Visual alignment system and method of circuit breaker transfer trolley and circuit breaker transfer trolley
The visual alignment system of the circuit breaker transport vehicle uses image acquisition and neural network to identify the switchgear hole positions, and the position correction module achieves precise alignment between the calibration parts and the switchgear hole positions. This solves the problem of difficult docking between the circuit breaker transport vehicle and the switchgear, improves docking efficiency and accuracy, and reduces hardware costs and safety risks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHUHAI UNITECH POWER TECHNOLOGY CO LTD
- Filing Date
- 2025-12-17
- Publication Date
- 2026-05-08
AI Technical Summary
In the existing technology, the circuit breaker transfer vehicle faces difficulties in docking with the switch cabinet due to obstructed vision, high safety risks due to manual adjustment, and high cost and poor adaptability of existing hardware.
The vision alignment system of the circuit breaker transport vehicle identifies the switchgear hole positions through the image acquisition unit and the pre-trained neural network model. Combined with the vertical and horizontal movement mechanism of the position correction module, it achieves precise alignment between the calibration component and the switchgear hole positions.
It improves the efficiency and accuracy of docking between circuit breaker transport vehicles and switchgear, reduces the difficulty of manual operation, lowers hardware costs, and avoids safety risks.
Smart Images
Figure CN121999034A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of circuit breaker transfer vehicle control technology, and in particular to a visual alignment system, method and circuit breaker transfer vehicle for a circuit breaker transfer vehicle. Background Technology
[0002] Circuit breakers in substation switchgear are typically heavy and bulky, requiring the use of transport vehicles for loading and unloading during operation and maintenance. However, when circuit breakers are on the transport vehicle, they may obstruct the view of the transport vehicle operator, making it impossible to effectively connect the transport vehicle and the switchgear.
[0003] In related technologies, the original method involved another person observing the alignment of the docking holes between the transfer vehicle and the switch cabinet from the front side of the transfer vehicle. However, this method was not easy to adjust and move the transfer vehicle multiple times under load and posed a risk of personal safety accidents.
[0004] To enable single-person operation of the transfer cart, template matching algorithms are currently used to identify holes in the image data captured by the camera. For example, positioning pins are set on the pallet of the transfer cart, and cameras are installed in the positioning pins. After the camera captures the image, the corresponding posture adjustment information of the transfer cart is calculated. However, the hole positions of different switch cabinets are different, while the positions of the positioning pins on the pallet are fixed. Different positioning pins are customized according to the hole positions of different switch cabinets, which means that the same positioning pin cannot be adapted to different switch cabinets. Moreover, the camera is set in the positioning pin, and each customized positioning pin requires a camera, which increases the hardware cost. When hole recognition fails, it is difficult to adjust the posture of the transfer cart. Summary of the Invention
[0005] To address or partially address the problems existing in related technologies, this application provides a visual alignment system, method, and circuit breaker transport vehicle for improving the docking efficiency between the circuit breaker transport vehicle and the switchgear, and is applicable to different switchgear.
[0006] The first aspect of this application provides a visual alignment system for a circuit breaker transport vehicle, comprising: a position correction module and a support frame; the position correction module is mounted on the circuit breaker transport vehicle, one side of the position correction module is connected to the support frame, the support frame is provided with a circuit breaker placement platform, the side of the circuit breaker placement platform facing the switchgear is provided with a first calibration component and a second calibration component corresponding to the left and right holes of the switchgear respectively, and the support frame is provided with image acquisition units corresponding to the two calibration components respectively; the position correction module is used to drive the circuit breaker placement platform to move horizontally and / or vertically; the visual alignment system is configured to: acquire image data including the calibration component and its front image through the image acquisition unit; input the image data into a pre-trained neural network model for image processing to obtain the left and right hole position masks of the switchgear and the center point of the calibration component; and, based on the first coordinate offset value between the left and right hole position masks and the center point of the image data, and the center point of the calibration component and the center point of the image data... The second coordinate offset value and the preset target offset range are used to determine whether the first calibration component and the second calibration component are aligned with the switch cabinet hole position. The coordinate offset value includes a horizontal offset value and a vertical offset value. When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target offset range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration component to the pixel area of the calibration component is determined as the second target adjustment coefficient. The vertical movement step is determined based on the product of the first vertical offset value and the first target adjustment coefficient and the product of the second vertical offset value and the second target adjustment coefficient for the same hole position. The horizontal movement step is determined based on the product of the first horizontal offset value and the first target adjustment coefficient and the product of the second horizontal offset value and the second target adjustment coefficient for the same hole position, and the position correction module is driven to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole position.
[0007] Circuit breaker placement platform Circuit breaker placement platform Circuit breaker placement platform.
[0008] In conjunction with the first aspect, in one possible implementation of the first aspect, the position correction module includes a vertical lifting mechanism and a horizontal moving mechanism. The two sides of the vertical lifting mechanism are respectively connected to the left and right sides of the horizontal moving mechanism, and one side of the horizontal moving mechanism is connected to one side of the support frame. The vertical lifting mechanism controls the vertical movement of the first calibration component and the second calibration component, and the horizontal moving mechanism controls the horizontal movement of the first calibration component and the second calibration component.
[0009] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the vertical movement step size based on the product of a first vertical offset value and a first target adjustment coefficient, and the product of a second vertical offset value and a second target adjustment coefficient for the same hole position, and driving the position correction module to move according to the vertical movement step size, includes: determining the vertical movement step size based on the sum of the product of a first left-side vertical offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of a second left-side vertical offset value corresponding to the first calibration component and the second target adjustment coefficient; or, determining the vertical movement step size based on the sum of the product of a first right-side vertical offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of a second right-side vertical offset value corresponding to the second calibration component and the second target adjustment coefficient; controlling the vertical lifting mechanism to move in the vertical direction according to the vertical movement step size, so that the first calibration component and the left hole of the switch cabinet, and the second calibration component and the right hole of the switch cabinet, are aligned in the vertical direction.
[0010] In conjunction with the first aspect, in one possible implementation of the first aspect, determining the vertical movement step size based on the product of a first vertical offset value and a first target adjustment coefficient, and the product of a second vertical offset value and a second target adjustment coefficient for the same hole position, and driving the position correction module to move according to the vertical movement step size, includes: determining the horizontal movement step size based on the sum of the product of a first horizontal offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of a second horizontal offset value corresponding to the first calibration component and the second target adjustment coefficient; or, determining the horizontal movement step size based on the sum of the product of a first horizontal offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of a second horizontal offset value corresponding to the second calibration component and the second target adjustment coefficient; controlling the horizontal movement mechanism to move in the horizontal direction according to the horizontal movement step size, so that the first calibration component and the left hole of the switch cabinet, and the second calibration component and the right hole of the switch cabinet, cooperate in the horizontal direction.
[0011] In conjunction with the first aspect, one possible implementation of the first aspect further includes: an audible and visual indicator installed on the circuit breaker transport vehicle; the visual alignment system of the circuit breaker transport vehicle is configured to generate an audible and visual feedback signal through the audible and visual indicator when the image data is missing a hole, misaligned, being corrected, or aligned.
[0012] A second aspect of this application provides a visual alignment method for a circuit breaker transport vehicle, applied to the visual alignment system of the circuit breaker transport vehicle described above. The visual alignment method includes: acquiring image data, including images of a calibration component and its front side, through an image acquisition unit; inputting the image data into a pre-trained neural network model for image processing to obtain left and right hole masks for the switchgear holes and the center point of the calibration component; determining whether the first calibration component and the second calibration component are aligned with the switchgear holes based on a first coordinate offset value between the left and right hole masks and the center point of the image data, a second coordinate offset value between the center point of the calibration component and the center point of the image data, and a preset target offset interval; wherein the coordinate offset value includes a horizontal offset value and a vertical offset value. The system performs the following steps: When the sum of the first and second coordinate offset values in the same direction is not within the preset target deviation range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration component to the pixel area of the calibration component is determined as the second target adjustment coefficient. The vertical movement step size is determined based on the product of the first vertical offset value and the first target adjustment coefficient and the product of the second vertical offset value and the second target adjustment coefficient for the same hole position. The horizontal movement step size is determined based on the product of the first horizontal offset value and the first target adjustment coefficient and the product of the second horizontal offset value and the second target adjustment coefficient for the same hole position, and the position correction module is driven to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole. In conjunction with the second aspect, in one possible implementation of the second aspect, determining the vertical movement step size based on the product of a first vertical offset value and a first target adjustment coefficient, and the product of a second vertical offset value and a second target adjustment coefficient for the same hole position, includes: determining the vertical movement step size based on the sum of the product of a first left-side vertical offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of a second left-side vertical offset value corresponding to the first calibration component and the second target adjustment coefficient; or, determining the vertical movement step size based on the sum of the product of a first right-side vertical offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of a second right-side vertical offset value corresponding to the second calibration component and the second target adjustment coefficient; controlling the vertical lifting mechanism to move in the vertical direction according to the vertical movement step size, so that the first calibration component and the left hole of the switch cabinet, and the second calibration component and the right hole of the switch cabinet, are aligned in the vertical direction.
[0013] In conjunction with the second aspect, in one possible implementation of the second aspect, determining the horizontal movement step size based on the product of a first horizontal offset value and a first target adjustment coefficient, and the product of a second horizontal offset value and a second target adjustment coefficient for the same hole position, includes: determining the horizontal movement step size based on the sum of the product of the first horizontal offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the first calibration component and the second target adjustment coefficient; or, determining the horizontal movement step size based on the sum of the product of the first horizontal offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the second calibration component and the second target adjustment coefficient; controlling the horizontal movement mechanism to move horizontally according to the horizontal movement step size, so that the first calibration component and the left hole of the switch cabinet, and the second calibration component and the right hole of the switch cabinet, cooperate horizontally.
[0014] In conjunction with the second aspect, in one possible implementation of the second aspect, when the image data is without holes, misaligned, being corrected, or aligned, an audio-visual feedback signal is generated by an audio-visual prompter.
[0015] A third aspect of this application provides a circuit breaker transport vehicle, the circuit breaker transport vehicle comprising: a memory and at least one processor, the memory storing instructions; the at least one processor calling the instructions in the memory to cause the circuit breaker transport vehicle to perform the visual alignment method of the circuit breaker transport vehicle as described above.
[0016] The technical solution provided in this application may include the following beneficial effects: This application discloses a visual alignment system, method, and circuit breaker transport vehicle, comprising: a position correction module and a support frame; the position correction module is mounted on the circuit breaker transport vehicle, with one side of the position correction module connected to the support frame, and a circuit breaker placement platform is mounted on the support frame. A first calibration component and a second calibration component, corresponding to the left and right holes of the switchgear, are respectively mounted on the side of the circuit breaker placement platform facing the switchgear. An image acquisition unit, corresponding to the two calibration components, is mounted on the support frame; the position correction module is used to drive the circuit breaker placement platform to move horizontally and / or vertically; the visual alignment system is configured to: acquire image data including the calibration components and their front images through the image acquisition units; input the image data into a pre-trained neural network model for image processing to obtain the left and right hole position masks of the switchgear and the center point of the calibration components; and, based on the first coordinate offset value between the left and right hole position masks and the center point of the image data, and the center point of the calibration components and the center point of the image data... The second coordinate offset value between the points and the preset target offset range are used to determine whether the first calibration component and the second calibration component are aligned with the switch cabinet hole position. The coordinate offset value includes a horizontal offset value and a vertical offset value. When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target deviation range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration component to the pixel area of the calibration component is determined as the second target adjustment coefficient. The vertical movement step size is determined based on the product of the first vertical offset value and the first target adjustment coefficient, and the product of the second vertical offset value and the second target adjustment coefficient for the same hole position. The horizontal movement step size is determined based on the product of the first horizontal offset value and the first target adjustment coefficient, and the position correction module is driven to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole position. In this method, by calculating the first coordinate offset value between the center point of the left and right hole position masks and the center point of the corresponding image data, and the second coordinate offset value between the center point of the calibration component and the center point of the corresponding image data, the moving step size of the position correction module in the vertical and horizontal directions is determined, thereby realizing the hole alignment of the calibration component and the switch cabinet, improving the hole docking efficiency and accuracy between the circuit breaker transfer vehicle and the switch cabinet, and reducing the difficulty of manual operation.
[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0018] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.
[0019] Figure 1This is a schematic diagram illustrating the alignment scenario of the circuit breaker transport vehicle and the switchgear in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the circuit breaker transfer vehicle shown in the embodiments of this application; Figure 3 This is a schematic diagram of the circuit breaker placement platform shown in an embodiment of this application; Figure 4 This is another structural schematic diagram of the circuit breaker placement platform shown in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the circuit breaker transfer vehicle shown in the embodiments of this application; Figure 6 This is a flowchart illustrating the visual alignment method of a circuit breaker transport vehicle according to an embodiment of this application; Figure 7 This is a schematic diagram of the image data corresponding to the calibration component shown in the embodiments of this application; Figure 8 This is a schematic diagram of the structure of the memory and processor in the circuit breaker transport vehicle shown in an embodiment of this application.
[0020] Reference numerals: 1. Circuit breaker transfer vehicle; 2. Switchgear; 3. Position correction module; 301. Vertical lifting mechanism; 302. Horizontal moving mechanism; 303. Horizontal angle adjustment mechanism; 4. Support frame; 401. Image acquisition unit; 5. Circuit breaker placement platform; 501. First calibration component; 502. Second calibration component. Detailed Implementation
[0021] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.
[0022] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0023] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0024] In related technologies, the operation and maintenance of circuit breakers in substation switchgear requires the use of transport vehicles. Due to the large size and weight of the circuit breakers, they can easily obstruct the operator's view during operation, making it difficult to accurately align the transport vehicle with the switchgear's mounting holes. Traditional solutions rely on manual observation or use laser ranging combined with template matching algorithms, which presents safety hazards and insufficient recognition accuracy. Laser point cloud equipment is costly, template matching is easily affected by environmental interference, and automatic adjustment is not possible, resulting in low operational efficiency.
[0025] To address the aforementioned issues, this application provides a visual alignment system, method, and circuit breaker transport vehicle. Based on the overall structure of the circuit breaker transport vehicle and a collaborative solution of visual algorithms, it enables full automation of the entire process from image acquisition to motion correction, thereby improving the docking efficiency between the circuit breaker transport vehicle and the switchgear.
[0026] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.
[0027] See Figures 1-5A visual alignment system for a circuit breaker transport vehicle 1 includes: a position correction module 3 and a support frame 4; the position correction module 3 is mounted on the circuit breaker transport vehicle 1, and the support frame 4 is connected to one side of the position correction module 3. A circuit breaker placement platform 5 is mounted on the support frame 4. A first calibration component 501 and a second calibration component 502 corresponding to the left and right holes of the user's switch cabinet are respectively mounted on the side of the circuit breaker placement platform 5 facing the switch cabinet 2. An image acquisition unit 401 corresponding to the two calibration components is mounted on the support frame 4; the position correction module 3 is used to drive the circuit breaker placement platform 5 to move horizontally and / or vertically; the visual alignment system of the circuit breaker transport vehicle 1 is configured to: acquire image data including the calibration components and their front images through the image acquisition unit 401; input the image data into a pre-trained neural network model for image processing to obtain the left and right hole position masks corresponding to the switch cabinet 2 holes and the center point of the calibration component; and, based on the first coordinate offset value between the left and right hole position masks and the center point of the corresponding image data, and the center point of the calibration component and the corresponding image data... The second coordinate offset value between the center points and the preset target offset range are used to determine whether the first calibration component 501 and the second calibration component 502 are aligned with the hole positions of the switch cabinet 2. The coordinate offset value includes a horizontal offset value and a vertical offset value. When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target offset range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration component to the pixel area of the calibration component is determined as the second target adjustment coefficient. The vertical movement step is determined based on the product of the first vertical offset value and the first target adjustment coefficient and the product of the second vertical offset value and the second target adjustment coefficient for the same hole position. The horizontal movement step is determined based on the product of the first horizontal offset value and the first target adjustment coefficient and the product of the second horizontal offset value and the second target adjustment coefficient for the same hole position. The position correction module 3 is driven to move according to the vertical movement step and the horizontal movement step to align the center point of the calibration component with the center point of the hole position of the switch cabinet 2.
[0028] Specifically, the position correction module 3 is installed on the circuit breaker transfer cart 1. During the process of aligning the calibration component with the left and right holes of the switchgear 2, the position correction module 3 can drive the circuit breaker placement platform 5 to move horizontally and / or vertically according to the corresponding movement step size, so that the calibration component is aligned with the holes of the switchgear 2. The first calibration component 501 and the second calibration component 502 can be fixedly set on the side of the support frame 4 facing the switchgear 2. The side of the calibration component facing the switchgear 2 can be set into a rectangular shape, and a visible rectangular area can be set on the rectangular shape. For example, the rectangular area has a certain color, and a center point is set on the rectangular area. The calibration component can be made of transparent material. When the image acquisition device acquires data, the corresponding image data can display the rectangular area and the center point on the rectangular area.
[0029] Specifically, the image acquisition module refers to a device used to capture images of the hole location. It can be a monocular visible light camera or other macro high-definition cameras; this embodiment is not limited to any particular type. The left and right camera images can be synchronized or sequentially assessed for alignment. The image acquisition device is fixedly installed on the side of the support frame 4 facing the switch cabinet 2, i.e., directly behind the calibration component. During installation, the center point of the image acquired by the image acquisition device should be aligned with the center point of the calibration component as much as possible. When acquiring images, the image acquisition device can simultaneously capture images of the calibration component and the area in front of it, ensuring that the field of view of the image acquisition device is directly facing the target hole location. Furthermore, a distance measurement sensor is also provided on the side of the support frame 4 facing the switch cabinet 2. This distance measurement sensor can be located on the side of the image acquisition device and can be used to assist in locating the distance between the image acquisition device and the switch cabinet 2.
[0030] Specifically, the image acquisition module can determine the alignment between the center of the calibration component and the center of the hole. Based on the first coordinate offset value between the center point of the hole mask and the center point of the image data, and the second coordinate offset value between the center point of the calibration component and the corresponding center point of the image data, it is determined whether the center point of the calibration component is aligned with the two holes in the switch cabinet. This includes determining the coordinates of the center points of the left and right hole masks respectively, performing a difference calculation between the coordinates of each mask center point and the coordinates of the corresponding center point of the image data to obtain the first coordinate offset value, and performing a difference calculation between the coordinates of the center point of each calibration component and the coordinates of the corresponding center point of the image data to obtain the second coordinate offset value; if The sum of the first coordinate offset value and the second coordinate offset value in the same direction is located within the preset target offset range. For example, the sum of the first coordinate offset value and the second coordinate offset value in the vertical direction is not located within the preset target offset range. The preset target offset range can be used to reflect the offset value between the center point of the calibration board and the center point of the mask. For example, the preset target offset range is [0, 5]. When the sum of the first coordinate offset value and the second coordinate offset value is within this range, it is considered that the distance between the center point of the calibration component and the center point of the corresponding hole in the switch cabinet 2 meets the preset requirements, and it can be considered that each pair of calibration components is aligned with the corresponding hole. Otherwise, it is determined that they are not aligned.
[0031] Specifically, when the calibration component approaches the corresponding hole in switchgear 2, the image acquisition unit 401 acquires image data of the calibration component and the corresponding hole area in real time. The neural network model processes the left and right images separately to generate corresponding hole masks and the center point of the calibration component. The coordinates of the mask center point are obtained by calculating the geometric center of the mask area and performing coordinate difference calculation with the corresponding image center point to obtain the first coordinate offset value corresponding to the left and right holes respectively. The coordinate difference calculation is then performed between the center point of the calibration component and the corresponding image center point to obtain the second coordinate offset value corresponding to the first calibration component 501 and the second calibration component 502 respectively. If the sum of the first coordinate offset value and the second coordinate offset value in the same direction is within the target offset interval, the calibration component is determined to be aligned with the hole; if the sum of the first coordinate offset value and the second coordinate offset value in any same direction is not within the target offset interval, the displacement adjustment mechanism is triggered. This scheme, through physically separated dual detection points and dual threshold judgment logic, forces the left and right holes to simultaneously meet the alignment conditions, avoiding misjudgment of skew that may be caused by single-view detection.
[0032] Traditional solutions use a monocular camera for overall hole position recognition, which cannot distinguish the independent offsets of left and right holes. Furthermore, when relying on binocular cameras for depth calculation, the close shooting distance results in a lack of overlapping fields of view, rendering the solution ineffective. This new solution uses a dual-calibration structure to acquire independent image data for the left and right holes separately. Combined with monocular vision analysis, it achieves accurate offset calculation without relying on complex 3D reconstruction or binocular vision hardware. This avoids the failure problem of traditional binocular vision in close-range scenes. Accurate offset calculation can be achieved with only a monocular camera, reducing hardware costs while improving detection accuracy.
[0033] In one possible implementation, the position correction module 3 includes a vertical lifting mechanism 301 and a horizontal moving mechanism 302. The two sides of the vertical lifting mechanism 301 are respectively connected to the left and right sides of the horizontal moving mechanism 302. One side of the horizontal moving mechanism 302 is connected to one side of the support frame 4. The vertical lifting mechanism 301 controls the vertical movement of the first calibration component 501 and the second calibration component 502, and the horizontal moving mechanism 302 controls the horizontal movement of the first calibration component 501 and the second calibration component 502.
[0034] Specifically, the vertical lifting mechanism 301 can be driven by a motor. After calculating the vertical movement step length, the stepper motor of the vertical lifting mechanism 301 drives the first calibration component 501 and the second calibration component 502 to rise to the target height.
[0035] In one possible implementation, the vertical movement step size is determined based on the product of a first vertical offset value and a first target adjustment coefficient for the same hole position, and the product of a second vertical offset value and a second target adjustment coefficient. The position correction module 3 is then driven to move according to the vertical movement step size. This includes: determining the vertical movement step size based on the sum of the product of a first left-side vertical offset value corresponding to the left hole mask and the first target adjustment coefficient, and the sum of the product of a second left-side vertical offset value corresponding to the first calibration member 501 and the second target adjustment coefficient; or, determining the vertical movement step size based on the sum of the product of a first right-side vertical offset value corresponding to the right hole mask and the first target adjustment coefficient, and the sum of the product of a second right-side vertical offset value corresponding to the second calibration member 502 and the second target adjustment coefficient. The vertical lifting mechanism 301 is controlled to move vertically according to the vertical movement step size, so that the first calibration member 501 mates with the left hole of the switch cabinet 2, and the second calibration member 502 mates with the right hole of the switch cabinet 2 in the vertical direction.
[0036] It should be understood that due to reasons such as ground inclination or unevenness, the support frame may tilt. The position correction module also includes a horizontal angle adjustment mechanism 303. The horizontal angle adjustment mechanism 303 can adjust the angle of the support frame to keep it horizontal, so that the circuit breaker placement platform will remain horizontal when it is subsequently placed on the support frame.
[0037] In one possible implementation, the horizontal movement step size is determined based on the product of a first horizontal offset value and a first target adjustment coefficient for the same hole position, and the product of a second horizontal offset value and a second target adjustment coefficient. The position correction module 3 is then driven to move according to the horizontal movement step size. This includes: determining the horizontal movement step size based on the sum of the product of the first horizontal offset value and the first target adjustment coefficient corresponding to the left hole mask and the product of the second horizontal offset value and the second target adjustment coefficient corresponding to the first calibration member 501; or, determining the horizontal movement step size based on the sum of the product of the first horizontal offset value and the first target adjustment coefficient corresponding to the right hole mask and the product of the second horizontal offset value and the second target adjustment coefficient corresponding to the second calibration member 502; and controlling the horizontal movement mechanism 302 to move horizontally according to the horizontal movement step size, so that the first calibration member 501 mates with the left hole of the switch cabinet 2, and the second calibration member 502 mates with the right hole of the switch cabinet 2 in the horizontal direction.
[0038] Specifically, the aforementioned first and second target adjustment coefficients refer to the proportional parameters that convert image pixel distance into actual physical distance. The first target adjustment coefficient can be calculated by the ratio of the actual hole diameter to the mask pixel diameter, and the second target adjustment coefficient can be calculated by the ratio of the actual calibration component area to the calibration component pixel area. This converts the pixel-level deviation of visual inspection into a precise movement step size value. The first vertical offset value refers to the coordinate difference between the center point of the hole mask and the center point of the image in the vertical direction, and the first horizontal offset value refers to the coordinate difference between the center point of the hole mask and the center point of the image in the horizontal direction. The second vertical offset value is the coordinate difference between the center point of the calibration plate and the center point of the image in the vertical direction, and the second horizontal offset value is the coordinate difference between the center point of the calibration plate and the center point of the image in the horizontal direction. These can be calculated using the pixel coordinate difference in the image coordinate system, thus reflecting the degree of offset between the calibration plate and the hole in the vertical or horizontal direction.
[0039] In one possible implementation, it further includes: an audible and visual indicator installed on the circuit breaker transport vehicle 1; the visual alignment system of the circuit breaker transport vehicle 1 is configured to generate an audible and visual feedback signal through the audible and visual indicator when the image data is missing, misaligned, being corrected, or aligned.
[0040] Specifically, an audio-visual prompter is a feedback device that combines sound and light signals. It can be implemented by combining multi-color LED lights with a buzzer module. For example, different colored lights can be used to distinguish the system status, and intermittent or continuous buzzing can be used to convey information about the operation stage. Its installation position is fixed on the base of the transport vehicle, so that the operator can directly perceive the feedback information.
[0041] In this embodiment, by calculating the first coordinate offset value between the center point of the left and right hole masks and the center point of the corresponding image data, and the second coordinate offset value between the center point of the calibration component and the center point of the corresponding image data, the moving step size of the position correction module in the vertical and horizontal directions is determined, thereby realizing the hole alignment of the calibration component and the switch cabinet, improving the hole docking efficiency and accuracy between the circuit breaker transfer vehicle and the switch cabinet, and reducing the difficulty of manual operation.
[0042] Please refer to Figure 6 , Figure 7 This application also proposes an embodiment of a visual alignment method for a circuit breaker transport vehicle, applied to the above-mentioned system, specifically including: S601: Image data, including the calibration component and its front side image, is acquired through the image acquisition unit.
[0043] Specifically, image data from the left and right image acquisition units are collected to obtain image data corresponding to the image of the calibration component and the image of the front side of the calibration component.
[0044] S602: Input the image data into the pre-trained neural network model for image processing to obtain the left and right hole masks of the switch cabinet and the center point of the calibration component.
[0045] Specifically, the neural network model can adopt network structures such as the YOLOv8 instance segmentation model, and this embodiment does not limit its specific network structure.
[0046] For example, the YOLOv8 instance segmentation model is used to identify the hole position and the center of the calibration component in the current screen, and the hole position mask and the center point of the calibration component are obtained. If the identification fails, an audio-visual prompt signal is generated to remind the manual operation of the mobile circuit breaker transfer vehicle to approach the hole position so that the hole position is visible in the screen; if the identification is successful, step 603 is executed.
[0047] S603: Based on the first coordinate offset value between the left and right hole position masks and the center point of the image data, the second coordinate offset value between the center point of the calibration component and the center point of the image data, and the preset target offset range, determine whether the first calibration component and the second calibration component are aligned with the switch cabinet hole positions; wherein, the coordinate offset value includes horizontal offset value and vertical offset value.
[0048] Specifically, the coordinates of the center points of the masks corresponding to the left and right hole positions are determined respectively, and the coordinate difference calculation is performed between the coordinates of each mask center point and the corresponding image center point to obtain the first coordinate offset value. The coordinate difference calculation is also performed between the center point of the calibration component and the corresponding image center point to obtain the second coordinate offset value corresponding to the first calibration component and the second calibration component respectively. If the sum of the first coordinate offset value and the second coordinate offset value in the same direction is within the preset target offset range, then it is determined that each calibration component is aligned with the corresponding hole position; otherwise, it is determined that they are not aligned.
[0049] Specifically, the preset target offset range is used to indicate the error range of whether the calibration part and the hole are aligned. The preset pixel value can be used as the judgment benchmark, and the deviation of human subjective judgment can be eliminated by quantification standard. The target offset range includes the horizontal offset range and the vertical offset threshold, which are used to evaluate whether the calibration part and the hole are aligned horizontally and vertically, respectively.
[0050] In some examples, the image data acquired by the left and right image acquisition units can be synchronized or sequentially checked for alignment. For example, the alignment of the left hole can be checked first, followed by the alignment of the right hole. Specifically, the current screen resolution is width = W2. / Height = H2 / The width of the calibration element in the image = W / Height = H / If the coordinates of the top left corner of the image are (0, 0), then the center point of the image is P2. / Coordinates are = Calculate the center point of the aperture mask. Coordinates are Center point of calibration plate Coordinates are = Calculate the first coordinate offset between the center point of the hole mask and the center point of the image, and the second coordinate offset between the center point of the calibration component and the center point of the image. The value is considered to be within the target deviation range when the sum of the first and second coordinate offsets in both the horizontal and vertical directions is within the target deviation range. Located in the horizontal offset range, i.e. The value is located within the horizontal offset range, and the sum of the first vertical offset value corresponding to the hole mask and the second vertical offset value corresponding to the calibration part is... Located in the vertical offset range, i.e. The value is within the vertical offset range, and alignment can be indicated by sound and light prompts. The device can then be manually pushed into the transfer cart to complete the docking with the switch cabinet.
[0051] S604: When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target deviation range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration part to the pixel area of the calibration part is determined as the second target adjustment coefficient.
[0052] Specifically, the actual diameter d1 of the alignment hole and the pixel diameter d1 of the hole position mask in the image can be obtained. / And the pixel diameter d1 of the aperture mask in the image / Dividing by the actual diameter d1 of the alignment hole yields the first target adjustment coefficient k1; the actual calibration part area d2 and the pixel area d2 of the calibration part in the image can then be obtained. / And the pixel area d2 of the calibration element in the image. / Divide by the actual calibration area d2 to obtain the second target adjustment coefficient k0.
[0053] S505: Determine the vertical movement step size based on the product of the first vertical offset value and the first target adjustment coefficient for the same hole position, and the product of the second vertical offset value and the second target adjustment coefficient.
[0054] S606: Determine the horizontal movement step size based on the product of the first horizontal offset value and the first target adjustment coefficient for the same hole position, and the product of the second horizontal offset value and the second target adjustment coefficient, and drive the position correction module to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole position.
[0055] In one possible implementation, a vertical movement step size is determined based on the product of a first vertical offset value and a first target adjustment coefficient, and the product of a second vertical offset value and a second target adjustment coefficient for the same hole position. The position correction module is then driven to move according to the vertical movement step size. This includes: determining the vertical movement step size based on the sum of the product of a first left-side vertical offset value corresponding to the left hole mask and the product of a second left-side vertical offset value corresponding to the first calibration component and the product of a second target adjustment coefficient; or, determining the vertical movement step size based on the sum of the product of a first right-side vertical offset value corresponding to the right hole mask and the product of a first target adjustment coefficient, and the product of a second right-side vertical offset value corresponding to the second calibration component and the product of a second target adjustment coefficient; and controlling the vertical lifting mechanism to move vertically according to the vertical movement step size, so that the first calibration component mates with the left hole of the switch cabinet, and the second calibration component mates with the right hole of the switch cabinet in the vertical direction.
[0056] Specifically, the first vertical offset value can be The second vertical offset value can be Then the target vertical offset value = The vertical movement step of the vertical lifting mechanism can be determined based on the target vertical offset value.
[0057] In one possible implementation, the horizontal movement step size is determined based on the product of a first horizontal offset value and a first target adjustment coefficient for the same hole position, and the product of a second horizontal offset value and a second target adjustment coefficient. The position correction module is then driven to move according to the horizontal movement step size. This includes: determining the horizontal movement step size based on the sum of the product of the first horizontal offset value and the first target adjustment coefficient corresponding to the left hole mask and the product of the second horizontal offset value and the second target adjustment coefficient corresponding to the first calibration component; or, determining the horizontal movement step size based on the sum of the product of the first horizontal offset value and the first target adjustment coefficient corresponding to the right hole mask and the product of the second horizontal offset value and the second target adjustment coefficient corresponding to the second calibration component; and controlling the horizontal movement mechanism to move horizontally according to the horizontal movement step size, so that the first calibration component mates with the left hole of the switch cabinet, and the second calibration component mates with the right hole of the switch cabinet in the horizontal direction.
[0058] Specifically, the first horizontal offset value can be The second horizontal offset value can be Then the target horizontal offset value The horizontal movement step size of the horizontal moving mechanism can be determined based on the target horizontal offset value.
[0059] In one possible implementation, an audio-visual feedback signal is generated via an audio-visual prompt when the image data is missing holes, misaligned, being corrected, or aligned.
[0060] In some instances, if the alignment condition for any hole position is not met, an audio-visual prompt will be issued indicating that the current hole position is not aligned and that automatic correction is in progress, while the target movement step size will be calculated.
[0061] In some examples, when completing the position calibration, the above steps 601-606 are repeated until each calibration component is aligned with the corresponding switch cabinet hole, and an audible and visual indicator is used to indicate that the alignment has been completed.
[0062] In this embodiment, the image acquisition unit of the visual alignment method of the circuit breaker transfer vehicle acquires image data and obtains the left and right hole masks and the center point of the calibration plate corresponding to the switch cabinet hole positions according to the pre-trained neural network model. Then, by calculating the first coordinate offset value between the left and right hole mask and the center point of the corresponding image data and the second coordinate offset value between the center point of the calibration component and the center point of the corresponding image data, the movement step size of the position correction module in the vertical and horizontal directions is determined, thereby realizing the alignment of the calibration component and the switch cabinet hole positions, improving the hole position docking efficiency and accuracy between the circuit breaker transfer vehicle and the switch cabinet, and reducing the difficulty of manual operation.
[0063] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.
[0064] This application also provides a circuit breaker transfer vehicle. Figure 8 This is a schematic diagram of the hardware structure of an embodiment of the circuit breaker transport vehicle of this application. The circuit breaker transport vehicle includes a memory 810 and at least one processor 820. The memory 810 is electrically connected to the at least one processor 820. The memory 810 stores instructions. The at least one processor 820 calls the instructions in the memory 810 to cause the electronic device to execute the visual alignment method of the circuit breaker transport vehicle according to any of the foregoing embodiments of this application.
[0065] Specifically, the processor 820 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0066] Memory 810 may include a large-capacity memory 810 for data or instructions. For example, and not limitingly, memory 810 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 810 may include removable or non-removable (or fixed) media. Where appropriate, memory 810 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 810 is a non-volatile solid-state memory. In a particular embodiment, memory 810 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.
[0067] In one example, the control device may also include a communication interface 830 and a bus 840. The processor 820, memory 810, and communication interface 830 are connected via the bus 840 and communicate with each other.
[0068] The communication interface 830 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.
[0069] Bus 840 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 840 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.
[0070] Furthermore, in conjunction with the visual alignment method for the circuit breaker transfer vehicle in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores instructions that, when executed by a processor, implement any of the visual alignment methods for the circuit breaker transfer vehicle in the above embodiments.
[0071] This application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.
[0072] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.
[0073] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.
[0074] Alternatively, this application also provides a computer program product capable of implementing some or all of the steps of the methods in the above embodiments. The computer program product includes a computer program / instruction that, when executed by a processor, implements some or all of the steps of the methods in the above embodiments.
[0075] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A vision alignment system for a circuit breaker transport vehicle, characterized in that, include: Position correction module and support frame; The position correction module is mounted on the circuit breaker transfer vehicle, and one side of the position correction module is connected to the support frame. The support frame is equipped with a circuit breaker placement platform. The side of the circuit breaker placement platform facing the switch cabinet is equipped with a first calibration component and a second calibration component corresponding to the left and right holes of the switch cabinet, respectively. The support frame is equipped with image acquisition units corresponding to the two calibration components, respectively; The position correction module is used to drive the circuit breaker placement platform to move horizontally and / or vertically. The visual alignment system is configured as follows: Image data, including the calibration component and its front side image, is acquired by the image acquisition unit; the image data is input into a pre-trained neural network model for image processing to obtain the left and right hole masks of the switch cabinet and the center point of the calibration component; Based on the first coordinate offset value between the left and right hole position masks and the center point of the image data, the second coordinate offset value between the center point of the calibration component and the center point of the image data, and the preset target offset range, it is determined whether the first calibration component and the second calibration component are aligned with the switch cabinet hole positions; wherein, the coordinate offset value includes horizontal offset value and vertical offset value; When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target deviation range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration part to the pixel area of the calibration part is determined as the second target adjustment coefficient. The vertical movement step size is determined based on the product of the first vertical offset value and the first target adjustment coefficient for the same hole position, and the product of the second vertical offset value and the second target adjustment coefficient. The horizontal movement step size is determined based on the product of the first horizontal offset value and the first target adjustment coefficient for the same hole position, and the position correction module is driven to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole position.
2. The visual alignment system according to claim 1, characterized in that, The position correction module includes a vertical lifting mechanism and a horizontal moving mechanism. The two sides of the vertical lifting mechanism are respectively connected to the left and right sides of the horizontal moving mechanism. One side of the horizontal moving mechanism is connected to one side of the support frame. The vertical lifting mechanism controls the vertical movement of the first calibration component and the second calibration component, and the horizontal moving mechanism controls the horizontal movement of the first calibration component and the second calibration component.
3. The visual alignment system according to claim 2, characterized in that, The step of determining the vertical movement step size based on the product of a first vertical offset value and a first target adjustment coefficient for the same hole position, and the product of a second vertical offset value and a second target adjustment coefficient, and driving the position correction module to move according to the vertical movement step size, includes: The vertical movement step size is determined by the sum of the product of the first left-side vertical offset value corresponding to the left hole mask and the first target adjustment coefficient, and the sum of the product of the second left-side vertical offset value corresponding to the first calibration component and the second target adjustment coefficient; or, The vertical movement step size is determined by the sum of the product of the first right-side vertical offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of the second right-side vertical offset value corresponding to the second calibration component and the second target adjustment coefficient. The vertical lifting mechanism is controlled to move vertically according to the vertical movement step size, so that the first calibration component and the left hole of the switch cabinet and the second calibration component and the right hole of the switch cabinet are matched in the vertical direction.
4. The visual alignment system according to claim 2, characterized in that, The step of determining the horizontal movement step size based on the product of a first horizontal offset value and a first target adjustment coefficient for the same hole position, and the product of a second horizontal offset value and a second target adjustment coefficient, and driving the position correction module to move according to the horizontal movement step size, includes: The horizontal movement step size is determined by the sum of the product of the first horizontal offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the first calibration component and the second target adjustment coefficient; or, The horizontal movement step size is determined by the sum of the product of the first horizontal offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the second calibration component and the second target adjustment coefficient. The horizontal movement mechanism is controlled to move horizontally according to the horizontal movement step size, so that the first calibration member mates with the left hole of the switch cabinet and the second calibration member mates with the right hole of the switch cabinet in the horizontal direction.
5. The visual alignment system according to claim 1, characterized in that, Also includes: An audible and visual alert device installed on the circuit breaker transport vehicle; The vision alignment system of the circuit breaker transfer vehicle is configured as follows: When the image data is missing holes, misaligned, being corrected, or aligned, an audio-visual feedback signal is generated by the audio-visual prompter.
6. A visual alignment method for a circuit breaker transport vehicle, characterized in that, A visual alignment system for a circuit breaker transport vehicle according to any one of claims 1-5, wherein the visual alignment method for the circuit breaker transport vehicle includes: Image data, including images of the calibration component and its front side, is acquired through the image acquisition unit. Image data is input into a pre-trained neural network model for image processing to obtain the left and right hole masks of the switch cabinet and the center point of the calibration component. Based on the first coordinate offset value between the left and right hole position masks and the center point of the image data, the second coordinate offset value between the center point of the calibration component and the center point of the image data, and the preset target offset range, it is determined whether the first calibration component and the second calibration component are aligned with the switch cabinet hole positions; wherein, the coordinate offset value includes horizontal offset value and vertical offset value; When the sum of the first coordinate offset value and the second coordinate offset value in the same direction is not within the preset target deviation range, the ratio of the actual hole diameter to the pixel diameter of the hole mask is determined as the first target adjustment coefficient, and the ratio of the actual area of the calibration part to the pixel area of the calibration part is determined as the second target adjustment coefficient. The vertical movement step size is determined based on the product of the first vertical offset value and the first target adjustment coefficient for the same hole position, and the product of the second vertical offset value and the second target adjustment coefficient. The horizontal movement step size is determined by the product of the first horizontal offset value and the first target adjustment coefficient for the same hole position and the product of the second horizontal offset value and the second target adjustment coefficient, and the position correction module is driven to move so that the center point of the calibration component is aligned with the center point of the switch cabinet hole position.
7. The method according to claim 6, characterized in that, The step of determining the vertical movement step size based on the product of a first vertical offset value and a first target adjustment coefficient for the same hole position, and the product of a second vertical offset value and a second target adjustment coefficient, and driving the position correction module to move according to the vertical movement step size, includes: The vertical movement step size is determined by the sum of the product of the first left-side vertical offset value corresponding to the left hole mask and the first target adjustment coefficient, and the sum of the product of the second left-side vertical offset value corresponding to the first calibration component and the second target adjustment coefficient; or, The vertical movement step size is determined by the sum of the product of the first right-side vertical offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of the second right-side vertical offset value corresponding to the second calibration component and the second target adjustment coefficient. The vertical lifting mechanism is controlled to move vertically according to the vertical movement step size, so that the first calibration component and the left hole of the switch cabinet and the second calibration component and the right hole of the switch cabinet are matched in the vertical direction.
8. The method according to claim 6, characterized in that, The step of determining the horizontal movement step size based on the product of a first horizontal offset value and a first target adjustment coefficient for the same hole position, and the product of a second horizontal offset value and a second target adjustment coefficient, and driving the position correction module to move according to the horizontal movement step size, includes: The horizontal movement step size is determined by the sum of the product of the first horizontal offset value corresponding to the left hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the first calibration component and the second target adjustment coefficient; or, The horizontal movement step size is determined by the sum of the product of the first horizontal offset value corresponding to the right hole mask and the first target adjustment coefficient, and the product of the second horizontal offset value corresponding to the second calibration component and the second target adjustment coefficient. The horizontal movement mechanism is controlled to move horizontally according to the horizontal movement step size, so that the first calibration member mates with the left hole of the switch cabinet and the second calibration member mates with the right hole of the switch cabinet in the horizontal direction.
9. The method according to claim 6, characterized in that, When the image data is missing holes, misaligned, being corrected, or aligned, an audio-visual feedback signal is generated via an audio-visual prompt.
10. A circuit breaker transfer vehicle, characterized in that, The circuit breaker transfer vehicle includes: a memory and at least one processor, wherein the memory stores instructions; The at least one processor invokes the instructions in the memory to cause the circuit breaker transport vehicle to perform the visual alignment method for the circuit breaker transport vehicle as described in any one of claims 6-9.