracy: Standardization includes first using median filter algorithm to eliminate salt and pepper noise, then converting RGB image to grayscale to weaken color interference, and finally cropping the image to 1.5 meters around the monitoring device (excluding device structure interference), focusing on the area where dangerous items may appear.

[0074] S23: Use target detection model (such as YOLOv5) to identify potential dangerous items in the image, supporting detection types including: Static obstacles: metal components, stones, trees, etc. Dynamic moving objects: vehicles, construction machinery, animals, etc.

[0075] S231: Train the target detection model using a dataset containing common obstacles around power equipment (labeled category "obstacle"), ensuring that the mAP (mean average precision) is ≥0.85.

[0076] S232: Use the trained target detection model to perform target detection on the preprocessed images, outputting detection box coordinates , category labels, and confidence S (assuming a threshold of ).

[0077] Calculate the distance D between the detected object and the monitoring device: ; where H is the actual height of the object (preset by the model or manually calibrated), h is the height of the object detection box in the image (pixel value), and k is the proportionality coefficient of the camera focal length and image size (which needs to be calibrated in advance).

[0078] S233: Hazard determination.

[0079] If an object is detected and meters, it is determined to be a "potential collision hazard" and proceeds to step S3; If the same object is detected for 3 consecutive frames and D continues to decrease, an emergency warning is triggered and step S3 is entered.

[0080] S234: Data recording and transmission.

[0081] Label the images determined to be dangerous and store them in the local database (including timestamp, object category, distance, etc.); and transmit the warning information to the remote monitoring center through the 4G / 5G network, including: monitoring device number (such as case information), dangerous object type, location and distance, real-time image thumbnail.

[0082] S3: Analyze the potential collision direction of the dangerous object.

[0083] After the monitoring device is in a non-use state and detects the presence of a potentially colliding dangerous object around it, further analysis of the potential collision direction of the dangerous object is needed to achieve precise protection. The specific steps are as follows: S31: Establish a monitoring device coordinate system with the center of the rotating base of the monitoring device as the origin O, and define: X-axis: parallel to the connecting line of the two side columns of the gantry structure, pointing in the initial monitoring direction (e.g. north); Y-axis: perpendicular to the X-axis, forming a horizontal plane with the X-axis; Z-axis: perpendicular to the horizontal plane, pointing to the zenith direction.

[0084] S32: Calculate the position coordinates of the dangerous goods in the monitoring device coordinate system using the image data of the monitoring component combined with the camera calibration parameters .

[0085] ; Image coordinates : Pixel coordinates of dangerous goods in monitoring image (unit: pixels); Camera intrinsic matrix : Contains focal length , optical center coordinates and other parameters, determined by Zhang Zhengyou calibration method; Camera extrinsic matrix : Contains rotation matrix (describing camera pose) and translation vector (describing camera position), determined by the conversion relationship between global coordinate system and camera coordinate system; Depth value : The distance between the dangerous goods and the camera is obtained by binocular vision or laser radar (unit: meters). is the inverse matrix of the camera intrinsic matrix, which is used to convert image pixel coordinates to normalized coordinates in the camera coordinate system, and then calculate the actual world coordinates through the depth value d.

[0086] S33: Calculate the collision direction vector according to the position coordinates.

[0087] Define the collision direction vector of the dangerous goods, indicating its moving direction on the horizontal plane (ignoring vertical height changes).

[0088] Extract the position coordinates of the dangerous goods , from consecutive multiple frames of images (such as the previous 3 frames); Set the time interval between adjacent two frames of images (unit: seconds).

[0089] Calculate the collision direction vector, calculate the average speed vector as the collision direction vector by the average displacement difference of the previous two frames, reflect the moving direction and speed of the dangerous goods, the average speed vector calculation formula is as follows: ; S34: Calculate the angle between the collision direction vector of the dangerous goods and the X-axis to determine the collision direction.

[0090] Calculate the vector dot product to get : ; where is Axis unit vector; According to the vector module length : Calculate the angle The formula is as follows: Where, The function is used to determine the angle quadrant according to and The result is expressed in degrees (range: .

[0091] Further, if the dangerous goods are static (such as fixed obstacles), the direction of the line connecting them and the monitoring device is directly calculated as the collision direction Where, is the coordinate origin, and the formula calculates the direction angle by the coordinate difference between the obstacle and the origin.

[0092] Through the above steps, the collision direction of the dangerous goods can be accurately determined, providing data support for the subsequent adjustment of the rotating seat, and ensuring that the monitoring elements of the monitoring device are effectively blocked by the column plane from potential collisions.

[0093] S35: Protection interval division, according to the calculated determine the collision direction of the dangerous goods belonging to the protection interval; The range around the monitoring device is divided into four protection intervals, which is convenient for the subsequent accurate adjustment of the rotating seat direction: Determination rule: according to the calculated determine the protection interval to which the dangerous goods belong, for example: If , it belongs to interval 2, and the column plane needs to be turned to to face the dangerous direction with the right column plane.

[0094] S4: Control the rotating seat to drive the door type architecture to rotate, so that the planes of the two side columns of the door type architecture are in the same plane as the collision direction, i.e. opposite to the collision direction, so that the two side columns can protect the monitoring elements therein.

[0095] ​​​​The application discloses an aerospace sensor-based power equipment census monitoring device and a safety control method thereof, and relates to the technical field of monitoring device control.The device comprises a bottom plate, a fixing seat, a rotating seat, a gate-shaped framework, a rotating disc, a monitoring element, a monitoring assembly, a movable pipe, a limiting plate and a lifting mechanism, etc.The limiting plate is driven to lift by the lifting mechanism, the limiting or releasing of the rotating disc is realized, the monitoring element is unfolded for monitoring during work and is retracted for protection between the columns during storage.The safety control method comprises detecting the device usage state, monitoring the surrounding dangerous articles, analyzing the collision direction and controlling the rotating seat to adjust the angle of the gate-shaped framework to protect the monitoring element.The application can effectively avoid the collision and damage of the monitoring element during storage and transportation, simultaneously realizes the accurate monitoring of environmental data, and is suitable for the geological disaster monitoring and protection of power equipment.

[0096] Those skilled in the art can realize that the units of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both, and in order to clearly illustrate the interchangeability of hardware and software, the components of each example have been described in the above description in general terms. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0097] In the embodiments provided by the present application, it should be understood that the division of units is only a logical functional division, and in actual implementation, there can be another division manner, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0098] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0099] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-0nly Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0100] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application.

Claims

1. An aerospace-terrestrial sensor-based power equipment census monitoring device, characterized by, include: A base plate (1); a fixed seat (2) is provided on the base plate (1); an opening (5) is opened on the fixed seat (2), and a rotating seat (6) is rotatably installed inside the opening (5); a portal frame is provided on the rotating seat (6); a rotatable rotating disk (14) is provided on the upper part of the two side columns of the portal frame; a support plate (27) is welded to one side of the rotating disk (14), and a limit groove (20) is opened on the other side; a monitoring element is fixedly installed on the support plate (27); a spring mechanism is provided between the rotating disk (14) and the column, so that when the limit groove (20) is unrestricted, the support plate (27) points to the center line of the portal frame; a monitoring component (23) is provided on the top of the portal frame; and the two side columns of the portal frame are located below... Each part is equipped with a movable tube (8), and a limit plate (10) is installed between the two movable tubes (8) through a rotating shaft; it also includes a lifting mechanism (24); the lifting mechanism (24) is connected to the outer side of the movable tube (8) to push the limit plate (10) to rise and fall; when the limit plate (10) is in the rising state, it cooperates with the limit groove (20) to limit the rotating disk (14), and when it is falling, the rotating disk (14) rotates to retract the monitoring element between the columns for protection, and at the same time, the monitoring component (23) monitors the surrounding environment and protects the column monitoring element by rotating the seat (6) at an angle; it also includes a control panel; the control panel is electrically connected to the rotating seat (6), the monitoring element, the monitoring component (23), and the lifting mechanism (24) respectively.

2. The space-earth-sensor based power equipment census monitoring device of claim 1, wherein, The column includes a fixed tube (7) and a support column (12); the support column (12) is movably installed on the top of the fixed tube (7); the rotating disk (14) is rotatably installed on the support column (12); a connecting seat (13) is welded on the support column (12); the connecting seat (13) is located below the rotating disk (14).

3. The space-based sensor-based electrical equipment census monitoring apparatus of claim 2, wherein, The support column (12) has an annular groove (28); the rotating disk (14) has an installation hole; a reset tube (29) is installed in the installation hole by a torsion spring (34), so that when the reset tube (29) rotates relative to the rotating disk (14), a return force is generated; a convex ring (30) is fixed on the inner wall of the reset tube (29); the convex ring (30) is installed inside the annular groove (28); the convex ring (30) is provided with a locking groove, and the annular groove (28) is provided with a locking boss at the position corresponding to the locking groove, so that the reset tube (29) and the support column (12) are relatively fixed after installation.

4. The space-based sensor-based electrical equipment census monitoring apparatus of claim 2, wherein, The bottom end of the support column (12) is provided with a connecting column (25); one end of the connecting column (25) is fixed with a limit ring (26); the inside of the fixing tube (7) is provided with an installation cavity and the top end is provided with a retaining ring; the connecting column (25) is movably installed inside the installation cavity.

5. The space-based sensor-based electrical power equipment census monitoring apparatus of claim 1, wherein, The monitoring elements include a humidity sensor (15), a temperature sensor (16), a wind speed sensor (17), and a level sensor (18).

6. The space-based sensor-based electrical power equipment census monitoring apparatus of claim 1, wherein, The free end of the limiting plate (10) is provided with an arc-shaped slot (11), and a cleaning scraper is fixed on the inner wall of the arc-shaped slot (11); the monitoring assembly (23) is arranged at the lower end of the top of the portal frame and cooperates with the arc-shaped slot (11) of the limiting plate (10) in the rising state to clean; the top of the portal frame is further provided with a power mechanism (22) to drive the monitoring assembly (23) to rotate.

7. The space-based sensor-based electric power equipment census monitoring apparatus of claim 1, wherein, The monitoring assembly (23) is a monitoring camera.

8. The space-based sensor-based electric power equipment census monitoring apparatus of claim 1, wherein, The lifting mechanism (24) is located in the interior of the fixed seat (2); the outer side of the movable pipe (8) is provided with a fixed plate (9); the bottom of the fixed plate (9) is provided with a positioning hole (31); the lifting end of the lifting mechanism (24) extends out of the fixed seat (2) and is movably installed in the interior of the positioning hole (31).

9. A safety control method for an aerospace sensor-based power equipment census monitoring device, characterized by, The application is applied to the monitoring device of the power equipment census based on the space sensor, and specifically comprises the following steps: S1: detecting whether the power equipment census monitoring device is in a use state, if not, entering step S2; S2: collecting images of the surrounding environment of the monitoring device by the monitoring assembly, and analyzing and determining whether there are dangerous articles that may collide with the monitoring device; if so, entering step S3; S3: analyzing the collision direction of the dangerous articles that may approach; S4: controlling the rotating seat to drive the portal frame to rotate, so that the planes of the two side columns of the portal frame are in the same plane as the collision direction to protect the monitoring elements therein. 10.The safety control method of the space-ground-sensor-based electric power equipment census monitoring apparatus according to claim 9, wherein, In step S3, the analysis of the collision direction of the dangerous articles that may approach comprises the following steps: S31: establishing a monitoring device coordinate system with the center of the rotating seat of the monitoring device as the coordinate origin O; S32: calculating the position coordinates of the dangerous articles in the monitoring device coordinate system by using the image data of the monitoring assembly and combining the camera calibration parameters; S33: calculating the collision direction vector according to the position coordinates. S34: Calculate the included angle between the collision direction vector of the dangerous article and the X axis , determine the collision direction; S35: Protection interval division, according to the calculated The protection interval to which the dangerous goods belongs is determined as the collision direction.

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