Laser radar holder device for power system

Abstract

The utility model provides a laser radar pan-tilt device for an electric power system, which comprises a base, a pan-tilt cabin, a laser radar range finder, a camera cabin, a vertical pan-tilt motor, a horizontal pan-tilt motor and an algorithm host, the cradle head cabin is installed on a rotating shaft of the vertical cradle head motor, the horizontal cradle head motor is installed in the cradle head cabin, a rotating shaft of the horizontal cradle head motor protrudes out of the cradle head cabin, the laser radar range finder and the camera cabin are installed on the rotating shaft of the horizontal cradle head motor respectively, and a camera core and a photoresistor are installed in the camera cabin. The camera cabin is provided with a circular hole, the algorithm host is used for comprehensively calculating a high-definition image of the camera and a point cloud image of the laser radar, and invasion of personnel, vehicles or foreign matters at the periphery of the transformer substation can be more accurately found by combining the excellent detection capability and environmental adaptability of the laser radar with the high-definition camera.

Description

Technical Field

[0001] This utility model belongs to the field of power system security and prevention, and relates to a substation security monitoring device, specifically a lidar pan-tilt device for power systems. Background Technology

[0002] Substations are key hubs for power transmission lines and critical primary protection sites. Any accident occurring in a substation can impact the entire power grid, making the use of high-tech methods to strengthen security a top priority. Security measures for the substation's perimeter walls and gate areas are crucial for preventing external damage. In today's rapidly evolving technological landscape, "digitalization, networking, modularization, and intelligence" are the new requirements for substation perimeter security systems. To more accurately and quickly detect intrusions by personnel, vehicles, or other foreign objects into the substation's perimeter and gate areas, enabling timely response and mitigation, and reducing or even preventing damage to substation equipment, a lidar pan-tilt-zoom (PTZ) device has been introduced. This device uses radar combined with high-definition image analysis to detect and analyze intruding objects, providing timely alerts. Utility Model Content

[0003] The purpose of this invention is to address the problems of low detection efficiency, inability to locate foreign objects, and high false alarm and false alarm rates of ordinary cameras in actual use due to the limitations of current system hardware capabilities. This invention proposes a lidar pan-tilt device for power systems, which utilizes the excellent detection capabilities and environmental adaptability of lidar in combination with a high-definition camera to more accurately detect personnel, vehicles, or foreign object intrusions at the perimeter of substations.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] A lidar gimbal device for a power system, characterized in that it comprises a base, a gimbal housing, a lidar rangefinder, a camera housing, a vertical gimbal motor, a horizontal gimbal motor, and an algorithm host. The vertical gimbal motor is installed inside the base, with its shaft protruding from the base. The gimbal housing is mounted on the shaft of the vertical gimbal motor. The horizontal gimbal motor is installed inside the gimbal housing, with its shaft protruding from the gimbal housing. The lidar rangefinder and the camera housing are respectively mounted on the shaft of the horizontal gimbal motor. The camera housing contains a camera module and a photoresistor. The camera housing has a circular hole, with the photoresistor protruding from the circular hole. The lidar rangefinder, camera module, vertical gimbal motor, and horizontal gimbal motor are respectively connected to the algorithm host.

[0006] In the above structure: the LiDAR PTZ device for power systems proposed in this utility model includes a base, a PTZ housing, a LiDAR rangefinder, a camera housing, a vertical PTZ motor, a horizontal PTZ motor, and an algorithm host. By adding a LiDAR rangefinder to the PTZ camera, it can detect foreign objects outside the perimeter at ultra-long distances and track and map point cloud images to identify foreign objects. The algorithm host built into the base is used to comprehensively calculate the high-definition images from the camera housing and the point cloud images from the LiDAR rangefinder to more accurately identify intruders, vehicles, or other foreign objects.

[0007] The vertical gimbal motor and algorithm host are both built into the base. The gimbal housing is mounted on the shaft of the vertical gimbal motor, which controls the rotation and vertical movement of the gimbal housing. The horizontal gimbal motor is installed inside the gimbal housing. The lidar rangefinder and camera housing are respectively mounted on the shaft of the horizontal gimbal motor. The lidar rangefinder is used to detect foreign objects outside the perimeter at ultra-long distances and to track and map them to generate point cloud images for identification. The camera housing contains the camera module and photoresistor. The photoresistor is used to detect external light, and the camera module is used to take pictures and acquire high-definition images. The algorithm host is used to comprehensively calculate the high-definition images from the camera and the point cloud images from the lidar to more accurately identify intruders, vehicles, or other foreign objects.

[0008] The working principle of this utility model is as follows:

[0009] On-site personnel installed the lidar pan-tilt unit on the perimeter wall and gate of the substation, setting preset patrol positions to cover the entire monitoring range and setting warning distances. During the patrol, the radar rangefinder first detects personnel, vehicles, or other foreign objects entering the monitoring range, stops the patrol, and sends the target location data detected by the radar rangefinder to the built-in algorithm host.

[0010] The algorithm host calculates the gimbal rotation angle based on the target positioning data to control the gimbal rotation so that the radar rangefinder can continue to track and detect the target. The radar rangefinder continuously detects the target and draws a point cloud map, which is then sent to the analysis host for preliminary analysis of the target type.

[0011] While the radar rangefinder continues to detect, the algorithm host calculates the camera zoom ratio based on the target distance and controls the camera mechanism to magnify the target image for identification and analysis.

[0012] During tracking, the algorithm host combines point cloud images from the radar rangefinder and high-definition images from the camera to comprehensively analyze the target type and determine whether it is a pre-defined person or object with intrusion risk. If so, when the target enters the warning distance, the analysis host sends an alarm signal to the monitoring center and simultaneously outputs it to the speaker inside the base for broadcasting a warning to drive it away.

[0013] Furthermore, it also includes a mounting plate and a base cover plate, wherein the base is fixed above the mounting plate by the base cover plate, and the gimbal pod is fixedly mounted on the base.

[0014] In the above structure: the mounting plate and the base are fixedly connected. The four corners of the mounting plate have round screw holes for fixed installation. The mounting plate is embedded with the base cover plate. The base cover plate has 8 threaded holes on its side for fixing to the base. The gimbal pod is fixedly installed on the base.

[0015] Furthermore: a speaker is installed inside the base, and the front of the base is provided with an aviation plug for power supply and communication, and the side is provided with a mesh.

[0016] In the above structure: the speaker inside the base is used to continue broadcasting, the flight plug is used to provide power and communication to the algorithm host and the vertical gimbal motor and the horizontal gimbal motor, and the side is provided with mesh holes.

[0017] Furthermore, it also includes a radar protective cover, which is installed above the lidar rangefinder.

[0018] In the above structure: the radar protective cover is used to protect the lidar rangefinder.

[0019] Furthermore, it also includes a camera protective cover, which is installed above the camera housing.

[0020] In the above structure: the camera protective cover is used to protect the camera housing.

[0021] Furthermore, it also includes a windshield wiper, which is mounted on the camera housing and located below the camera module.

[0022] In the above structure, the camera lens can be cleaned by controlling the windshield wipers, resulting in clearer images and videos.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] 1. Increase the camera's target detection range:

[0025] This invention adds a laser radar rangefinder to a pan-tilt camera, enabling it to detect foreign objects outside the perimeter at ultra-long distances and track and map them to generate point cloud images for identification.

[0026] 2. Improve the accuracy of camera target recognition:

[0027] This invention utilizes a built-in algorithm host in the pan-tilt base to comprehensively calculate the high-definition images from the camera and the point cloud images from the lidar, thereby enabling more accurate identification of intruders, vehicles, or other foreign objects.

[0028] 3. Improve the perimeter security capabilities of substations:

[0029] This invention installs a lidar pan-tilt unit on the perimeter wall and gate of a substation, sets a preset position for patrol to cover the entire monitoring range, and sets a warning distance to achieve monitoring and warning. During the patrol, the radar rangefinder first detects personnel, vehicles, or other foreign objects entering the monitoring range, stops the patrol, and sends the target positioning data detected by the radar rangefinder to the built-in algorithm host, thereby effectively improving the perimeter security and prevention capabilities of the substation. Attached Figure Description

[0030] Figure 1 This is a front view of the lidar gimbal device.

[0031] Figure 2 This is a bottom view of the lidar gimbal device.

[0032] Figure 3 This is a side view of the lidar gimbal device.

[0033] List of reference numerals in the attached diagram:

[0034] 1. Mounting plate; 2. Base; 3. Adapter; 4. Gimbal housing; 5. LiDAR rangefinder; 6. Radar protective cover; 7. Camera housing; 8. Camera protective cover; 9. Wiper; 10. Camera module; 11. Photoresistor; 12. Vertical gimbal motor shaft; 13. Horizontal gimbal motor shaft; 14. Base cover; 15. Algorithm host; 16. Mesh. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

[0036] like Figure 1-3 As shown, this utility model proposes a lidar gimbal device for a power system, comprising a base 2, a gimbal housing 4, a lidar rangefinder 5, a camera housing 7, a vertical gimbal motor, a horizontal gimbal motor, and an algorithm host 15. The vertical gimbal motor is installed inside the base 2, with its shaft 12 protruding from the base 2. The gimbal housing 4 is mounted on the shaft 12 of the vertical gimbal motor. The horizontal gimbal motor is installed inside the gimbal housing 4, with its shaft 13 protruding from the gimbal housing 4. The lidar rangefinder 5 and the camera housing 7 are respectively mounted on the shaft 13 of the horizontal gimbal motor. The camera housing 7 houses a camera module 10 and a photoresistor 11. The camera housing 7 has a circular hole, with the photoresistor 11 protruding from the circular hole. The lidar rangefinder 5, the camera module 10, the vertical gimbal motor, and the horizontal gimbal motor are respectively connected to the algorithm host 15.

[0037] It also includes a mounting plate 1 and a base cover plate 14. The base 2 is fixed above the mounting plate 1 by the base cover plate 14, and the gimbal cabin 4 is fixedly installed on the base 2.

[0038] A speaker is installed inside the base 2. The front of the base 2 is provided with a power supply and communication connector 3, and the side is provided with a mesh hole 16.

[0039] It also includes a radar protective cover 6, which is installed above the lidar rangefinder 5.

[0040] It also includes a camera protective cover 8, which is installed above the camera housing 7.

[0041] It also includes a windshield wiper 9, which is mounted on the camera housing 7 and located below the camera module 10.

[0042] This utility model proposes a lidar PTZ device for power systems, comprising a base 2, a PTZ housing 4, a lidar rangefinder 5, a camera housing 7, a vertical PTZ motor, a horizontal PTZ motor, and an algorithm host 15. By adding a lidar rangefinder 5 to the PTZ camera, it enables ultra-long-range detection of foreign objects outside the perimeter and tracks and maps point cloud images to identify foreign objects. The algorithm host 15, built into the base 2, is used to comprehensively calculate the high-definition image from the camera housing 10 and the point cloud image from the lidar rangefinder 5, to more accurately identify intruders, vehicles, or other foreign objects.

[0043] The vertical gimbal motor and the algorithm host 15 are both built into the base 2. The gimbal housing 4 is mounted on the shaft 12 of the vertical gimbal motor. The rotation and vertical movement of the gimbal housing 4 can be controlled by the shaft 12 of the vertical gimbal motor. The horizontal gimbal motor is installed in the gimbal housing 4. The lidar rangefinder 5 and the camera housing 7 are respectively mounted on the shaft 13 of the horizontal gimbal motor. The lidar rangefinder 5 is used to detect foreign objects outside the perimeter at a long distance and to track and map to generate point cloud images to identify foreign objects. The camera housing 7 is equipped with a camera module 10 and a photoresistor 11. The photoresistor 11 is used to identify external light, and the camera module 10 is used to take pictures and acquire high-definition images. The algorithm host 15 is used to comprehensively calculate the high-definition images from the camera and the point cloud images from the lidar to more accurately identify intruders, vehicles or other foreign objects.

[0044] The working principle of this utility model is as follows:

[0045] On-site personnel installed the lidar pan-tilt unit on the perimeter wall and gate of the substation, set preset patrol positions to cover the entire monitoring range, and set warning distances. During the patrol, the radar rangefinder first detects personnel, vehicles, or other foreign objects entering the monitoring range, stops the patrol, and sends the target location data detected by the radar rangefinder to the built-in algorithm host 15.

[0046] The algorithm host 15 calculates the gimbal rotation angle based on the target positioning data to control the gimbal rotation so that the radar rangefinder can continue to track and detect the target. The radar rangefinder continuously detects the target and draws a point cloud map, which is then sent to the analysis host for preliminary analysis of the target type.

[0047] While the radar rangefinder continues to detect, the algorithm host 15 calculates the camera zoom ratio based on the target distance and controls the camera module 10 to magnify the target image for identification and analysis.

[0048] During the tracking process, the algorithm host 15 combines the point cloud map from the radar rangefinder and the high-definition image from the camera to comprehensively analyze the target type and whether it is a pre-defined person or object with intrusion risk. If so, when the target enters the warning distance, the analysis host sends an alarm signal to the monitoring center and simultaneously outputs it to the internal speaker of the base 2 for broadcasting a drive-away message.

[0049] In this embodiment: the mounting plate 1 and the base 2 are fixedly connected. The mounting plate 1 has round screw holes at the four corners for fixed installation. The mounting plate 1 is embedded in the base cover plate 14. The base cover plate 14 has 8 threaded holes on its side for fixing to the base 2. The gimbal cabin 4 is fixedly installed on the base 2.

[0050] In this embodiment: the speaker inside the base 2 is used to continue broadcasting, the flight plug 3 is used to provide power and communication to the algorithm host 15 and the vertical gimbal motor and the horizontal gimbal motor, and the side is provided with mesh holes 16.

[0051] In this embodiment: the radar protective cover 6 is used to protect the lidar rangefinder 5.

[0052] In this embodiment: the camera protective cover 8 is used to protect the camera housing 7.

[0053] In this embodiment, the lens of the camera module 10 can be cleaned by controlling the windshield wiper 9, making the captured images and videos clearer.

[0054] Through the above technical solution, this application can achieve the following effects:

[0055] 1. Increase the camera's target detection range:

[0056] This invention adds a laser radar rangefinder 5 to a pan-tilt camera, enabling it to detect foreign objects outside the perimeter at ultra-long distances and track and map them to generate point cloud images for identification.

[0057] 2. Improve the accuracy of camera target recognition:

[0058] This invention utilizes an algorithm host 15 built into the pan-tilt base 2 to comprehensively calculate the high-definition images from the camera and the point cloud images from the lidar, thereby enabling more accurate identification of intruders, vehicles, or other foreign objects.

[0059] 3. Improve the perimeter security capabilities of substations:

[0060] This utility model installs a lidar pan-tilt unit on the perimeter wall and gate of a substation, sets a preset position for patrol to cover the entire monitoring range, and sets a warning distance to achieve monitoring and warning. During the patrol, the radar rangefinder first detects personnel, vehicles, or other foreign objects entering the monitoring range, stops the patrol, and sends the target positioning data detected by the radar rangefinder to the built-in algorithm host 15, thereby effectively improving the perimeter security and prevention capabilities of the substation.

[0061] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any modifications or equivalent changes made based on the technical essence of the present utility model shall still fall within the scope of protection claimed by the present utility model.

Claims

1. A lidar gimbal device for power systems, characterized in that: The system includes a base (2), a gimbal housing (4), a laser radar rangefinder (5), a camera housing (7), a vertical gimbal motor, a horizontal gimbal motor, and an algorithm host (15). The vertical gimbal motor is installed inside the base (2), and its shaft (12) protrudes from the base (2). The gimbal housing (4) is mounted on the shaft (12) of the vertical gimbal motor. The horizontal gimbal motor is installed inside the gimbal housing (4), and its shaft (13) protrudes from the base (2). The gimbal housing (4) is set up, and the laser radar rangefinder (5) and the camera housing (7) are respectively mounted on the rotating shaft (13) of the horizontal gimbal motor. The camera housing (7) is equipped with a camera core (10) and a photoresistor (11). The camera housing (7) is provided with a round hole, and the photoresistor (11) is set out through the round hole. The laser radar rangefinder (5), the camera core (10), the vertical gimbal motor and the horizontal gimbal motor are respectively connected to the algorithm host (15).

2. The lidar gimbal device for a power system according to claim 1, characterized in that: It also includes a mounting plate (1) and a base cover plate (14), the base (2) being fixed above the mounting plate (1) by the base cover plate (14), and the gimbal cabin (4) being fixedly installed on the base (2).

3. A lidar gimbal device for a power system according to claim 2, characterized in that: A speaker is installed inside the base (2). The front of the base (2) is provided with a power supply and communication plug (3), and the side is provided with a mesh hole (16).

4. A lidar gimbal device for a power system according to claim 1, characterized in that: It also includes a radar protective cover (6), which is installed above the lidar rangefinder (5).

5. A lidar gimbal device for a power system according to claim 1, characterized in that: It also includes a camera protective cover (8), which is installed above the camera housing (7).

6. A lidar gimbal device for a power system according to claim 1, characterized in that: It also includes a windshield wiper (9), which is mounted on the camera housing (7) and located below the camera module (10).

Images