CN110044416B - Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis - Google Patents

Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis Download PDF

Info

Publication number
CN110044416B
CN110044416B CN201910321780.2A CN201910321780A CN110044416B CN 110044416 B CN110044416 B CN 110044416B CN 201910321780 A CN201910321780 A CN 201910321780A CN 110044416 B CN110044416 B CN 110044416B
Authority
CN
China
Prior art keywords
handcart
image
time period
acquired
time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910321780.2A
Other languages
Chinese (zh)
Other versions
CN110044416A (en
Inventor
齐建辉
马沁威
陆勇
王海波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xi'an Tuma Smart Technology Co ltd
Original Assignee
Xi'an Tuma Smart Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xi'an Tuma Smart Technology Co ltd filed Critical Xi'an Tuma Smart Technology Co ltd
Priority to CN201910321780.2A priority Critical patent/CN110044416B/en
Publication of CN110044416A publication Critical patent/CN110044416A/en
Application granted granted Critical
Publication of CN110044416B publication Critical patent/CN110044416B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)

Abstract

The invention discloses a method, a system and equipment for monitoring the motion state of a handcart with a switch cabinet chassis, comprising the following steps: collecting an image of the handcart with two mark points by image collecting equipment; when the handcart operation speed is detected in a certain time period, calculating the actual displacement of the handcart at each moment according to the centroid coordinates of the mark points and the object plane resolution parameters of the handcart images acquired by the image acquisition equipment at each moment in the time period, and calculating the speed of the handcart according to the actual displacement of the handcart at each moment in the time period; when the operating straightness of the handcart in a certain time period is to be detected, the centroid coordinates of the two marking points in the handcart image at the starting time and the ending time of the time period are obtained, and then the displacement of the two marking points in the time period is calculated; and calculating the rotation angle of the handcart in the time period according to the displacement of the two mark points in the time period, and acquiring the running straightness of the handcart according to the rotation angle value. The handcart movement state monitoring device can accurately monitor the handcart movement state in real time in a non-contact mode.

Description

Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis
Technical Field
The invention belongs to the field of power measurement, and particularly relates to a method, a system and equipment for monitoring the motion state of a handcart with a chassis of a switch cabinet.
Background
The handcart with the switch cabinet chassis is an actuating device for carrying the contact, and has the function of driving the moving contact to move through the movement of the handcart so as to realize the opening and closing actuation. The movement of the chassis handcart is generally realized through manual shaking or motor driving, but due to the influences of factors such as mechanical fit clearance, machining error, long-term use abrasion and the like, the control and position judgment of the handcart movement process are greatly influenced, and the recognition of the working state of the handcart and the judgment of the opening and closing state are finally influenced.
Currently, the handcart working state measurement can only be estimated by means of indirect physical quantities such as the rotating speed of a driving motor, and the measurement is related to handcart motion state parameters (such as position, speed, acceleration and the like) but has no quantitative relation. Therefore, when the physical quantity is used for measuring the working state of the handcart, the handcart working state often has large errors and even has wrong judgment.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a method for monitoring the handcart motion state of a chassis of a switch cabinet.
The invention also provides a monitoring system for the handcart motion state of the chassis of the switch cabinet.
It is a third object of the invention to provide a computing device.
The first purpose of the invention is realized by the following technical scheme: a method for monitoring the motion state of a handcart with a switch cabinet chassis comprises the following steps:
arranging image acquisition equipment, and acquiring an image of the handcart provided with two mark points through the image acquisition equipment;
parameter calibration: calibrating an object plane resolution parameter of the handcart image;
detecting the running speed of the handcart: acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image in real time by image acquisition equipment in the moving process of the handcart and acquiring the centroid coordinate of one mark point from the handcart image, calculating the handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then calculating the actual handcart displacement at each time according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
detecting the operation straightness of the handcart: when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two marked points in the time period.
Preferably, the rotation angle of the handcart in the time period is calculated according to the displacement of the two marked points in the time period as follows:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000021
Figure BDA0002034952550000022
wherein
Figure BDA0002034952550000023
Respectively the displacement of one of the marked points L in the directions of the two coordinate axes x and y during the time period T,
Figure BDA0002034952550000024
respectively displacement of another mark point R in the directions of two coordinate axes of x and y in a time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
Preferably, the method further comprises the following steps:
switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the brake is in place, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two mark points in the handcart image, and respectively taking the centroid coordinates of the two mark points as a first brake-off in-place parameter and a second brake-off in-place parameter; controlling the handcart to move to a switching-on in-place position, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two marking points in the handcart image, and respectively taking the centroid coordinates of the two marking points as a first switching-on in-place parameter and a second switching-on in-place parameter;
detecting the position of the handcart: acquiring a handcart image currently acquired by image acquisition equipment, acquiring centroid coordinates of two mark points in the currently acquired handcart image, comparing the centroid coordinates of the two mark points with a first brake in-place parameter and a second brake in-place parameter respectively, and judging that the handcart moves to a brake separating position if the centroid coordinates of the two mark points are within a preset range of the first brake in-place parameter and the second brake in-place parameter; and comparing the obtained centroid coordinates of the two mark points with a first in-place closing parameter and a second in-place closing parameter respectively, and judging that the handcart moves to a closing position if the centroid coordinates are within the preset ranges of the first in-place closing parameter and the second in-place closing parameter.
Preferably, one image acquisition device is arranged above the handcart provided with two mark points, and is defined as a first image acquisition device; the observation range of the first image acquisition equipment covers the whole motion area of the two mark points on the handcart; defining two mark points on the handcart as a first mark point and a second mark point;
when the running speed of a handcart is detected, the centroid coordinates of mark points in a handcart image acquired by first image acquisition equipment when the handcart is at an initial position are acquired, the handcart image is acquired by the first image acquisition equipment in real time in the moving process of the handcart and the centroid coordinates of one mark point are acquired from the handcart image, the handcart displacement at each time is calculated according to the centroid coordinates of the mark points in the handcart image acquired at each time and the centroid coordinates of the mark points in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, the centroid coordinate of a first mark point in a handcart image acquired by first image acquisition equipment at the starting time and the ending time of the time period and the centroid coordinate of a second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period are acquired; calculating the displacement of the first mark point in the time period according to the centroid coordinates of the first mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period; and calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period.
Preferably, two image acquisition devices are arranged above the handcart provided with two mark points, and are respectively defined as a first image acquisition device and a second image acquisition device; defining two mark points on the handcart as a first mark point and a second mark point; the observation range of the first image acquisition equipment covers the whole motion area of the first mark point on the handcart, and the observation range of the second image acquisition equipment covers the whole motion area of the second mark point on the handcart;
when the running speed of the handcart is detected, the centroid coordinate of a first mark point in a handcart image acquired by first image acquisition equipment when the handcart is at an initial position is acquired, the handcart image is acquired by the first image acquisition equipment in real time in the moving process of the handcart and the centroid coordinate of the first mark point is acquired from the first image acquisition equipment, the handcart displacement at each time is calculated according to the centroid coordinate of the first mark point in the handcart image acquired at each time and the centroid coordinate of the first mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period, and taking the speed as a first speed of the handcart; meanwhile, the centroid coordinate of a second mark point in a handcart image acquired by second image acquisition equipment when the handcart is at the initial position is acquired, the handcart image is acquired by the second image acquisition equipment in real time in the moving process of the handcart and the centroid coordinate of the second mark point is acquired from the handcart image, the handcart displacement at each moment is calculated according to the centroid coordinate of the second mark point in the handcart image acquired at each moment and the centroid coordinate of the second mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each moment is calculated according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period, and taking the speed as the second speed of the handcart; for a certain time period of the speed to be detected, taking the average value of the first speed and the second speed of the handcart in the time period as the speed of the handcart in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, the centroid coordinates of a first mark point in a handcart image acquired by first image acquisition equipment at the starting time and the ending time of the time period are acquired; simultaneously acquiring the centroid coordinates of the second mark points in the handcart images acquired by the second image acquisition equipment at the starting time and the ending time of the time period; and respectively and correspondingly calculating the displacement of the first mark point and the second mark point in the time period according to the centroid coordinates of the first mark point at the starting time and the ending time of the time period and the centroid coordinates of the second mark point at the starting time and the ending time of the time period.
Preferably, the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size of the mark point and the pixel size of the mark point in a handcart image acquired by image acquisition equipment, and taking the comparison value of the physical size and the pixel size of the mark point as an object plane resolution parameter of the handcart image.
Preferably, when the running speed of the handcart in a certain time period T is to be detected, the speed of the handcart in the time period T is calculated according to the actual displacement of the handcart at each moment in the time period T, and is as follows:
Figure BDA0002034952550000051
Figure BDA0002034952550000052
wherein t isi＝t0,t1,t2,...,tn，ti＝t0,t1,t2,...,tnN times, Δ T, from the start time to the end time of the time period T, respectivelyi＝ti-t0(ii) a Wherein t is0The time corresponding to the starting time point of the time period T, TnThe time corresponding to the time point when the time period T ends;
Figure BDA0002034952550000053
is tiThe displacement of the trolley at any moment; a is0I.e. the speed of the hand truck in the time period T.
The second purpose of the invention is realized by the following technical scheme: a cubical switchboard chassis handcart motion state monitoring system includes:
the image acquisition equipment is used for acquiring an image of the handcart provided with the two mark points;
a parameter calibration unit: the handcart image resolution parameter calibration method comprises the steps of calibrating an object plane resolution parameter of a handcart image;
handcart operating speed detecting element: the handcart displacement measuring device is used for acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image acquired by image acquisition equipment in real time in the handcart movement process, acquiring the centroid coordinate of one mark point from the handcart image, and calculating the handcart displacement at each moment according to the centroid coordinate of the mark point in the handcart image acquired at each moment and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart; then, calculating the actual displacement of the handcart at each moment according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
handcart operation straightness detection unit: when the operating straightness of the handcart in a certain time period is to be detected, the method is used for acquiring the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period, and calculating the displacement of the two mark points in the time period according to the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two marked points in the time period.
Preferably, the method further comprises the following steps:
a switching-on and switching-off in-place parameter setting unit: the system is used for moving the handcart to a position where the hand truck is in place for opening, and the centroid coordinates of two mark points acquired in the corresponding handcart image are respectively used as a first opening in-place parameter and a second opening in-place parameter; the system comprises a handcart image acquisition unit, a first switch-on in-place parameter acquisition unit, a second switch-on in-place parameter acquisition unit, a first switch-on in-place parameter acquisition unit and a second switch-on in-place parameter acquisition unit, wherein the first switch-on in-place parameter acquisition unit is used for acquiring a first switch-on in-place parameter and a second switch-on in-place;
handcart position detecting element: the system is used for acquiring the centroid coordinates of two mark points in a handcart image currently acquired by image acquisition equipment; comparing the centroid coordinates of the two mark points in the currently acquired handcart image with a first brake-off in-place parameter and a second brake-off in-place parameter respectively, and judging whether the handcart moves to a brake-off position according to the comparison result; and comparing the centroid coordinates of the two mark points in the currently acquired handcart image with the first switching-on in-place parameter and the second switching-on in-place parameter respectively, and judging whether the handcart moves to the switching-on position according to the comparison result.
The third purpose of the invention is realized by the following technical scheme: a computing device comprising a processor and a memory for storing processor-executable programs, the computing device being coupled to an image acquisition module, the processor, when executing the programs stored by the memory, performing the following:
controlling an image acquisition device to acquire an image of a handcart provided with two mark points;
calibrating an object plane resolution parameter of the handcart image;
when the running speed of a handcart needs to be detected, the centroid coordinate of a mark point in a handcart image at an initial position of the handcart is obtained, an image acquisition device acquires the handcart image in real time in the moving process of the handcart and obtains the centroid coordinate of one mark point from the handcart image, the handcart displacement at each time is calculated according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two marked points in the time period.
Compared with the prior art, the invention has the following advantages and effects:
(1) in the method for monitoring the movement state of the handcart with the chassis of the switch cabinet, firstly, image acquisition equipment is arranged, and the image of the handcart with two mark points is acquired through the image acquisition equipment; when the running speed of the handcart in a certain time period is detected, calculating the actual displacement of the handcart in each time according to the centroid coordinate of one of the mark points in the handcart image acquired by the image acquisition equipment in each time of the time period and the object plane resolution parameter, and calculating the speed of the handcart in the time period according to the actual displacement of the handcart in each time of the time period; when the operating straightness of the handcart in a certain time period is to be detected, the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period are acquired, and the displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two mark points in the time period, and acquiring the running straightness of the handcart according to the rotation angle value. According to the invention, the handcart operation speed and the handcart operation straightness are detected through the handcart image acquired by the image acquisition equipment, so that the handcart motion state is accurately monitored in real time in a non-contact manner, and whether parts such as a motor driving the handcart to operate are abnormal or not can be determined through monitoring the handcart motion state; the handcart switching device does not need to be provided with any sensor and other equipment, so that the device of the switch cabinet can not be influenced.
(2) According to the method for monitoring the handcart movement state of the chassis of the switch cabinet, after the on-off in-place parameter is set, the position of the handcart can be detected, wherein the centroid coordinate of a mark point in a handcart image acquired by image acquisition equipment in real time is compared with the on-off in-place parameter, and the position of the handcart can be monitored in real time according to the comparison result; therefore, the handcart position can be monitored in a non-contact mode through the image acquisition equipment, and the handcart does not need to be provided with any sensor and other equipment, so that the device of the switch cabinet can not be influenced, and the on-off state of the handcart carrying contact can be accurately judged. The method provided by the invention is used as an accurate judgment method for the on-off state of the handcart carrying contact, and can be combined with other existing methods to realize safer and more reliable 'double confirmation' of the on-off state of the handcart carrying contact. In addition, in the handcart position detection process, the method judges whether the centroid coordinates of the mark points are within the preset ranges of the brake-off in-place parameter and the brake-on in-place parameter, namely a certain space range is reserved in the judgment process, so that the handcart position judgment is more reasonable and accurate.
(3) In the method for monitoring the handcart movement state of the chassis of the switch cabinet, 1 or more image acquisition devices can be selected, when a single image acquisition device cannot cover the whole movement area of the handcart, a plurality of image acquisition devices, such as two image acquisition devices, a first image acquisition device and a second image acquisition device can be adopted, wherein the two image acquisition devices respectively correspond to the whole movement area covering two mark points, namely the first image acquisition device acquires a handcart image containing one mark point, and the second image acquisition device acquires a handcart image containing another mark point; the method can be used for detecting the handcart operation speed and the handcart operation straightness by combining the handcart images acquired by the first image acquisition device and the second image acquisition device in the monitoring process, so that the handcart operation speed and the handcart operation straightness detection progress are further improved.
Drawings
Fig. 1 is a schematic view of monitoring a state of a chassis handcart of a switch cabinet in embodiment 1 of the invention.
Fig. 2 is a schematic view of monitoring a state of a chassis handcart of a switch cabinet in embodiment 2 of the invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Example 1
The embodiment discloses a method for monitoring the motion state of a handcart with a switch cabinet chassis, which comprises the following steps:
arranging image acquisition equipment, and acquiring an image of a switch cabinet chassis handcart 5 provided with two mark points through the image acquisition equipment; in this embodiment, as shown in fig. 1, two mark points on the handcart 5 are respectively arranged at two ends of the upper side surface of the handcart, namely a first mark point 3 and a second mark point 4. In this embodiment, the shape of the mark point on the handcart is circular, and the color of the mark point can be red, blue, yellow and the like which are different from that of the handcart and are obviously different. In this embodiment, the number of the image acquisition devices is 1; the image acquisition equipment is defined as first image acquisition equipment 1, the observation range of the first image acquisition equipment 1 covers the whole motion area of two mark points on the handcart, and the handcart 5 moves through a guide rail 6 of a chassis of a switch cabinet. In this embodiment, the image capturing device is a digital camera, the resolution of the digital camera is 1024 × 1024pixels, the frame rate is 30FPS, and a clear handcart image with high contrast is obtained by adjusting the focal length of the lens.
Parameter calibration: calibrating an object plane resolution parameter of the handcart image; in this embodiment, the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
Detecting the running speed of the handcart: acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image in real time by image acquisition equipment in the moving process of the handcart and acquiring the centroid coordinate of one mark point from the handcart image, calculating the handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then calculating the actual handcart displacement at each time according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period; .
In this embodiment, an image of the handcart is acquired through one image acquisition device, that is, the first image acquisition device, and when the running speed of the handcart is detected, the centroid coordinate (x) of the mark point in the handcart image acquired by the first image acquisition device when the handcart is at the initial position is acquired0，y0) The first image acquisition equipment acquires the handcart image in real time in the handcart movement process and acquires the centroid coordinate (x) of one of the mark pointst，yt) According to the centroid coordinate (x) of the handcart image acquired by the mark point at each momentt，yt) And the centroid coordinate (x) of the mark point in the handcart image corresponding to the initial position of the handcart0，y0) Calculating the handcart displacement (dx) at each momentt，dyt) In which dxtAs the displacement of the hand truck in the x-direction in the xy-coordinate axis, dytThe displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement Dx of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/DtAnd an actual displacement Dy in the y direction in the xy coordinate axistWherein Dxt＝D/d*dxt，Dyt＝D/d*dytThen calculate DxtAnd DytVector sum of
Figure BDA0002034952550000091
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period:
Figure BDA0002034952550000092
Figure BDA0002034952550000093
wherein t isi＝t0,t1,t2,...,tn，ti＝t0,t1,t2,...,tnN times, Δ T, from the start time to the end time of the time period T, respectivelyi＝ti-t0(ii) a Wherein t is0The time corresponding to the starting time point of the time period T, TnThe time corresponding to the time point when the time period T ends;
Figure BDA0002034952550000094
is tiThe displacement of the trolley at any moment; a is0I.e. the speed of the hand truck in the time period T.
The derivation principle of the formula for calculating the speed of the handcart in the embodiment is as follows:
order to
Figure BDA0002034952550000095
Is t0Time to tiTime interval Δ t of timeiDisplacement of the hand-carried vehicle, e.g. as perceived as speed of the hand-carried vehicle during this period
Figure BDA0002034952550000096
And (3) moving at a constant speed, and establishing the following equation set according to the relation of displacement change along with time:
Figure BDA0002034952550000097
wherein
Figure BDA0002034952550000098
The above equation set is generally a hyperstatic equation set, so a residual sum of squares function S needs to be introduced, so that a v can be obtained, and this v can minimize the residual error of the above equation set; wherein the residual sum of squares function S is:
Figure BDA0002034952550000099
since displacement varies linearly with time, the relationship of displacement to time can be expressed as:
Figure BDA00020349525500000910
using the minimum sum of squared residuals as the 'optimization criterion', obtaining a in the above expression0And a1The expression for the two parameters is:
Figure BDA0002034952550000101
Figure BDA0002034952550000102
wherein a is0Is t0Time to tiThe speed of the hand truck during this time period. Practical solution handcart at t in the embodiment0Time to tiDuring the speed process within the time period of the moment, t is0Time to tiEach time t obtained within this time periodiDisplacement of the carriage
Figure BDA0002034952550000103
Substituting the formula (1) to obtain a1Then a is added1And each time tiDisplacement of the carriage
Figure BDA0002034952550000104
Substituting into formula (2) to obtain a0。
Detecting the operation straightness of the handcart: when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two mark points in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000105
Figure BDA0002034952550000106
wherein
Figure BDA0002034952550000107
Respectively, the displacement of one of the mark points, namely the first mark point L, in the directions of the two coordinate axes x and y in the time period T,
Figure BDA0002034952550000108
respectively representing the displacement of another mark point, namely a second mark point R in the directions of two coordinate axes of x and y in the time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
In this embodiment, the image acquisition device, i.e. the first image acquisition device, is usedWhen the handcart image is to be acquired, when the operating straightness of the handcart is to be detected in a certain time period T, firstly, the centroid coordinate of a first marking point L in the handcart image acquired by a first image acquisition device in the starting time T1 and the ending time T2 of the time period T is acquired
Figure BDA0002034952550000109
And
Figure BDA00020349525500001010
and the second marker point R is in the shape center coordinate of the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA00020349525500001011
And
Figure BDA00020349525500001012
calculating the displacement of the first marker point in the time period according to the centroid coordinates of the first marker point L in the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA00020349525500001013
Wherein
Figure BDA00020349525500001014
Calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period
Figure BDA0002034952550000111
Wherein
Figure BDA0002034952550000112
Switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the opening is in place, acquiring a handcart image at the position by the first image acquisition equipment, and then acquiring centroids of two mark points in the handcart imageCoordinates of the object
Figure BDA0002034952550000113
And
Figure BDA0002034952550000114
the centroid coordinates of the two marking points are respectively used as a first brake-off in-place parameter and a second brake-off in-place parameter, namely the first brake-off in-place parameter is
Figure BDA0002034952550000115
The second gate-off in-place parameter is
Figure BDA0002034952550000116
Controlling the handcart to move to a position where the handcart is switched on in place, acquiring a handcart image at the position by image acquisition equipment, and then acquiring centroid coordinates of two mark points in the handcart image
Figure BDA0002034952550000117
And
Figure BDA0002034952550000118
the centroid coordinates of the two marking points are respectively used as a first closing in-place parameter and a second closing in-place parameter, namely the first closing in-place parameter is
Figure BDA0002034952550000119
The second gate-off in-place parameter is
Figure BDA00020349525500001110
Detecting the position of the handcart: acquiring a handcart image currently acquired by first image acquisition equipment, and acquiring centroid coordinates of two mark points in the currently acquired handcart image
Figure BDA00020349525500001111
And
Figure BDA00020349525500001112
the obtained centroid coordinates of the two marking points
Figure BDA00020349525500001113
And
Figure BDA00020349525500001114
respectively corresponding to the first gate-off in-place parameters
Figure BDA00020349525500001115
And a second brake-off-in-place parameter
Figure BDA00020349525500001116
Comparing, if the two parameters are within the preset ranges (delta a, delta b) of the first brake-off in-place parameter and the second brake-off in-place parameter, namely
Figure BDA00020349525500001117
And is
Figure BDA00020349525500001118
Judging that the handcart moves to the opening position; the obtained centroid coordinates of the two marking points
Figure BDA00020349525500001119
And
Figure BDA00020349525500001120
respectively corresponding to the first in-place closing parameters
Figure BDA00020349525500001121
And second switch-on in-place parameter
Figure BDA00020349525500001122
Comparing, namely if the first in-place closing parameter and the second in-place closing parameter are within the preset ranges (delta a, delta b), namely
Figure BDA00020349525500001123
And is
Figure BDA00020349525500001124
It is determined that the hand truck is moved to the on position.
In the above steps of this embodiment, for a handcart image acquired by an image acquisition device, a mark point in the handcart image is segmented by using gray scale and geometric parameters as features, and the mark point is acquired from the handcart image; for the mark points segmented from the handcart image, firstly, the edges of the mark points are identified to obtain the coordinates of the pixel points at the edges of the mark points, and then the coordinates of the pixel points at the edges of the mark points are fitted to obtain the centroid coordinates of the mark points.
The embodiment also discloses a switch cabinet chassis handcart motion state monitoring system for realizing the method, which comprises the following steps:
the image acquisition equipment is used for acquiring an image of the handcart provided with the two mark points; in this embodiment, the image capturing device is a digital camera, and the number of the image capturing devices is 1, which is defined as the first image capturing device.
A parameter calibration unit: the handcart image resolution parameter calibration method comprises the steps of calibrating an object plane resolution parameter of a handcart image; the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
Handcart operating speed detecting element: the system is used for acquiring the centroid coordinate (x) of the mark point in the handcart image acquired by the first image acquisition equipment when the handcart is at the initial position0，y0) Acquiring a first image acquisition device to acquire a handcart image in real time in the handcart movement process and acquiring a centroid coordinate (x) of one mark point from the handcart imaget，yt) According to the centroid coordinate (x) of the handcart image acquired by the mark point at each momentt，yt) And the centroid coordinate (x) of the mark point in the handcart image corresponding to the initial position of the handcart0，y0) Calculating the handcart displacement (dx) at each momentt，dyt) In which dxtAs the displacement of the hand truck in the x-direction in the xy-coordinate axis, dytThe displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement Dx of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/DtAnd an actual displacement Dy in the y direction in the xy coordinate axistWherein Dxt＝D/d*dxt，Dyt＝D/d*dytThen calculate DxtAnd DytVector sum of
Figure BDA0002034952550000121
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period;
handcart operation straightness detection unit: when the running straightness of the handcart is detected in a certain time period T, the method is used for acquiring the centroid coordinate of the first marking point L in the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000122
And
Figure BDA0002034952550000123
and the second marker point R is in the shape center coordinate of the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000124
And
Figure BDA0002034952550000125
calculating the displacement of the first marker point in the time period according to the centroid coordinates of the first marker point L in the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000126
Wherein
Figure BDA0002034952550000127
Calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period
Figure BDA0002034952550000128
Wherein
Figure BDA0002034952550000129
And finally, calculating the rotation angle of the handcart in the time period according to the displacement of the first marking point and the second marking point in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA00020349525500001210
Figure BDA00020349525500001211
a switching-on and switching-off in-place parameter setting unit: the first image acquisition equipment is used for acquiring the centroid coordinates of the first mark point and the second mark point in the corresponding handcart image when the handcart is moved to the position where the opening is in place
Figure BDA00020349525500001212
And
Figure BDA00020349525500001213
respectively serving as a first brake-off in-place parameter and a second brake-off in-place parameter; the first image acquisition equipment is used for acquiring centroid coordinates of the first mark point and the second mark point in the corresponding handcart image when the handcart is moved to a position where the handcart is switched on in place
Figure BDA0002034952550000131
And
Figure BDA0002034952550000132
respectively serving as a first closing in-place parameter and a second closing in-place parameter;
handcart position detecting element: used for acquiring a handcart image currently acquired by the first image acquisition equipment and acquiring the centroid coordinates of the two mark points from the handcart image currently acquired by the first image acquisition equipment
Figure BDA0002034952550000133
And
Figure BDA0002034952550000134
the obtained centroid coordinates of the two marking points
Figure BDA0002034952550000135
And
Figure BDA0002034952550000136
respectively corresponding to the first gate-off in-place parameters
Figure BDA0002034952550000137
And a second brake-off-in-place parameter
Figure BDA0002034952550000138
Comparing, if the two parameters are within the preset ranges (delta a, delta b) of the first brake-off in-place parameter and the second brake-off in-place parameter, namely
Figure BDA0002034952550000139
And is
Figure BDA00020349525500001310
Judging that the handcart moves to the opening position; the obtained centroid coordinates of the two marking points
Figure BDA00020349525500001311
And
Figure BDA00020349525500001312
respectively corresponding to the first in-place closing parameters
Figure BDA00020349525500001313
And second switch-on in-place parameter
Figure BDA00020349525500001314
Comparing, namely if the first in-place closing parameter and the second in-place closing parameter are within the preset ranges (delta a, delta b), namely
Figure BDA00020349525500001315
And is
Figure BDA00020349525500001316
It is determined that the hand truck is moved to the on position.
The embodiment also discloses a computing device, which comprises a processor and a memory for storing the executable program of the processor, wherein the computing device is connected with the image acquisition module, and when the processor executes the program stored in the memory, the following processes are realized:
controlling an image acquisition device to acquire images of a handcart provided with two mark points and acquiring handcart images acquired by the image acquisition device; in this embodiment, the number of the image capturing devices is 1, which is defined as a first image capturing device, and the first image capturing device is connected to the computing device, and the computing device controls the capturing operation of the first image capturing device. Meanwhile, the computing equipment acquires the handcart image acquired by the first image acquisition equipment.
Calibrating an object plane resolution parameter of the handcart image; in this embodiment, the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
When it is about toWhen the running speed of the handcart is detected, the centroid coordinate (x) of a mark point in a handcart image acquired by first image acquisition equipment when the handcart is at an initial position is acquired0，y0) Acquiring a first image acquisition device to acquire a handcart image in real time in the handcart movement process and acquiring a centroid coordinate (x) of one mark point from the handcart imaget，yt) According to the centroid coordinate (x) of the handcart image acquired by the mark point at each momentt，yt) And the centroid coordinate (x) of the mark point in the handcart image corresponding to the initial position of the handcart0，y0) Calculating the handcart displacement (dx) at each momentt，dyt) In which dxtAs the displacement of the hand truck in the x-direction in the xy-coordinate axis, dytThe displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement Dx of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/DtAnd an actual displacement Dy in the y direction in the xy coordinate axistWherein Dxt-D/D dxt, Dyt-D/D dyt, and then calculating the vector sum of Dxt and Dyt
Figure BDA0002034952550000143
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period;
when the running straightness of the handcart is detected in a certain time period T, the method is used for acquiring the centroid coordinate of the first marking point L in the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000144
And
Figure BDA0002034952550000145
and the second marker point R is in the shape center coordinate of the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000146
And
Figure BDA0002034952550000147
calculating the displacement of the first marker point in the time period according to the centroid coordinates of the first marker point L in the handcart image acquired by the first image acquisition equipment at the starting time T1 and the ending time T2 of the time period T
Figure BDA0002034952550000148
Wherein
Figure BDA0002034952550000149
Figure BDA00020349525500001410
Calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period
Figure BDA00020349525500001411
Wherein
Figure BDA00020349525500001412
And finally, calculating the rotation angle of the handcart in the time period according to the displacement of the first marking point and the second marking point in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000141
Figure BDA0002034952550000142
switching-on and switching-off in-place parameter setting: the handcart is moved to a position where the opening is in place, and the first image acquisition equipment acquires a first mark point and a second mark point in a corresponding handcart imageCentroid coordinates of
Figure BDA00020349525500001413
And
Figure BDA00020349525500001414
respectively serving as a first brake-off in-place parameter and a second brake-off in-place parameter; the first image acquisition equipment is used for acquiring centroid coordinates of the first mark point and the second mark point in the corresponding handcart image when the handcart is moved to a position where the handcart is switched on in place
Figure BDA00020349525500001415
And
Figure BDA00020349525500001416
respectively serving as a first closing in-place parameter and a second closing in-place parameter;
when the handcart position is detected, acquiring a handcart image currently acquired by first image acquisition equipment, and acquiring the centroid coordinates of two mark points from the handcart image currently acquired by the first image acquisition equipment
Figure BDA00020349525500001417
And
Figure BDA00020349525500001418
the obtained centroid coordinates of the two marking points
Figure BDA00020349525500001419
And
Figure BDA00020349525500001420
respectively corresponding to the first gate-off in-place parameters
Figure BDA0002034952550000151
And a second brake-off-in-place parameter
Figure BDA0002034952550000152
Go on toIf the two parameters are within the preset ranges (delta a, delta b) of the first brake-off-in-place parameter and the second brake-off-in-place parameter, the two parameters are within the preset ranges (delta a, delta b)
Figure BDA0002034952550000153
And is
Figure BDA0002034952550000154
Judging that the handcart moves to the opening position; the obtained centroid coordinates of the two marking points
Figure BDA0002034952550000155
And
Figure BDA0002034952550000156
respectively corresponding to the first in-place closing parameters
Figure BDA0002034952550000157
And second switch-on in-place parameter
Figure BDA0002034952550000158
Comparing, namely if the first in-place closing parameter and the second in-place closing parameter are within the preset ranges (delta a, delta b), namely
Figure BDA0002034952550000159
And is
Figure BDA00020349525500001510
It is determined that the hand truck is moved to the on position.
In this embodiment, the computing device may be an intelligent device such as a computer and a mobile terminal.
Example 2
The embodiment discloses a method for monitoring the motion state of a handcart with a switch cabinet chassis, which comprises the following steps:
arranging image acquisition equipment, and acquiring an image of a switch cabinet chassis handcart 5 provided with two mark points through the image acquisition equipment; in this embodiment, as shown in fig. 2, two mark points on the handcart 5 are respectively arranged at two ends of the upper side surface of the handcart, namely a first mark point 3 and a second mark point 4. In this embodiment, the shape of the mark point on the handcart 5 is circular, and the color of the mark point can be red, blue, yellow and the like which are different from that of the handcart and are obviously different.
In the embodiment, the number of the image acquisition devices is 2; the handcart moving device comprises a first image acquisition device 1 and a second image acquisition device 2, wherein the observation range of the first image acquisition device 1 covers the whole moving area of a first mark point on a handcart, the observation range of the second image acquisition device 2 covers the whole moving area of a second mark point on the handcart, and the handcart 5 moves through a guide rail 6 of a chassis of a switch cabinet. In this embodiment, a third marker point E is arranged in a common area of the first image capturing device and the second image capturing device, and a centroid coordinate (x) of the third marker point in the handcart image captured by the first image capturing device and the second image capturing device simultaneously is obtainedE1，yE1)、(xE2，yE2) (ii) a And comparing centroid coordinates of the third mark point in the handcart image acquired by the first image acquisition device and the second image acquisition device simultaneously to obtain a coordinate difference (delta x, delta y), wherein the delta x is xE1-xE2，Δy＝yE1-yE2(ii) a In this embodiment, the image capturing device is a digital camera, the resolution of the digital camera is 1024 × 1024pixels, the frame rate is 30FPS, and a clear handcart image with high contrast is obtained by adjusting the focal length of the lens.
Parameter calibration: calibrating an object plane resolution parameter of the handcart image; in this embodiment, the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
Detecting the running speed of the handcart: acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image in real time by image acquisition equipment in the moving process of the handcart and acquiring the centroid coordinate of one mark point from the handcart image, calculating the handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then calculating the actual handcart displacement at each time according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period:
Figure BDA0002034952550000161
Figure BDA0002034952550000162
wherein t isi＝t0,t1,t2,...,tn，ti＝t0,t1,t2,...,tnN times, Δ T, from the start time to the end time of the time period T, respectivelyi＝ti-t0(ii) a Wherein t is0The time corresponding to the starting time point of the time period T, TnThe time corresponding to the time point when the time period T ends;
Figure BDA0002034952550000163
is tiThe displacement of the trolley at any moment; a is0I.e. the speed of the hand truck in the time period T.
In this embodiment, images of the handcart are acquired through two image acquisition devices, namely a first image acquisition device and a second image acquisition device, and when the running speed of the handcart is detected, the centroid coordinate of a first mark point L in the handcart image acquired by the first image acquisition device at the initial position of the handcart is acquired
Figure BDA0002034952550000164
The first image acquisition equipment acquires handcart images in real time in the handcart movement process and acquires the centroid coordinates of the first mark points from the handcart images
Figure BDA0002034952550000165
According to the centroid coordinates of the first mark point in the handcart image collected at each moment
Figure BDA0002034952550000166
And the centroid coordinate of the first mark point in the handcart image corresponding to the handcart initial position
Figure BDA0002034952550000167
Calculating the handcart displacement at each moment
Figure BDA0002034952550000168
Wherein
Figure BDA0002034952550000169
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA00020349525500001610
the displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA00020349525500001611
And actual displacement in the y direction in the xy coordinate axis
Figure BDA00020349525500001612
Wherein the content of the first and second substances,
Figure BDA00020349525500001613
then calculate
Figure BDA00020349525500001614
And
Figure BDA00020349525500001615
vector sum of
Figure BDA00020349525500001616
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period, and the speed is taken as the first speed of the handcart.
Meanwhile, the centroid coordinate of a second mark point in the handcart image acquired by second image acquisition equipment when the handcart is at the initial position is acquired
Figure BDA0002034952550000173
The second image acquisition equipment acquires the handcart image in real time in the handcart movement process and acquires the centroid coordinate of the second mark point R from the handcart image
Figure BDA0002034952550000174
According to the centroid coordinates of the second mark point R in the handcart image collected at each moment
Figure BDA0002034952550000175
And the centroid coordinate of the second mark point in the handcart initial position corresponding to the handcart image
Figure BDA0002034952550000176
Calculating the handcart displacement at each moment
Figure BDA0002034952550000177
Wherein
Figure BDA0002034952550000178
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA0002034952550000179
the displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA00020349525500001710
And actual displacement in the y direction in the xy coordinate axis
Figure BDA00020349525500001711
Wherein the content of the first and second substances,
Figure BDA00020349525500001712
then calculate
Figure BDA00020349525500001713
And
Figure BDA00020349525500001714
vector sum of
Figure BDA00020349525500001715
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period T is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period, and the speed is used as the second speed of the handcart. For a certain time period T of the speed to be detected, taking the average value of the first speed and the second speed of the handcart in the time period T as the speed of the handcart in the time period;
detecting the operation straightness of the handcart: when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two mark points in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000171
Figure BDA0002034952550000172
wherein
Figure BDA00020349525500001716
Respectively, the displacement of one of the mark points, namely the first mark point L, in the directions of the two coordinate axes x and y in the time period T,
Figure BDA0002034952550000181
respectively representing the displacement of another mark point, namely a second mark point R in the directions of two coordinate axes of x and y in the time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
In this embodiment, images of the handcart are acquired through two image acquisition devices, namely, the first image acquisition device and the second image acquisition device, and when the running straightness of the handcart in a certain time period T is to be detected, firstly, the centroid coordinate of the first marking point L in the handcart image acquired by the first image acquisition device at the starting time T1 and the ending time T2 of the time period is acquired
Figure BDA0002034952550000182
And
Figure BDA0002034952550000183
simultaneously acquiring the centroid coordinates of the second marking point R in the handcart image acquired by the second image acquisition equipment at the starting time t1 and the ending time t2 of the time period
Figure BDA0002034952550000184
And
Figure BDA0002034952550000185
and respectively and correspondingly calculating the displacement of the first mark point and the second mark point in the time period according to the centroid coordinates of the first mark point at the starting time and the ending time of the time period and the centroid coordinates of the second mark point at the starting time and the ending time of the time period.
In the present embodiment, the first mark point L starts in the time period TThe displacement of the first marking point in the time period is calculated by the centroid coordinates in the handcart image acquired by the first image acquisition equipment at the time t1 and the end time t2
Figure BDA0002034952550000186
Wherein
Figure BDA0002034952550000187
Calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period
Figure BDA0002034952550000188
Wherein
Figure BDA0002034952550000189
Switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the brake is in place, respectively acquiring handcart images at the position by the first image acquisition device and the second image acquisition device, and acquiring centroid coordinates of the first mark point in the handcart images through the handcart images acquired by the first image acquisition device
Figure BDA00020349525500001810
As a first brake-off-in-place parameter; acquiring the centroid coordinate of the second mark point in the handcart image through the handcart image acquired by the second image acquisition equipment
Figure BDA00020349525500001811
As a second brake-off in-place parameter; controlling the handcart to move to a position where the handcart is switched on in place, respectively acquiring handcart images at the position by the first image acquisition device and the second image acquisition device, and acquiring centroid coordinates of the first mark point in the handcart images through the handcart images acquired by the first image acquisition device
Figure BDA00020349525500001812
As a first switch-on in-place parameter;acquiring the centroid coordinate of the second mark point in the handcart image through the handcart image acquired by the second image acquisition equipment
Figure BDA00020349525500001813
As a second switch-on in-place parameter;
detecting the position of the handcart: acquiring handcart images currently acquired by a first image acquisition device and a second image acquisition device respectively, and acquiring the centroid coordinates of a first mark point in the handcart image currently acquired by the first image acquisition device
Figure BDA00020349525500001814
Meanwhile, the centroid coordinate of the second mark point in the handcart image currently acquired by the second image acquisition equipment is acquired
Figure BDA00020349525500001815
The centroid coordinate of the first mark point
Figure BDA00020349525500001816
And centroid coordinates of the second marker point
Figure BDA00020349525500001817
Respectively corresponding to the first gate-off in-place parameters
Figure BDA00020349525500001818
And a second brake-off-in-place parameter
Figure BDA00020349525500001819
Comparing, if the parameters are respectively within the preset ranges (delta a, delta b) of the first brake-off in-place parameter and the second brake-off in-place parameter, namely
Figure BDA0002034952550000191
And is
Figure BDA0002034952550000192
Judging that the handcart moves to the opening position; will be firstCentroid coordinates of mark points
Figure BDA0002034952550000193
And centroid coordinates of the second marker point
Figure BDA0002034952550000194
Respectively corresponding to the first in-place closing parameters
Figure BDA0002034952550000195
And second switch-on in-place parameter
Figure BDA0002034952550000196
Comparing, if the first in-place closing parameter and the second in-place closing parameter are respectively in the preset ranges (delta a, delta b), namely
Figure BDA0002034952550000197
And is
Figure BDA0002034952550000198
It is determined that the hand truck is moved to the on position.
In the above steps of this embodiment, for the handcart image acquired by the first image acquisition device and the second image acquisition device, the marking points in the handcart image are segmented by using the gray scale and the geometric parameters as features, and the marking points are acquired from the handcart image; for the mark points segmented from the handcart image, firstly, the edges of the mark points are identified to obtain the coordinates of the pixel points at the edges of the mark points, and then the coordinates of the pixel points at the edges of the mark points are fitted to obtain the centroid coordinates of the mark points.
The embodiment also discloses a switch cabinet chassis handcart motion state monitoring system for realizing the method, which comprises the following steps:
the image acquisition equipment is used for acquiring an image of the handcart provided with the two mark points; in the present embodiment, two image capturing apparatuses, a first image capturing apparatus and a second image capturing apparatus, are included. Wherein the observation range of the first image acquisition equipment covers the whole motion area of the first mark point on the handcart, the observation range of the second image acquisition equipment covers the whole motion area of the second mark point on the handcart,
a parameter calibration unit: the handcart image resolution parameter calibration method comprises the steps of calibrating an object plane resolution parameter of a handcart image; the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
Handcart operating speed detecting element: the handcart displacement measuring device is used for acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image in real time by an image acquisition device in the handcart movement process and acquiring the centroid coordinate of one mark point from the handcart image, calculating the handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the handcart initial position, and then calculating the actual handcart displacement at each time according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period.
In the embodiment, images of the handcart are acquired through two image acquisition devices, namely a first image acquisition device and a second image acquisition device; in the handcart operation speed detection unit, when the handcart operation speed is detected, the centroid coordinate of a first mark point L in a handcart image acquired by a first image acquisition device when the handcart is at an initial position is acquired
Figure BDA0002034952550000201
The first image acquisition equipment acquires handcart images in real time in the handcart movement process and acquires the centroid coordinates of the first mark points from the handcart images
Figure BDA0002034952550000202
According to the centroid coordinates of the first mark point in the handcart image collected at each moment
Figure BDA0002034952550000203
And the centroid coordinate of the first mark point in the handcart image corresponding to the handcart initial position
Figure BDA0002034952550000204
Calculating the handcart displacement at each moment
Figure BDA0002034952550000205
Wherein
Figure BDA0002034952550000206
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA0002034952550000207
the displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA0002034952550000208
And actual displacement in the y direction in the xy coordinate axis
Figure BDA0002034952550000209
Wherein the content of the first and second substances,
Figure BDA00020349525500002010
then calculate
Figure BDA00020349525500002012
And
Figure BDA00020349525500002011
vector sum of
Figure BDA00020349525500002013
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart is to be detected during a certain period of time, the actual displacement meter of the handcart is measured according to the actual displacement of the handcart at each moment of the period of timeAnd calculating the speed of the handcart in the time period as the first speed of the handcart.
Meanwhile, the centroid coordinate of a second mark point in the handcart image acquired by second image acquisition equipment when the handcart is at the initial position is acquired
Figure BDA00020349525500002014
The second image acquisition equipment acquires the handcart image in real time in the handcart movement process and acquires the centroid coordinate of the second mark point R from the handcart image
Figure BDA00020349525500002015
According to the centroid coordinates of the second mark point R in the handcart image collected at each moment
Figure BDA00020349525500002016
And the centroid coordinate of the second mark point in the handcart initial position corresponding to the handcart image
Figure BDA00020349525500002017
Calculating the handcart displacement at each moment
Figure BDA00020349525500002018
Wherein
Figure BDA00020349525500002019
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA00020349525500002020
the displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA00020349525500002021
And actual displacement in the y direction in the xy coordinate axis
Figure BDA00020349525500002022
Wherein the content of the first and second substances,
Figure BDA00020349525500002023
then calculate
Figure BDA00020349525500002024
And
Figure BDA00020349525500002025
vector sum of
Figure BDA00020349525500002026
As the actual displacement of the hand truck; in this embodiment, when the running speed of the handcart in a certain time period T is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period, and is used as the second speed of the handcart; for a certain time period T of the speed to be detected, taking the average value of the first speed and the second speed of the handcart in the time period T as the speed of the handcart in the time period;
handcart operation straightness detection unit: when the operating straightness of the handcart in a certain time period is to be detected, the method is used for acquiring the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period, and calculating the displacement of the two mark points in the time period according to the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two mark points in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000211
Figure BDA0002034952550000212
wherein
Figure BDA0002034952550000213
Respectively, the displacement of one of the mark points, namely the first mark point L, in the directions of the two coordinate axes x and y in the time period T,
Figure BDA0002034952550000214
respectively representing the displacement of another mark point, namely a second mark point R in the directions of two coordinate axes of x and y in the time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
In the embodiment, images of the handcart are acquired through two image acquisition devices, namely a first image acquisition device and a second image acquisition device; in the handcart operation straightness detection unit, when the operation straightness of a handcart in a certain time period T is to be detected, firstly, a centroid coordinate of a first marking point L in a handcart image acquired by a first image acquisition device at the starting time T1 and the ending time T2 of the time period is acquired
Figure BDA0002034952550000215
And
Figure BDA0002034952550000216
simultaneously acquiring the centroid coordinates of the second marking point R in the handcart image acquired by the second image acquisition equipment at the starting time t1 and the ending time t2 of the time period
Figure BDA0002034952550000217
And
Figure BDA0002034952550000218
and respectively and correspondingly calculating the displacement of the first mark point and the second mark point in the time period according to the centroid coordinates of the first mark point at the starting time and the ending time of the time period and the centroid coordinates of the second mark point at the starting time and the ending time of the time period.
A switching-on and switching-off in-place parameter setting unit: the system is used for moving the handcart to a position where the hand truck is in place for opening, and the centroid coordinates of two mark points acquired in the corresponding handcart image are respectively used as a first opening in-place parameter and a second opening in-place parameter; for moving hand-carts to switching-on positionUnder the position, the centroid coordinates of two acquired corresponding marking points in the handcart image are respectively used as a first closing in-place parameter and a second closing in-place parameter; in the embodiment, images of the handcart are acquired through two image acquisition devices, namely a first image acquisition device and a second image acquisition device; in the switching-on/off in-place parameter setting unit, the handcart is moved to the switching-off in-place position, and the centroid coordinate of the first mark point in the handcart image acquired by the first image acquisition equipment is acquired
Figure BDA0002034952550000221
As a first brake-off-in-place parameter; obtaining the centroid coordinate of the second mark point in the handcart image acquired by the second image acquisition equipment
Figure BDA0002034952550000222
As a second brake-off in-place parameter; the handcart is moved to a position where the handcart is switched on in place, and the centroid coordinate of a first mark point in a handcart image acquired by first image acquisition equipment is acquired
Figure BDA0002034952550000223
As a first switch-on in-place parameter; obtaining the centroid coordinate of the second mark point in the handcart image acquired by the second image acquisition equipment
Figure BDA0002034952550000224
As a second switch-on in-place parameter;
handcart position detecting element: the system is used for acquiring the centroid coordinates of two mark points in a handcart image currently acquired by image acquisition equipment; comparing the centroid coordinates of the two mark points in the currently acquired handcart image with a first brake-off in-place parameter and a second brake-off in-place parameter respectively, and judging whether the handcart moves to a brake-off position according to the comparison result; and comparing the centroid coordinates of the two mark points in the currently acquired handcart image with the first switching-on in-place parameter and the second switching-on in-place parameter respectively, and judging whether the handcart moves to the switching-on position according to the comparison result. In the handcart position detecting unit of the embodiment, the first step is obtainedA centroid coordinate of a first mark point in a handcart image currently acquired by an image acquisition device
Figure BDA0002034952550000225
Obtaining the centroid coordinate of a second mark point in the handcart image currently acquired by a second image acquisition device
Figure BDA0002034952550000226
The centroid coordinate of the first mark point
Figure BDA0002034952550000227
And centroid coordinates of the second marker point
Figure BDA0002034952550000228
Respectively corresponding to the first gate-off in-place parameters
Figure BDA0002034952550000229
And a second brake-off-in-place parameter
Figure BDA00020349525500002210
Comparing, if the parameters are respectively within the preset ranges (delta a, delta b) of the first brake-off in-place parameter and the second brake-off in-place parameter, namely
Figure BDA00020349525500002211
And is
Figure BDA00020349525500002212
Judging that the handcart moves to the opening position; the centroid coordinate of the first mark point
Figure BDA00020349525500002213
And centroid coordinates of the second marker point
Figure BDA00020349525500002214
Respectively corresponding to the first in-place closing parameters
Figure BDA0002034952550000231
And second switch-on in-place parameter
Figure BDA0002034952550000232
Comparing, if the first in-place closing parameter and the second in-place closing parameter are respectively in the preset ranges (delta a, delta b), namely
Figure BDA0002034952550000233
And is
Figure BDA0002034952550000234
It is determined that the hand truck is moved to the on position.
The embodiment discloses a computing device, which comprises a processor and a memory for storing an executable program of the processor, wherein the computing device is connected with an image acquisition module, and when the processor executes the program stored in the memory, the following processes are realized:
controlling an image acquisition device to acquire an image of a handcart provided with two mark points, and acquiring the handcart image acquired by the image acquisition device; in this embodiment, the number of the image acquisition devices is 2, which are respectively a first image acquisition device and a second image acquisition device, the first image acquisition device and the second image acquisition device are respectively connected to the computing device, the computing device controls the acquisition work of the first image acquisition device and the second image acquisition device, and meanwhile, the computing device acquires the handcart images acquired by the first image acquisition device and the second image acquisition device.
Calibrating an object plane resolution parameter of the handcart image; in this embodiment, the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size D of the mark point and the pixel size D of the mark point in a handcart image acquired by image acquisition equipment, and taking the contrast value k of the physical size of the mark point and the pixel size as D/D as an object plane resolution parameter of the handcart image.
When the running speed of the handcart needs to be detected, the centroid coordinates of the mark points in the handcart image when the handcart is at the initial position are obtained, and the handcart movesAcquiring a handcart image acquired by image acquisition equipment in real time, acquiring a centroid coordinate of one mark point from the handcart image, calculating handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the handcart initial position, and calculating the actual handcart displacement at each time according to an object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period and is used as the speed of the handcart. Specifically, in this embodiment, when the running speed of the handcart is detected, the centroid coordinate of the first mark point L in the handcart image acquired by the first image acquisition device when the handcart is at the initial position is acquired
Figure BDA0002034952550000235
The first image acquisition equipment acquires handcart images in real time in the handcart movement process and acquires the centroid coordinates of the first mark points from the handcart images
Figure BDA0002034952550000236
According to the centroid coordinates of the first mark point in the handcart image collected at each moment
Figure BDA0002034952550000237
And the centroid coordinate of the first mark point in the handcart image corresponding to the handcart initial position
Figure BDA0002034952550000241
Calculating the handcart displacement at each moment
Figure BDA0002034952550000242
Wherein
Figure BDA0002034952550000243
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA0002034952550000244
as handcart in xy coordinatesDisplacement in the y-direction in the axis; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA0002034952550000245
And actual displacement in the y direction in the xy coordinate axis
Figure BDA0002034952550000246
Wherein the content of the first and second substances,
Figure BDA0002034952550000247
then calculate
Figure BDA0002034952550000248
And
Figure BDA0002034952550000249
vector sum of
Figure BDA00020349525500002410
As the actual displacement of the hand truck; in this embodiment, when the operating speed of the handcart in a certain time period is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period, and the speed is used as the first speed of the handcart; meanwhile, the centroid coordinate of a second mark point in the handcart image acquired by second image acquisition equipment when the handcart is at the initial position is acquired
Figure BDA00020349525500002411
The second image acquisition equipment acquires the handcart image in real time in the handcart movement process and acquires the centroid coordinate of the second mark point R from the handcart image
Figure BDA00020349525500002412
According to the centroid coordinates of the second mark point R in the handcart image collected at each moment
Figure BDA00020349525500002413
And the second mark point is at the initial position of the handcartCorresponding to the centroid coordinate in the handcart image
Figure BDA00020349525500002414
Calculating the handcart displacement at each moment
Figure BDA00020349525500002415
Wherein
Figure BDA00020349525500002416
Is the displacement of the handcart in the x direction in the xy coordinate axis,
Figure BDA00020349525500002417
the displacement of the handcart in the y direction in the xy coordinate axis is shown; and then calculating the actual displacement of the handcart in the x direction in the xy coordinate axis at each moment according to the object plane resolution parameter k of the handcart image, namely D/D
Figure BDA00020349525500002418
And actual displacement in the y direction in the xy coordinate axis
Figure BDA00020349525500002419
Wherein the content of the first and second substances,
Figure BDA00020349525500002420
then calculate
Figure BDA00020349525500002421
And
Figure BDA00020349525500002422
vector sum of
Figure BDA00020349525500002423
As the actual displacement of the hand truck; in this embodiment, when the running speed of the handcart in a certain time period T is to be detected, the speed of the handcart in the time period is calculated according to the actual displacement of the handcart at each moment in the time period, and is used as the second speed of the handcart; for a certain time period T of the speed to be detected, a first speed sum of the handcart is taken in the time period TThe average value of the second speed is taken as the speed of the handcart in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; and calculating the rotation angle of the handcart in the time period according to the displacement of the two marked points in the time period. Specifically, in the present embodiment, when the operating straightness of the handcart is to be detected within a certain time period T, the centroid coordinates of the first marking point L in the handcart image captured by the first image capturing device at the start time T1 and the end time T2 of the time period T are first obtained
Figure BDA00020349525500002424
And
Figure BDA00020349525500002425
simultaneously acquiring the centroid coordinates of the second marking point R in the handcart image acquired by the second image acquisition equipment at the starting time t1 and the ending time t2 of the time period
Figure BDA00020349525500002426
And
Figure BDA00020349525500002427
in this embodiment, the displacement of the first marker point in the time period T is calculated according to the centroid coordinates of the first marker point L in the handcart image acquired by the first image acquisition device at the start time T1 and the end time T2 of the time period T
Figure BDA00020349525500002428
Wherein
Figure BDA00020349525500002429
Calculating the second mark point according to the centroid coordinate of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time periodDisplacement during the time period
Figure BDA0002034952550000253
Wherein
Figure BDA0002034952550000254
And finally, calculating the turning angle of the handcart in the time period according to the displacement of the two marking points in the time period:
θ＝arctan(Ix/Iy)；
Figure BDA0002034952550000251
Figure BDA0002034952550000252
wherein
Figure BDA0002034952550000255
Respectively, the displacement of one of the mark points, namely the first mark point L, in the directions of the two coordinate axes x and y in the time period T,
Figure BDA0002034952550000256
respectively representing the displacement of another mark point, namely a second mark point R in the directions of two coordinate axes of x and y in the time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
Switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the brake is in place, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two mark points in the handcart image, and respectively taking the centroid coordinates of the two mark points as a first brake-off in-place parameter and a second brake-off in-place parameter; controlling the handcart to move to a switching-on in-place position, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two marking points in the handcart image, and respectively taking the centroid coordinates of the two marking points as a first switching-on in-place parameter and a second switching-on in-place parameterAnd (4) parameters. Specifically, in this embodiment, the in-place switching parameter setting process is as follows: controlling the handcart to move to a position where the brake is in place, respectively acquiring handcart images at the position by the first image acquisition device and the second image acquisition device, and acquiring centroid coordinates of the first mark point in the handcart images through the handcart images acquired by the first image acquisition device
Figure BDA0002034952550000257
As a first brake-off-in-place parameter; acquiring the centroid coordinate of the second mark point in the handcart image through the handcart image acquired by the second image acquisition equipment
Figure BDA0002034952550000258
As a second brake-off in-place parameter; controlling the handcart to move to a position where the handcart is switched on in place, respectively acquiring handcart images at the position by the first image acquisition device and the second image acquisition device, and acquiring centroid coordinates of the first mark point in the handcart images through the handcart images acquired by the first image acquisition device
Figure BDA0002034952550000259
As a first switch-on in-place parameter; acquiring the centroid coordinate of the second mark point in the handcart image through the handcart image acquired by the second image acquisition equipment
Figure BDA00020349525500002510
As a second switch-on in-place parameter;
detecting the position of the handcart: acquiring a handcart image currently acquired by image acquisition equipment, acquiring centroid coordinates of two mark points in the currently acquired handcart image, comparing the centroid coordinates of the two mark points with a first brake in-place parameter and a second brake in-place parameter respectively, and judging that the handcart moves to a brake separating position if the centroid coordinates of the two mark points are within a preset range of the first brake in-place parameter and the second brake in-place parameter; comparing the obtained centroid coordinates of the two mark points with a first in-place closing parameter and a second in-place closing parameter respectively,and if the first switching-on in-place parameter and the second switching-on in-place parameter are both within the preset range, judging that the handcart moves to the switching-on position. Specifically, in this embodiment, the process of detecting the position of the hand truck is as follows: acquiring handcart images currently acquired by a first image acquisition device and a second image acquisition device respectively, and acquiring the centroid coordinates of a first mark point in the handcart image currently acquired by the first image acquisition device
Figure BDA0002034952550000261
Meanwhile, the centroid coordinate of the second mark point in the handcart image currently acquired by the second image acquisition equipment is acquired
Figure BDA0002034952550000262
The centroid coordinate of the first mark point
Figure BDA0002034952550000263
And centroid coordinates of the second marker point
Figure BDA0002034952550000264
Respectively corresponding to the first gate-off in-place parameters
Figure BDA0002034952550000265
And a second brake-off-in-place parameter
Figure BDA0002034952550000266
Comparing, if the parameters are respectively within the preset ranges (delta a, delta b) of the first brake-off in-place parameter and the second brake-off in-place parameter, namely
Figure BDA0002034952550000267
And is
Figure BDA0002034952550000268
Judging that the handcart moves to the opening position; the centroid coordinate of the first mark point
Figure BDA0002034952550000269
And centroid coordinates of the second marker point
Figure BDA00020349525500002610
Respectively corresponding to the first in-place closing parameters
Figure BDA00020349525500002611
And second switch-on in-place parameter
Figure BDA00020349525500002612
Comparing, if the first in-place closing parameter and the second in-place closing parameter are respectively in the preset ranges (delta a, delta b), namely
Figure BDA00020349525500002613
And is
Figure BDA00020349525500002614
It is determined that the hand truck is moved to the on position.
In this embodiment, the computing device may be an intelligent device such as a computer and a mobile terminal.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (8)

1. A method for monitoring the motion state of a handcart with a switch cabinet chassis is characterized by comprising the following steps:
arranging image acquisition equipment, and acquiring an image of the handcart provided with two mark points through the image acquisition equipment;
parameter calibration: calibrating an object plane resolution parameter of the handcart image;
detecting the running speed of the handcart: acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image in real time by image acquisition equipment in the moving process of the handcart and acquiring the centroid coordinate of one mark point from the handcart image, calculating the handcart displacement at each time according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then calculating the actual handcart displacement at each time according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
detecting the operation straightness of the handcart: when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; calculating the turning angle of the handcart in the time period according to the displacement of the two mark points in the time period;
also comprises the following steps:
switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the brake is in place, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two mark points in the handcart image, and respectively taking the centroid coordinates of the two mark points as a first brake-off in-place parameter and a second brake-off in-place parameter; controlling the handcart to move to a switching-on in-place position, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two marking points in the handcart image, and respectively taking the centroid coordinates of the two marking points as a first switching-on in-place parameter and a second switching-on in-place parameter;
detecting the position of the handcart: acquiring a handcart image currently acquired by image acquisition equipment, acquiring centroid coordinates of two mark points in the currently acquired handcart image, comparing the centroid coordinates of the two mark points with a first brake in-place parameter and a second brake in-place parameter respectively, and judging that the handcart moves to a brake separating position if the centroid coordinates of the two mark points are within a preset range of the first brake in-place parameter and the second brake in-place parameter; and comparing the obtained centroid coordinates of the two mark points with a first in-place closing parameter and a second in-place closing parameter respectively, and judging that the handcart moves to a closing position if the centroid coordinates are within the preset ranges of the first in-place closing parameter and the second in-place closing parameter.
2. The method for monitoring the handcart motion state of the switch cabinet chassis according to claim 1, wherein the rotation angle of the handcart in the time period is calculated according to the displacement of the two mark points in the time period as follows:
θ＝arctan(Ix/Iy)；
Figure FDA0002895612340000021
Figure FDA0002895612340000022
wherein
Figure FDA0002895612340000023
Respectively the displacement of one of the marked points L in the directions of the two coordinate axes x and y during the time period T,
Figure FDA0002895612340000024
respectively displacement of another mark point R in the directions of two coordinate axes of x and y in a time period T; and determining the straightness of the handcart movement according to the rotation angle of the handcart in the time period.
3. The method for monitoring the handcart motion state of the switch cabinet chassis according to claim 1, wherein an image acquisition device is arranged above the handcart with two mark points, and is defined as a first image acquisition device; the observation range of the first image acquisition equipment covers the whole motion area of the two mark points on the handcart; defining two mark points on the handcart as a first mark point and a second mark point;
when the running speed of a handcart is detected, the centroid coordinates of mark points in a handcart image acquired by first image acquisition equipment when the handcart is at an initial position are acquired, the handcart image is acquired by the first image acquisition equipment in real time in the moving process of the handcart and the centroid coordinates of one mark point are acquired from the handcart image, the handcart displacement at each time is calculated according to the centroid coordinates of the mark points in the handcart image acquired at each time and the centroid coordinates of the mark points in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, the centroid coordinate of a first mark point in a handcart image acquired by first image acquisition equipment at the starting time and the ending time of the time period and the centroid coordinate of a second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period are acquired; calculating the displacement of the first mark point in the time period according to the centroid coordinates of the first mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period; and calculating the displacement of the second mark point in the time period according to the centroid coordinates of the second mark point in the handcart image acquired by the first image acquisition equipment at the starting time and the ending time of the time period.
4. The method for monitoring the handcart motion state of the switch cabinet chassis according to claim 1, wherein two image acquisition devices are arranged above the handcart provided with two mark points, and are respectively defined as a first image acquisition device and a second image acquisition device; defining two mark points on the handcart as a first mark point and a second mark point; the observation range of the first image acquisition equipment covers the whole motion area of the first mark point on the handcart, and the observation range of the second image acquisition equipment covers the whole motion area of the second mark point on the handcart;
when the running speed of the handcart is detected, the centroid coordinate of a first mark point in a handcart image acquired by first image acquisition equipment when the handcart is at an initial position is acquired, the handcart image is acquired by the first image acquisition equipment in real time in the moving process of the handcart and the centroid coordinate of the first mark point is acquired from the first image acquisition equipment, the handcart displacement at each time is calculated according to the centroid coordinate of the first mark point in the handcart image acquired at each time and the centroid coordinate of the first mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period, and taking the speed as a first speed of the handcart; meanwhile, the centroid coordinate of a second mark point in a handcart image acquired by second image acquisition equipment when the handcart is at the initial position is acquired, the handcart image is acquired by the second image acquisition equipment in real time in the moving process of the handcart and the centroid coordinate of the second mark point is acquired from the handcart image, the handcart displacement at each moment is calculated according to the centroid coordinate of the second mark point in the handcart image acquired at each moment and the centroid coordinate of the second mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each moment is calculated according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period, and taking the speed as the second speed of the handcart; for a certain time period of the speed to be detected, taking the average value of the first speed and the second speed of the handcart in the time period as the speed of the handcart in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, the centroid coordinates of a first mark point in a handcart image acquired by first image acquisition equipment at the starting time and the ending time of the time period are acquired; simultaneously acquiring the centroid coordinates of the second mark points in the handcart images acquired by the second image acquisition equipment at the starting time and the ending time of the time period; and respectively and correspondingly calculating the displacement of the first mark point and the second mark point in the time period according to the centroid coordinates of the first mark point at the starting time and the ending time of the time period and the centroid coordinates of the second mark point at the starting time and the ending time of the time period.
5. The method for monitoring the motion state of the handcart of the chassis of the switch cabinet according to claim 1, wherein the specific process of parameter calibration is as follows: for a mark point on the handcart, acquiring the physical size of the mark point and the pixel size of the mark point in a handcart image acquired by image acquisition equipment, and taking the comparison value of the physical size and the pixel size of the mark point as an object plane resolution parameter of the handcart image.
6. The method for monitoring the moving state of the handcart with the switch cabinet chassis according to claim 1, wherein when the running speed of the handcart in a certain time period T is detected, the speed of the handcart in the time period T is calculated according to the actual displacement of the handcart at each moment in the time period T and is as follows:
Figure FDA0002895612340000041
Figure FDA0002895612340000042
wherein t isi＝t0,t1,t2,...,tn，ti＝t0,t1,t2,...,tnRespectively, 0, 1, 2 …, n times, Δ T of the time period T from the start time to the end timei＝ti-t0(ii) a Wherein t is0The time corresponding to the starting time point of the time period T, TnThe time corresponding to the time point when the time period T ends;
Figure FDA0002895612340000043
is tiThe displacement of the trolley at any moment; a is0I.e. the speed of the hand truck in the time period T.
7. The utility model provides a cubical switchboard chassis handcart motion state monitoring system which characterized in that includes:
the image acquisition equipment is used for acquiring an image of the handcart provided with the two mark points;
a parameter calibration unit: the handcart image resolution parameter calibration method comprises the steps of calibrating an object plane resolution parameter of a handcart image;
handcart operating speed detecting element: the handcart displacement measuring device is used for acquiring the centroid coordinate of a mark point in a handcart image when the handcart is at an initial position, acquiring the handcart image acquired by image acquisition equipment in real time in the handcart movement process, acquiring the centroid coordinate of one mark point from the handcart image, and calculating the handcart displacement at each moment according to the centroid coordinate of the mark point in the handcart image acquired at each moment and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart; then, calculating the actual displacement of the handcart at each moment according to the object plane resolution parameters of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
handcart operation straightness detection unit: when the operating straightness of the handcart in a certain time period is to be detected, the method is used for acquiring the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period, and calculating the displacement of the two mark points in the time period according to the centroid coordinates of the two mark points in the handcart image acquired at the starting time and the ending time of the time period; calculating the turning angle of the handcart in the time period according to the displacement of the two mark points in the time period;
further comprising:
a switching-on and switching-off in-place parameter setting unit: the system is used for moving the handcart to a position where the hand truck is in place for opening, and the centroid coordinates of two mark points acquired in the corresponding handcart image are respectively used as a first opening in-place parameter and a second opening in-place parameter; the system comprises a handcart image acquisition unit, a first switch-on in-place parameter acquisition unit, a second switch-on in-place parameter acquisition unit, a first switch-on in-place parameter acquisition unit and a second switch-on in-place parameter acquisition unit, wherein the first switch-on in-place parameter acquisition unit is used for acquiring a first switch-on in-place parameter and a second switch-on in-place;
handcart position detecting element: the system is used for acquiring the centroid coordinates of two mark points in a handcart image currently acquired by image acquisition equipment; comparing the centroid coordinates of the two mark points in the currently acquired handcart image with a first brake-off in-place parameter and a second brake-off in-place parameter respectively, and judging whether the handcart moves to a brake-off position according to the comparison result; and comparing the centroid coordinates of the two mark points in the currently acquired handcart image with the first switching-on in-place parameter and the second switching-on in-place parameter respectively, and judging whether the handcart moves to the switching-on position according to the comparison result.
8. A computing device comprising a processor and a memory for storing processor executable programs, characterized in that: the computing equipment is connected with the image acquisition module, and when the processor executes the program stored in the memory, the following processes are realized:
controlling an image acquisition device to acquire an image of a handcart provided with two mark points;
calibrating an object plane resolution parameter of the handcart image;
when the running speed of a handcart needs to be detected, the centroid coordinate of a mark point in a handcart image at an initial position of the handcart is obtained, an image acquisition device acquires the handcart image in real time in the moving process of the handcart and obtains the centroid coordinate of one mark point from the handcart image, the handcart displacement at each time is calculated according to the centroid coordinate of the mark point in the handcart image acquired at each time and the centroid coordinate of the mark point in the handcart image corresponding to the initial position of the handcart, and then the actual handcart displacement at each time is calculated according to the object plane resolution parameter of the handcart image; when the running speed of the handcart in a certain time period is detected, calculating the speed of the handcart in the time period according to the actual displacement of the handcart at each moment in the time period;
when the operating straightness of the handcart in a certain time period is to be detected, firstly, centroid coordinates of two mark points in handcart images acquired at the starting time and the ending time of the time period are acquired, and displacement of the two mark points in the time period is calculated according to the centroid coordinates of the two mark points in the handcart images acquired at the starting time and the ending time of the time period; calculating the turning angle of the handcart in the time period according to the displacement of the two mark points in the time period;
switching-on and switching-off in-place parameter setting: controlling the handcart to move to a position where the brake is in place, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two mark points in the handcart image, and respectively taking the centroid coordinates of the two mark points as a first brake-off in-place parameter and a second brake-off in-place parameter; controlling the handcart to move to a switching-on in-place position, acquiring a handcart image at the position by image acquisition equipment, then acquiring centroid coordinates of two marking points in the handcart image, and respectively taking the centroid coordinates of the two marking points as a first switching-on in-place parameter and a second switching-on in-place parameter;
detecting the position of the handcart: acquiring a handcart image currently acquired by image acquisition equipment, acquiring centroid coordinates of two mark points in the currently acquired handcart image, comparing the centroid coordinates of the two mark points with a first brake in-place parameter and a second brake in-place parameter respectively, and judging that the handcart moves to a brake separating position if the centroid coordinates of the two mark points are within a preset range of the first brake in-place parameter and the second brake in-place parameter; and comparing the obtained centroid coordinates of the two mark points with a first in-place closing parameter and a second in-place closing parameter respectively, and judging that the handcart moves to a closing position if the centroid coordinates are within the preset ranges of the first in-place closing parameter and the second in-place closing parameter.
CN201910321780.2A 2019-04-22 2019-04-22 Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis Active CN110044416B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910321780.2A CN110044416B (en) 2019-04-22 2019-04-22 Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910321780.2A CN110044416B (en) 2019-04-22 2019-04-22 Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis

Publications (2)

Publication Number Publication Date
CN110044416A CN110044416A (en) 2019-07-23
CN110044416B true CN110044416B (en) 2021-03-30

Family

ID=67278142

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910321780.2A Active CN110044416B (en) 2019-04-22 2019-04-22 Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis

Country Status (1)

Country Link
CN (1) CN110044416B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112630639B (en) * 2020-12-01 2022-12-23 国网江苏省电力有限公司检修分公司 System and method for online detection of meshing state of handcart contact of high-voltage switch cabinet

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002094977A (en) * 2000-09-14 2002-03-29 Fujitsu Ten Ltd Image processing unit
CN102092405B (en) * 2010-12-16 2013-03-27 株洲时代电子技术有限公司 Method and system device for measuring rail curve parameters
JP6161429B2 (en) * 2013-06-25 2017-07-12 東京航空計器株式会社 Vehicle speed measuring device
CN106526467B (en) * 2016-10-14 2019-07-19 西安交通大学 A kind of high-voltage circuit-breaker switching on-off speed characteristics measurement method based on machine vision
CN106803262A (en) * 2016-12-21 2017-06-06 上海交通大学 The method that car speed is independently resolved using binocular vision
CN108759764B (en) * 2018-08-31 2021-03-16 京东方科技集团股份有限公司 Track straightness accuracy determining device
CN109532779B (en) * 2018-09-06 2021-10-15 蔚来(安徽)控股有限公司 Vision positioning system and positioning method in power swapping station

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
KYN28型手车式开关柜智能化的探究与分析;李耀杰等;《电气传动自动化》;20170430;第39卷(第4期);第30-32页 *

Also Published As

Publication number Publication date
CN110044416A (en) 2019-07-23

Similar Documents

Publication Publication Date Title
CN109029257B (en) Large-scale workpiece pose measurement system and method based on stereoscopic vision and structured light vision
US7990415B2 (en) Image input device and calibration method
CN109297413B (en) Visual measurement method for large-scale cylinder structure
JP2003505681A (en) Device for defining wheel geometry and / or axis geometry of a motor vehicle
KR20120053275A (en) Method and apparatus for estimating 3d face position
CN110936378B (en) Robot hand-eye relation automatic calibration method based on incremental compensation
CN110605718A (en) Transformer substation inspection robot system and inspection method
CN110044416B (en) Method, system and equipment for monitoring motion state of handcart with switch cabinet chassis
CN109556510B (en) Position detection device and computer-readable storage medium
CN107804708A (en) A kind of pivot localization method of placement equipment feeding rotary shaft
CN112634269B (en) Railway vehicle body detection method
CN102818544A (en) On-line measurement method for pitch circle center of automobile hub bolt hole and central eccentric distance of central hole
KR100223981B1 (en) Video positioning apparatus and method for a pouring vessel
JP5222430B1 (en) Dimension measuring apparatus, dimension measuring method and program for dimension measuring apparatus
US20140313324A1 (en) Dynamic results projection for moving test object
JPH07120211B2 (en) Coordinate alignment method in intelligent robot
CN108871194A (en) Visual sensor work functions quick recovery method
CN111800992A (en) Refrigeration equipment control method, device, equipment and computer readable storage medium
CN109855534B (en) Method, system, medium and equipment for judging position of chassis handcart of switch cabinet
CN115493489A (en) Method for detecting relevant surface of measured object
TWI582036B (en) Storage space identification system of automatic crane and storage space identification method thereof
CN108109178A (en) A kind of camera marking method of train wheel abrasion parameter detecting
CN114404045A (en) Robot chassis with pose sensing function and automatic adjusting method thereof
KR20130070939A (en) Precise diameter measurement device and method using laser irradiation device
CN115397634A (en) Device for acquiring position of visual sensor in robot control coordinate system, robot system, method, and computer program

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant