CN117806218A

CN117806218A - Method and device for determining position of electrical equipment, electronic equipment and storage medium

Info

Publication number: CN117806218A
Application number: CN202410216831.6A
Authority: CN
Inventors: 吴成洋; 黄清堃; 吴俊�; 聂德煜; 孙先礼
Original assignee: Xiamen Guangheyuan Industrial Trade Co ltd
Current assignee: Xiamen Guangheyuan Industrial Trade Co ltd
Priority date: 2024-02-28
Filing date: 2024-02-28
Publication date: 2024-04-02
Anticipated expiration: 2044-02-28
Also published as: CN117806218B

Abstract

The application provides a method and a device for determining the position of an electrical device, an electronic device and a storage medium, wherein the method comprises the following steps: the method comprises the steps of performing first monitoring on a target area in a power distribution cabinet for placing a target chassis, confirming whether the target chassis bears target electrical equipment or not, and determining a first relative position between the target area and the target area; the first relative position is different from the preset relative position, and is adjusted to be a second relative position; the control target electric driving device drives the target chassis vehicle-mounted moving target electric device to move to a preset point location and performs second monitoring so as to obtain a second monitoring result; determining a first actual moving distance of the target chassis according to the second monitoring result; determining a first point position of the target chassis according to the second relative position and the first actual moving distance; after the first point position is determined to be different from the preset point position, determining a target point position difference between the first point position and the preset point position; and determining the target position of the target electrical equipment according to the second relative position and the target point potential difference.

Description

Method and device for determining position of electrical equipment, electronic equipment and storage medium

Technical Field

The present invention relates to the field of telecommunications technologies, and in particular, to a method and an apparatus for determining a position of an electrical device, an electronic device, and a storage medium.

Background

With the rapid development of industry and urbanization, power demand is increasing. The power distribution cabinet is an important component of an electric power system for converting high voltage power into low voltage power suitable for different devices and circuits. And the chassis is used as a core component of the power distribution cabinet and carries important tasks of transmitting and distributing power. Therefore, the importance of chassis in power distribution cabinets is increasingly highlighted.

In the related art, an operator drives a chassis on-board electrical device in a power distribution cabinet to move from a test position to a working position by a manual mechanism. Firstly locking the electric equipment on the chassis, then pushing the chassis on-board electric equipment to move from the test position to the working position by an operator through rotating a hand wheel or using a lever mechanism, and when the chassis on-board electric equipment reaches the working position, fixing the chassis and the electric equipment at the working position through a mechanical locking device so as to ensure the stability and the reliability of manual operation.

However, in the above manner, the electrical equipment is moved from the test position to the working position by manual operation, wherein the accuracy of the manual operation depends on the experience and skill of the operator to a great extent, which may result in inaccurate positioning of the electrical equipment, and thus lower accuracy of moving positioning of the chassis on-board electrical equipment in the related art.

Disclosure of Invention

The application provides a method and a device for determining the position of an electrical device, an electronic device and a storage medium, which are used for improving the accuracy of mobile positioning of a chassis vehicle-mounted mobile electrical device.

In a first aspect, the present application provides a method for determining a location of an electrical device, the method comprising: first monitoring is carried out on a target area in the power distribution cabinet to obtain a first monitoring result, wherein the target area is an area for placing a target chassis, and the target chassis is used for bearing electrical equipment; under the condition that the target chassis is loaded with target electrical equipment according to the first monitoring result, determining a first relative position of the target electrical equipment and the target chassis, wherein the electrical equipment comprises the target electrical equipment; under the condition that the first relative position is different from a preset relative position, the first relative position of the target electrical equipment and the target chassis is adjusted to a second relative position, wherein the second relative position is the same as the preset relative position; after the first relative position is adjusted to the second relative position, controlling a target electric driving device to drive the target chassis vehicle in the power distribution cabinet to move towards a preset point, and performing second monitoring on the process that the target electric driving device drives the target chassis vehicle to move towards the preset point so as to obtain a second monitoring result; determining a first actual moving distance of the target chassis vehicle for moving the target electrical equipment under the condition that the target electrical equipment is determined to stop driving the target chassis vehicle according to the second monitoring result and the target chassis vehicle stops moving the target electrical equipment; determining a first point position of the target chassis according to the second relative position and the first actual moving distance, wherein the first point position is the current position of the target chassis in the power distribution cabinet; under the condition that the first point position is different from the preset point position, determining a target point position difference between the first point position and the preset point position; and determining the target position of the target electrical equipment according to the second relative position and the target point potential difference.

By adopting the technical scheme, the first monitoring is carried out on the specific area (namely the target area) in the power distribution cabinet, wherein the specific area is the position where the target chassis is preset to be placed, and preliminary position information is provided for subsequent operation. And acquiring a first monitoring result, and determining the initial relative position (namely the first relative position) of the target electrical equipment relative to the target chassis after confirming that the target electrical equipment is borne on the target chassis according to the first monitoring result. If the first relative position of the target electrical equipment is different from the preset relative position, the first relative position of the target electrical equipment relative to the target chassis is adjusted until the second relative position of the target electrical equipment relative to the target chassis is the same as the preset relative position, accuracy of the initial relative position of the target electrical equipment is ensured, an accurate initial relative position is provided for a subsequent moving process, and errors in the moving process are reduced. After the first relative position of the target electrical equipment relative to the target chassis is adjusted to be the second relative position, the target electrical driving equipment is controlled to drive the chassis on-vehicle moving target electrical equipment to move to a preset point, the whole moving process is monitored in real time, the moving process can be adjusted in time, and the target chassis and the target electrical equipment are ensured to accurately move to the preset point according to a preset path. After the target electric driving device stops driving the target chassis vehicle to move, determining the actual moving distance of the target chassis vehicle, and by acquiring the first actual moving distance, evaluating the accuracy of the moving process and providing a basis for subsequent adjustment. The second relative position and the first actual moving distance are combined to determine the actual position (namely the first point position) of the target chassis in the power distribution cabinet, and accurate position information is provided for verifying whether the chassis reaches the preset position. If the first point position deviates from the preset point position, the difference (namely the target point position difference) between the first point position and the preset point position is calculated, and the moving path and the moving point position of the target chassis can be accurately adjusted through the target point position difference, so that the moving target electrical equipment of the target chassis can be ensured to accurately reach the preset point position. And determining the target position to be reached by the target electrical equipment according to the second relative position and the target point potential difference. Through this series of meticulous monitoring and adjustment, not only ensured the accuracy of electrical equipment and chassis car relative position, still ensured the absolute position accuracy in the whole switch board, and then greatly improved the electrical equipment positioning accuracy in the switch board. The technical problem that the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet in the related art is low is solved, and the technical effect of improving the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet is achieved.

Optionally, the determining, when the target chassis is determined to bear the target electrical device according to the first monitoring result, a first relative position of the target electrical device and the target chassis specifically includes: determining a first coordinate set of a first boundary point set of the target electrical equipment, and determining a second coordinate set of a second boundary point set of the target chassis, wherein the first coordinate set is the coordinate set of the first boundary point set of the target electrical equipment, and the second coordinate set is the coordinate set of the second boundary point set of the target chassis; and determining the first relative position of the target electrical equipment and the target chassis according to the first coordinate set and the second coordinate set.

By adopting the technical scheme, the space coordinates of each point on the boundary of the target electrical equipment are determined, a first coordinate set of a first boundary point set is formed, and accurate data are provided for space positioning and shape recognition of the target electrical equipment. And determining the space coordinates of each point on the boundary of the target chassis, and forming a second coordinate set of a second boundary point set, so as to provide accurate data for space positioning and shape recognition of the target chassis. The first relative position between the first coordinate set of the target electrical equipment and the second coordinate set of the target chassis is determined according to the first coordinate set of the target electrical equipment and the second coordinate set of the target chassis, so that the position of the target electrical equipment relative to the target chassis can be accurately determined, and basis is provided for subsequent movement, installation or adjustment and the like, thereby improving the reliability of the movement positioning of the target chassis on-board moving target electrical equipment.

Optionally, the adjusting the first relative position of the target electrical device and the target chassis to the second relative position when the first relative position is different from the preset relative position specifically includes: determining a first relative distance between the first set of boundary points and the second set of boundary points; and adjusting the first relative distance according to a preset relative position so as to adjust the first relative position to the second relative position.

By adopting the technical scheme, the current actual distance (namely the first relative distance) between the first boundary point set of the target electrical equipment and the second boundary point set of the target chassis is determined, accurate data of the actual distance between the two components is provided, and accurate basic data is provided for subsequent adjustment. And adjusting the first relative distance according to the preset relative position, adjusting the first relative position to a second relative position which is the same as the preset relative position, and ensuring that the position of the target electrical equipment relative to the target chassis truck meets preset requirements before moving, thereby providing a guarantee for ensuring the operation precision and the correct implementation of the equipment function.

Optionally, the determining the target position of the target electrical device according to the second relative position and the target point potential difference specifically includes: controlling the target electric driving device to drive the target chassis vehicle to move from the first point position to the preset point position according to the target point position difference, and performing third monitoring on the process that the target electric driving device drives the target chassis vehicle to move from the first point position to the preset point position, so as to obtain a third monitoring result; determining that the target chassis vehicle moves the target electrical equipment to the preset point according to the third monitoring result; and calculating the second relative position and the preset point position to determine the target position of the target electrical equipment.

By adopting the technical scheme, the target electric driving device is controlled to drive the target chassis vehicle-mounted moving target electric device to move from the current position (namely the first point position) to the preset point according to the target point position difference, so that the target electric device can move accurately from the first point position to the preset point position, and an accurate position is provided for subsequent installation or use of the target electric device. The real-time monitoring target electric drive equipment drives the moving process of the target chassis vehicle-mounted moving target electric equipment, namely, the moving process is evaluated through real-time monitoring, so that correct movement is ensured, if deviation occurs, the moving process can be timely found and corrected, and further, the moving and positioning precision of the target chassis vehicle-mounted moving target electric equipment is ensured. And the third monitoring is utilized to verify whether the target chassis vehicle-mounted moving target electrical equipment reaches a preset point position accurately or not, and further, guarantee is provided for accurate positioning of the target electrical equipment. And calculating the preset point position and the second relative position reached by the target electrical equipment to determine the final target position of the target electrical equipment, and providing accurate position information for the installation or work of the target electrical equipment in the power distribution cabinet through accurate calculation.

Optionally, after the determining that the target chassis vehicle moves the target electrical device to the preset point according to the third monitoring result, the method further includes: and sending a control instruction to the target electric driving device so as to control the target electric driving device to stop driving the target chassis to move by the vehicle.

By adopting the technical scheme, the control command is sent out to control the target electric driving equipment to stop driving force to the target chassis, so that the target chassis stops moving the target electric equipment, and stops driving the target chassis to move, the overdrive or dislocation can be effectively prevented, the target electric equipment can safely reach the preset position, and the situation that potential damage is caused by inaccurate control in the moving process or further correction is required is avoided.

Optionally, after the calculating the second relative position and the preset point position to determine the target position of the target electrical device, the method further includes: and performing a safety locking operation on the target chassis and the target electrical equipment.

By adopting the technical scheme, after the target chassis vehicle-mounted moving target electrical equipment moves to the preset point position, safety locking operation is carried out on the target chassis vehicle and the target electrical equipment, so that the target chassis vehicle and the target electrical equipment can be ensured to be in a safe state, unauthorized operation or accidental starting can be prevented by the safety locking operation, the fixed position of the target electrical equipment can be kept, and a stable and safe environment is provided for subsequent operation.

Optionally, after determining the first relative position of the target electrical device and the target chassis under the condition that the target chassis is determined to bear the target electrical device according to the first monitoring result, the method further includes: under the condition that the first relative position is the same as the preset relative position, controlling a target electric driving device to drive the target chassis vehicle in the power distribution cabinet to move towards a preset point, and performing fourth monitoring on the process that the target electric driving device drives the target chassis vehicle to move towards the preset point so as to obtain a fourth monitoring result; determining a second actual moving distance for the target chassis vehicle to move with the target electrical device under the condition that the target electrical device is determined to stop driving the target chassis vehicle according to the fourth monitoring result and the target chassis vehicle stops moving the target electrical device; determining a second point position of the target chassis according to the second relative position and the second actual moving distance, wherein the second point position is the current position of the target chassis in the power distribution cabinet; and under the condition that the second point position is determined to be the same as the preset point position, determining the target position of the target electrical equipment according to the second relative position and the second point position.

By adopting the technical scheme, under the condition that the initial relative position (namely the first relative position) of the target electric equipment relative to the target chassis is the same as the preset relative position, the target electric drive equipment is controlled to drive the target chassis on-vehicle target electric equipment in the power distribution cabinet to move to the preset point, so that the target chassis on-vehicle target electric equipment is ensured to safely and accurately move to the preset point according to a preset path and mode, and a foundation is laid for the accuracy and safety of subsequent operation. The real-time monitoring target electric drive equipment drives the moving process of the target chassis vehicle-mounted moving target electric equipment, a fourth monitoring result is obtained, the moving process is ensured to be carried out according to a set travel through real-time monitoring, any abnormality or deviation is timely detected, and the safety and accuracy of the moving process are ensured. And determining that the target electric driving equipment stops driving the target chassis, the target chassis stops moving the target electric equipment, and determining a second actual moving distance of the target chassis moving the target electric equipment, wherein the second actual moving distance is a key for ensuring that the target chassis moving the target electric equipment accurately reaches a preset position, and is also a basis for evaluating the moving result and performing subsequent adjustment. And determining the current position (namely a second point position) of the target chassis in the power distribution cabinet according to the second relative position and the second actual moving distance, and determining the accurate position of the target chassis is helpful for confirming whether the movement is successful or not and providing accurate basic data for possible subsequent calibration or adjustment. If the second point position is the same as the preset point position, the accurate target position of the target electrical equipment can be determined according to the second relative position and the second point position, so that the target electrical equipment can be accurately positioned, the accurate placement of the target electrical equipment in the power distribution cabinet is ensured, and further the functional and performance stability and safety of the target electrical equipment can be ensured.

In a second aspect, an embodiment of the present application provides a device for determining a position of an electrical apparatus, where the device includes: the first acquisition module is used for carrying out first monitoring on a target area in the power distribution cabinet to acquire a first monitoring result, wherein the target area is an area for placing a target chassis, and the target chassis is used for bearing electrical equipment; the first determining module is used for determining a first relative position of the target electrical equipment and the target chassis when the target electrical equipment is carried on the target chassis according to the first monitoring result, wherein the electrical equipment comprises the target electrical equipment; the adjusting module is used for adjusting the first relative position of the target electrical equipment and the target chassis to be a second relative position under the condition that the first relative position is different from a preset relative position, wherein the second relative position is the same as the preset relative position; the second acquisition module is used for controlling the target electric driving equipment to drive the target chassis vehicle in the power distribution cabinet to move towards a preset point after the first relative position is adjusted to the second relative position, and performing second monitoring on the process that the target electric driving equipment drives the target chassis vehicle to move towards the preset point so as to acquire a second monitoring result; the second determining module is used for determining a first actual moving distance of the target electric equipment when the target electric driving equipment stops driving the target chassis according to the second monitoring result and the target chassis stops moving the target electric equipment; the third determining module is used for determining a first point position of the target chassis according to the second relative position and the first actual moving distance, wherein the first point position is the current position of the target chassis in the power distribution cabinet; a fourth determining module, configured to determine a target point bit difference between the first point location and the preset point location when the first point location is determined to be different from the preset point location; and a fifth determining module for determining a target position of the target electrical device according to the second relative position and the target point potential difference.

In a third aspect, an embodiment of the present application provides an electronic device, including: one or more processors and memory; the memory is coupled with the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors call to cause the electronic device to perform the method as described in the first aspect and any possible implementation of the first aspect.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium comprising instructions that, when executed on an electronic device, cause the electronic device to perform a method as described in the first aspect and any possible implementation of the first aspect.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. the technical problem that the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet in the related art is low is solved, and the technical effect of improving the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet is achieved.

2. The first relative position between the first coordinate set of the target electrical equipment and the second coordinate set of the target chassis is determined according to the first coordinate set of the target electrical equipment and the second coordinate set of the target chassis, so that the position of the target electrical equipment relative to the target chassis can be accurately determined, and basis is provided for subsequent movement, installation or adjustment and the like, thereby improving the reliability of the movement positioning of the target chassis on-board moving target electrical equipment.

3. And adjusting the first relative distance according to the preset relative position, adjusting the first relative position to a second relative position which is the same as the preset relative position, and ensuring that the position of the target electrical equipment relative to the target chassis truck meets preset requirements before moving, thereby providing a guarantee for ensuring the operation precision and the correct implementation of the equipment function.

Drawings

Fig. 1 is a flow chart of a method for determining a position of an electrical device according to an embodiment of the present application;

FIG. 2 is a block diagram of a determining device for determining a position of an electrical device according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to the disclosure in an embodiment of the present application.

Detailed Description

The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this application is intended to encompass any or all possible combinations of one or more of the listed items.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

The application provides a method for determining a position of an electrical device, referring to fig. 1, fig. 1 is a flow chart of the method for determining a position of an electrical device, provided in an embodiment of the application, including the following steps:

step S101, performing first monitoring on a target area in a power distribution cabinet to obtain a first monitoring result, wherein the target area is an area for placing a target chassis, and the target chassis is used for bearing electrical equipment;

in the above embodiment, the control system performs the first monitoring on the target area in the power distribution cabinet to obtain the first monitoring result. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit and related software, and the specific implementation steps include, initializing the control system, powering up the control system and performing self-checking, ensuring that all hardware and software components are in a working state, and loading the control system with characteristic parameters of a target area in the power distribution cabinet, such as the size, color and position coordinates of a target chassis; starting a monitoring function, and enabling a control system to activate a high-resolution camera and a sensor in a power distribution cabinet, such as an infrared sensor, a laser scanner and the like, so as to start real-time monitoring of a target area; collecting monitoring data, capturing a real-time visual image of a target area by a high-resolution camera, and simultaneously acquiring information (such as position, distance, temperature and the like) of a target chassis by a sensor; analyzing and processing data (all data can be transmitted to a central processing unit for processing in real time), software in a control system uses an image recognition algorithm to analyze visual data, the existence and the position of a target chassis are recognized, and the data from a sensor can be integrated through the software, so that the accuracy and the reliability of target detection are improved; acquiring a first monitoring result, once the target chassis is accurately identified, calculating the position of the target chassis by software, confirming whether the target chassis carries electrical equipment or not, and determining the accurate position of the target chassis; the control system records the first monitoring result in the internal memory, and can transmit the first monitoring result to the remote monitoring center through the network interface, and meanwhile, the first monitoring result can be displayed on the local operation interface so that the staff can check. By implementing the steps, the control system completes the first monitoring of the target area in the power distribution cabinet and successfully acquires the first monitoring result. Necessary preconditions are provided for subsequent steps, such as adjustment of the target chassis position and accurate placement of electrical equipment.

Step S102, determining a first relative position of target electrical equipment and a target chassis under the condition that the target chassis is loaded with the target electrical equipment according to a first monitoring result, wherein the electrical equipment comprises the target electrical equipment;

in the above embodiment, the control system determines the first relative position of the target electrical device and the target chassis when determining that the target electrical device is carried on the target chassis according to the first monitoring result. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, a sensor, a central processing unit and related software, and specifically includes the steps of obtaining a monitoring result, where a first monitoring result obtained by the control system indicates that a target chassis is located in a power distribution cabinet and carries a target electrical device; precisely locating, the control system activates higher precision sensors, such as a laser scanner or a stereoscopic camera, which scan the target chassis and the target electrical equipment carried by the same in detail, and these sensors collect the geometry, size and position information of the target electrical equipment relative to the chassis; image and data processing, wherein image processing software in the control system can process scanned image data by using a machine vision algorithm so as to identify the outline and characteristic points of target electrical equipment, and meanwhile, a data processing module analyzes laser scanning data or sensor data so as to determine the accurate three-dimensional coordinates of the electrical equipment; determining a first relative position, and calculating the first relative position between the actual position of the target electrical equipment and the actual position of the target chassis by the control system through comparing the two, wherein factors such as a mounting point and a gravity center position of the target electrical equipment can be referred to ensure the accuracy of the first relative position; the result is recorded and fed back, once the first relative position is determined, the control system records the information in its database and can provide feedback via the user interface or network interface, and the control system can adjust internal control parameters as needed in preparation for subsequent position adjustment or movement operations. By implementing the steps, the control system not only confirms that the target electric equipment is carried on the target chassis, but also determines the first relative position of the target electric equipment and the target chassis, and provides key basic data for subsequent position adjustment and accurate positioning operation.

Step S103, under the condition that the first relative position is different from the preset relative position, the first relative position of the target electrical equipment and the target chassis is adjusted to be a second relative position, wherein the second relative position is the same as the preset relative position;

in the above embodiment, the preset relative position is a relative position to be maintained between the preset target electrical device and the target chassis, and the control system adjusts the first relative position of the target electrical device and the target chassis to the second relative position when determining that the first relative position is different from the preset relative position. In this embodiment, assuming that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit and related software, the specific implementation steps are that the control system can identify deviation by monitoring a monitoring function, comparing a first relative position of the target electrical device and the target chassis with a preset relative position, and identifying deviation between the two; calculating an adjustment quantity, and calculating parameters such as displacement quantity, angle, direction and the like which need to be adjusted by a control system according to the deviation; generating an adjustment instruction, the control system generating the adjustment instruction according to the calculation result, transmitting the adjustment instruction to the relevant apparatus (the control system includes the relevant apparatus) to control the relevant apparatus to perform a position adjustment operation, for example, an electric motor, a hydraulic system, or a robotic arm; the related equipment executes position adjustment operation, and after receiving an adjustment instruction, the related equipment starts to accurately move the target electrical equipment, and adjusts the first relative position of the target electrical equipment relative to the target chassis to a second relative position; the method comprises the steps of monitoring an adjustment process in real time, monitoring the position of target electrical equipment in real time in the adjustment process, ensuring that the adjustment process is accurately carried out according to a control instruction, and responding to any possible deviation in time; confirming the second relative position, once the target electrical equipment reaches the preset relative position, namely the second relative position, the control system confirms the accuracy of the second relative position through monitoring and detection; and feeding back the adjustment completion, wherein the control system feeds back the adjustment completion state to a user interface or records the adjustment completion state in a system log after confirming that the target electrical equipment accurately reaches the second relative position. By implementing the steps, the control system ensures that the relative position between the target electrical equipment and the target chassis accords with the preset relative position, thereby realizing accurate control and operation of the electrical equipment and further reducing errors caused by manual operation.

Step S104, after the first relative position is adjusted to the second relative position, controlling the target electric driving equipment to drive the target chassis vehicle-mounted moving target electric equipment in the power distribution cabinet to move towards a preset point, and performing second monitoring on the process that the target electric driving equipment drives the target chassis vehicle-mounted moving target electric equipment to move towards the preset point so as to acquire a second monitoring result;

in the above embodiment, the preset point location is a point location that needs to be reached when the preset target chassis, that is, the distance that the target chassis actually moves, moves in the power distribution cabinet (the target electrical device and the target chassis must keep a preset relative position), and after controlling the related device to adjust the first relative position of the target electrical device relative to the target chassis to a second relative position, the control system controls the target electrical driving device to drive the target chassis in the power distribution cabinet to move toward the preset point location, and performs a second monitoring on a process that the target electrical driving device drives the target chassis to move toward the preset point location, so as to obtain a second monitoring result. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit and related software, and specifically includes the steps of starting a movement command, the control system sending a driving command to a target electric driving device, and starting to drive a target chassis on-board moving target electric device to move to a preset point; the second monitoring is started, and the control system simultaneously starts the second monitoring, and possibly starts a camera, an infrared sensor, an ultrasonic sensor and the like to perform the second monitoring so as to monitor the moving process in real time; real-time data collection, wherein a control system collects data from various sensors, such as moving speed, direction, barrier information and the like, in real time during the moving process of the target chassis on-board moving target electrical equipment; the control system processes the collected data in real time, and if the data deviate from a preset path or an obstacle is found, the control system automatically adjusts the travelling path of the target chassis vehicle or takes obstacle avoidance measures; the method comprises the steps that a second monitoring result is obtained, the control system compares the real-time position of a target chassis with a preset point in real time, and once the target chassis stops moving on-load target electrical equipment, the second monitoring result is obtained; and the control system records the second monitoring result in the internal memory and can transmit the result to the remote monitoring center through the network interface, and meanwhile, the second monitoring result can be displayed on the local operation interface so that the staff can check. By implementing the steps, the control system not only can ensure that the target electrical equipment moves to the preset point position safely and accurately, but also can monitor and record any problems possibly occurring in the moving process in real time through the second monitoring process, thereby ensuring the smoothness and safety of the whole moving process.

Step S105, determining a first actual moving distance of the moving target electric equipment of the target chassis in the case that the target electric drive equipment stops driving the target chassis and the moving target electric equipment stops moving according to the second monitoring result;

in the above embodiment, the control system determines the first actual movement distance of the target chassis vehicle moving the target electric device in a case where it is determined that the target electric drive device stops driving the target chassis vehicle and the target chassis vehicle stops moving the moving target electric device according to the second monitoring result. In this embodiment, assuming that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit and related software, the steps are implemented by confirming a stop state, the control system monitors that the target electric drive device stops driving the target chassis, and the target chassis stops moving the moving target electric device, which can be accomplished by an encoder, a global positioning system or other positioning devices; determining a first actual movement distance, which the control system may calculate a linear distance between a start position and a stop position of the target chassis using the sensor data, which may depend on data entered by various sensors, such as a rotary encoder on the wheel axle of the target chassis (or on the travel lever), or a distance sensor deployed on the travel path; recording and storing data, wherein the control system records the determined first actual moving distance in a system log and stores the first actual moving distance in an internal database for subsequent inquiry and analysis; and the control system can provide information of the first actual moving distance to the operation interface so that an operator can view the information and feed the information back to the remote monitoring center through the network interface. By implementing these steps, the control system is able to accurately determine the actual distance that the target chassis is moving before stopping, which is critical for subsequent operational assessment, fault diagnosis, and maintenance and optimization of the control system.

Step S106, determining a first point position of the target chassis according to the second relative position and the first actual moving distance, wherein the first point position is the current position of the target chassis in the power distribution cabinet;

in the above embodiment, the control system determines the first point location of the target chassis according to the second relative position and the first actual moving distance. The second relative position can determine that a preset relative position is maintained between the target electrical device and the target chassis, and then the first actual moving distance is compared with a preset moving distance (the preset moving distance is a distance from a target area in the power distribution cabinet to a preset point position of the target chassis on-vehicle target electrical device, wherein the target electrical device must maintain the preset relative position with the target chassis) so as to determine the first point position of the target chassis. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit, and related software, and specifically includes determining positioning data, and determining, by the control system, a second relative position and a first actual moving distance of the target chassis (i.e., a distance of actual movement of the target chassis within the power distribution cabinet) according to the received sensor data; positioning, wherein the control system can calculate the second relative position and the first actual moving distance through a built-in algorithm or a software module so as to determine a first point position of the target chassis; the control system can also correct the point position according to a reference mark or positioning equipment (such as a radio frequency identification tag, a laser scanner, a magnetic sensor and the like) in the power distribution cabinet, so that the accuracy of the first point position is ensured; the point position confirmation, the control system verifies the first point position in real time by using monitoring equipment (such as a camera or a sensor) in the power distribution cabinet so as to confirm whether the target chassis is actually positioned at the calculated position; the control system can record the first point bit data in a log file and store the first point bit data in a system database as key information, and meanwhile, the point bit information can be fed back to an operator through a user interface and can be sent to a remote monitoring center through a network interface; subsequent operations are prepared, once the first point is determined, the control system may perform subsequent operations based on this information, such as performing maintenance, replacing parts, or further scheduling movements. By implementing these steps, the control system is able to precisely determine and record the current position, i.e. the first point location, of the target chassis within the power distribution cabinet. This provides an important basis for managing and monitoring the location of the internal equipment of the power distribution cabinet, as well as providing accurate location information for further operation and maintenance activities.

Step S107, determining a target point position difference between the first point position and the preset point position under the condition that the first point position is different from the preset point position;

in the above embodiment, the control system determines the target point bit difference between the first point bit and the preset point bit when determining that the first point bit is different from the preset point bit. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, a sensor, a central processing unit and related software, and the specific implementation steps include comparing two points, the control system compares the first point with a preset point, and determines whether the first point and the preset point are identical, if the two points are identical (or the similarity of the two points is greater than or equal to the preset similarity), the control system can continue to perform the next operation, and if the similarity of the two points is less than the preset similarity, the control system needs to further calculate the difference between the two points; calculating the target point head, the control system can calculate the difference between the first point and the preset point by using a built-in calculation module, wherein simple coordinate head calculation or more complex path planning and distance measurement can be involved, and the control system can ensure that the calculated target point head considers the actual layout and possible obstacles in the power distribution cabinet; recording difference information, and recording the calculated target point bit difference in an operation log by the control system and storing the calculated target point bit difference in a database so as to facilitate subsequent analysis and processing; and providing feedback, and displaying the information of the target point potential difference to an operator through a user interface by the control system, and transmitting the information to a remote monitoring center through a network interface. And executing point position correction measures, and determining whether the position of the target chassis needs to be corrected according to the position difference of the target point by the control system so as to ensure that the target chassis is positioned at a correct preset point position, and if the target chassis needs to be corrected, making a new movement instruction by the control system so as to instruct the target chassis to adjust the position and reduce or eliminate the position difference. By implementing the steps, the control system can effectively determine the gap between the actual point position and the preset point position of the target chassis, and correspondingly adjust the gap according to the actual requirement, thereby ensuring the accurate operation of the control system and the smooth completion of the task. Such monitoring and adjustment procedures are critical to ensure proper placement and operation of electrical equipment within the power distribution cabinet.

And step S108, determining the target position of the target electrical equipment according to the second relative position and the target point potential difference.

In the above embodiment, the control system determines the target position of the target electrical device based on the second relative position and the target point head. In this embodiment, it is assumed that the control system includes, but is not limited to, a set of high-resolution cameras, sensors, a central processing unit and related software, and the specific implementation steps include, in a monitoring stage, the control system first monitors a target area in the power distribution cabinet to confirm the existence of a target chassis and whether a target electrical device is carried on the target chassis; the control system acquires a first monitoring result through a built-in sensor so as to determine the current first relative position of the target electrical equipment and the target chassis; in the adjustment stage, the control system compares the first relative position with a preset relative position, and if position deviation is detected, an adjustment mechanism is started to adjust the first relative position of the target electrical equipment and the target chassis vehicle to a second relative position; after the adjustment is completed, the control system controls the target electric driving device to drive the target chassis vehicle-mounted moving target electric device to move to a preset point location, and in the moving process, second monitoring is carried out, and the moving situation is tracked and recorded in real time so as to obtain a second monitoring result; determining an actual moving distance, determining a target chassis vehicle stop point position (namely a first point position) according to a second monitoring result, and further determining a first actual moving distance of the target chassis vehicle-mounted moving target electrical equipment; position checking and correction, if the first point position deviates from the preset point position, calculating the target point position difference between the first point position and the preset point position; and finally, positioning, namely, the control system precisely calculates the target position to be reached by the target electrical equipment by using the second relative position and the target point position difference. By implementing these steps, the control system ensures that the operating position of the target electrical device within the power distribution cabinet accurately meets the expected requirements.

Through the steps, the first monitoring is carried out on a specific area (namely a target area) in the power distribution cabinet, wherein the specific area is the position where the target chassis is preset to be placed, and preliminary position information is provided for subsequent operation. And acquiring a first monitoring result, and determining the initial relative position (namely the first relative position) of the target electrical equipment relative to the target chassis after confirming that the target electrical equipment is borne on the target chassis according to the first monitoring result. If the first relative position of the target electrical equipment is different from the preset relative position, the first relative position of the target electrical equipment relative to the target chassis is adjusted until the second relative position of the target electrical equipment relative to the target chassis is the same as the preset relative position, accuracy of the initial relative position of the target electrical equipment is ensured, an accurate initial relative position is provided for a subsequent moving process, and errors in the moving process are reduced. After the first relative position of the target electrical equipment relative to the target chassis is adjusted to be the second relative position, the target electrical driving equipment is controlled to drive the chassis on-vehicle moving target electrical equipment to move to a preset point, the whole moving process is monitored in real time, the moving process can be adjusted in time, and the target chassis and the target electrical equipment are ensured to accurately move to the preset point according to a preset path. After the target electric driving device stops driving the target chassis vehicle to move, determining the actual moving distance of the target chassis vehicle, and by acquiring the first actual moving distance, evaluating the accuracy of the moving process and providing a basis for subsequent adjustment. The second relative position and the first actual moving distance are combined to determine the actual position (namely the first point position) of the target chassis in the power distribution cabinet, and accurate position information is provided for verifying whether the chassis reaches the preset position. If the first point position deviates from the preset point position, the difference (namely the target point position difference) between the first point position and the preset point position is calculated, and the moving path and the moving point position of the target chassis can be accurately adjusted through the target point position difference, so that the moving target electrical equipment of the target chassis can be ensured to accurately reach the preset point position. And determining the target position to be reached by the target electrical equipment according to the second relative position and the target point potential difference. Through this series of meticulous monitoring and adjustment, not only ensured the accuracy of electrical equipment and chassis car relative position, still ensured the absolute position accuracy in the whole switch board, and then greatly improved the electrical equipment positioning accuracy in the switch board. The technical problem that the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet in the related art is low is solved, and the technical effect of improving the accuracy of mobile positioning of the chassis vehicle-mounted mobile electrical equipment in the power distribution cabinet is achieved.

The main execution body of the above steps may be a control system having a monitoring function, a control device having a monitoring function, a processing device having a monitoring function, or the like, but is not limited thereto.

In an alternative embodiment, in a case that the target chassis is determined to carry the target electrical device according to the first monitoring result, determining the first relative position of the target electrical device and the target chassis specifically includes: determining a first coordinate set of a first boundary point set of the target electrical equipment and determining a second coordinate set of a second boundary point set of the target chassis, wherein the first coordinate set is the coordinate set of the first boundary point set of the target electrical equipment, and the second coordinate set is the coordinate set of the second boundary point set of the target chassis; and determining a first relative position of the target electrical equipment and the target chassis according to the first coordinate set and the second coordinate set.

In the above embodiment, there may be various ways of acquiring the first coordinate set of the first boundary point set of the target electric device and the second coordinate set of the second boundary point set of the target chassis, including but not limited to capturing images of the target electric device and the target chassis using a high resolution camera or a 3D camera, applying computer vision algorithms such as edge detection, feature recognition to identify boundary points, and calculating boundary point coordinates; scanning by using a laser scanner, determining the shape and position of an object by reflecting a laser spot, and providing an accurate three-dimensional coordinate set by processing point cloud data; shooting from different angles by using two or more cameras, and obtaining three-dimensional coordinate information through a stereo matching algorithm; assembling an electro-optical encoder on the moving part, determining boundary point positions by measuring encoder pulses that are moving rotationally or linearly; visual or infrared marker points are placed on the target electrical equipment and the target chassis, coordinates of these points are determined by a specific tracking system, etc. It should be noted that, the exemplary embodiment of the method for acquiring the first coordinate set and the second coordinate set is only an exemplary embodiment, and the method for acquiring the first coordinate set and the second coordinate set is not limited to the exemplary embodiment.

In an optional embodiment, when the first relative position is determined to be different from the preset relative position, adjusting the first relative position of the target electrical device and the target chassis to the second relative position specifically includes: determining a first relative distance between the first set of boundary points and the second set of boundary points; and adjusting the first relative distance according to the preset relative position so as to adjust the first relative position to the second relative position.

In the above embodiment, in the case where the target electric device is located above the target chassis and the position where the target electric device is located is inaccurate, the relative position adjustment needs to be performed in consideration of safe movement and accurate placement of the target electric device. Means for adjusting the first relative position include, but are not limited to, precisely controlling movement of the target electrical device with the electric actuator, and if the target electrical device is mounted on a track with the electric actuator, the electric actuator can be adjusted by the controller to change the position of the target electrical device; the position of the target electrical equipment is finely adjusted by combining a stepping motor with a precise gear system, so that the target electrical equipment is controlled to accurately move according to a preset distance; high-precision position control can be provided through a servo motor, so that the target chassis vehicle-mounted moving target electrical equipment moves to a preset point position according to an accurate path; the target electrical equipment can be arranged on a linear guide rail provided with an electric sliding block, and the electric sliding block can be automatically positioned through a control system; for light electrical equipment, the position can be adjusted by utilizing a magnetic positioning system, and the position of the electrical equipment can be accurately controlled by changing the layout or strength of a magnetic field; an automated mechanical arm with precise control may be used to position the electrical equipment, if space permits. It should be noted that, the foregoing description of the adjustment method of the first relative position is merely an exemplary embodiment, and the adjustment method of the first relative position is not limited to the foregoing description.

In an alternative embodiment, determining the target position of the target electrical device based on the second relative position and the target point head specifically comprises: the method comprises the steps that a target electric driving device is controlled to drive a target chassis vehicle-mounted moving target electric device to move from a first point to a preset point according to a target point potential difference, and third monitoring is conducted on the process that the target electric driving device drives the target chassis vehicle-mounted moving target electric device to move from the first point to the preset point, so that a third monitoring result is obtained; determining that the target chassis vehicle-mounted moving target electrical equipment moves to a preset point position according to a third monitoring result; and calculating the second relative position and the preset point position to determine the target position of the target electrical equipment.

In the above embodiment, the preset point positions may be preset, and after the preset point positions are preset, the preset point positions may be adjusted according to the specific environment and the actual application requirement in the power distribution cabinet. In the process that the target electric driving device drives the target chassis on-vehicle moving target electric device to move from the first point to the preset point, a sensor (for example, an encoder, a displacement sensor, an accelerometer, and the like) can be used for monitoring the moving process in real time (of course, a monitoring device with calculation and analysis capabilities can also be used for monitoring the moving process in real time, and the monitoring device is not limited herein), and monitoring data are transmitted to the control unit in real time, wherein the monitoring data include, but are not limited to, information such as moving speed, position, track precision, and the like.

In an alternative embodiment, after determining that the target chassis on-board moving target electrical device moves to the preset point according to the third monitoring result, the method further includes: and sending a control instruction to the target electric driving device to control the target electric driving device to stop driving the target chassis on-vehicle moving target electric device to move.

In the above embodiments, in order to secure safety, in any emergency, the movement of the apparatus may be stopped rapidly to protect surrounding apparatuses from injury; for accurate control, when the chassis needs to be accurately stopped at a preset point position, the accuracy of the point position can be ensured by sending a stopping instruction; for maintenance and troubleshooting, when regular maintenance is performed or equipment failure is solved, the movement of the equipment needs to be stopped for safety inspection and repair; in order to complete the task, when the chassis finishes the task or reaches a preset point position, a stop instruction is used for ending the current operation; in order to save energy consumption, stopping the equipment when motion is not needed can save energy and avoid unnecessary power consumption; to avoid damage to the device, sending a stop command may prevent damage to the device if a potential malfunction or abnormal behavior of the device is monitored.

In the above embodiments, the manner in which the control system sends the control command to the target electric drive apparatus includes, but is not limited to, serial communication, industrial ethernet, bus, wireless lan, mobile network, fiber optic communication, infrared communication, industrial automation protocol, security protocol, and the like.

In an alternative embodiment, after calculating the second relative position and the preset point location to determine the target position of the target electrical device, the method further includes: and performing a safety locking operation on the target chassis and the target electrical equipment.

In the above-described embodiments, the secure latch operation can prevent the device from being manually or non-manually started or moved without proper authority, thereby ensuring the security of the operation; the safety locking operation can ensure that the equipment is not started accidentally when an operator enters the equipment working area to carry out maintenance, inspection or other tasks, so that the risk of injury to the operator is reduced; the safety lockout operation may ensure stability of the device during assembly, calibration or testing; the safety locking operation can ensure that the target chassis and the target electrical equipment cannot move due to external interference; if the device moves without reaching the correct position, it may cause a collision or other form of damage, a safety lockout operation may prevent this from occurring, etc.

In an alternative embodiment, after determining the first relative position of the target electrical device and the target chassis in the case that the target chassis is determined to carry the target electrical device according to the first monitoring result, the method further includes: under the condition that the first relative position is the same as the preset relative position, controlling the target electric driving equipment to drive the target chassis vehicle-mounted moving target electric equipment in the power distribution cabinet to move to a preset point location, and performing fourth monitoring on the process that the target electric driving equipment drives the target chassis vehicle-mounted moving target electric equipment to move to the preset point location so as to obtain a fourth monitoring result; determining a second actual moving distance of the target chassis vehicle moving target electrical equipment when the target electrical driving equipment stops driving the target chassis vehicle and the target chassis vehicle stops moving the target electrical equipment according to the fourth monitoring result; determining a second point position of the target chassis according to the second relative position and the second actual moving distance, wherein the second point position is the current position of the target chassis in the power distribution cabinet; and under the condition that the second point position is determined to be the same as the preset point position, determining the target position of the target electrical equipment according to the second relative position and the second point position.

In the above embodiment, after confirming that the initial relative position (first relative position) between the target electric device and the target chassis is the same as the preset relative position, the target electric driving device is controlled to drive the target chassis in the power distribution cabinet to move to the preset point, and in the moving process, fourth monitoring is performed, and moving process data (fourth monitoring result) is collected in real time, so as to ensure that all parameters in the moving process meet expectations. And when the fourth monitoring result shows that the target electric driving equipment stops driving and the target chassis is stopped moving, calculating the actual moving distance (second actual moving distance) of the target chassis, determining the current position (namely a second point position) of the target chassis in the power distribution cabinet by using the second actual moving distance and the second relative position, and finally determining the target position reached by the target electric equipment according to the second relative position and the second point position if the second point position is the same as the preset point position. Accurate position monitoring and movement control ensures that the target electrical device can reach its predetermined operating position without error.

In the embodiment of the application, the first relative position between the first coordinate set of the target electrical equipment and the second coordinate set of the target chassis is determined according to the first coordinate set and the second coordinate set of the target chassis, then the first relative distance is adjusted according to the preset relative position, the first relative position is adjusted to be the second relative position identical to the preset relative position, the position of the target electrical equipment relative to the target chassis is ensured to meet the preset requirement before moving, and guarantee is provided for ensuring the operation precision and the correct implementation of the equipment function.

The method for determining the position of the electrical device in the embodiment of the present application is described above, and the apparatus for determining the position of the electrical device in the embodiment of the present application is described in detail below in conjunction with the method for determining the position of the electrical device, referring to fig. 2, fig. 2 is a block diagram of a structure of an apparatus for determining the position of the electrical device provided in the embodiment of the present application, where the apparatus includes:

the first obtaining module 201 is configured to perform first monitoring on a target area in the power distribution cabinet to obtain a first monitoring result, where the target area is an area where a target chassis is placed, and the target chassis is used to carry electrical equipment;

a first determining module 202, configured to determine a first relative position of the target electrical device and the target chassis when it is determined that the target chassis carries the target electrical device according to the first monitoring result, where the electrical device includes the target electrical device;

the adjusting module 203 is configured to adjust the first relative position of the target electrical device and the target chassis to a second relative position when the first relative position is determined to be different from the preset relative position, where the second relative position is the same as the preset relative position;

The second obtaining module 204 is configured to control the target electric driving device to drive the target chassis vehicle-mounted moving target electric device in the power distribution cabinet to move towards the preset point location after the first relative position is adjusted to the second relative position, and perform a second monitoring on a process that the target electric driving device drives the target chassis vehicle-mounted moving target electric device to move towards the preset point location, so as to obtain a second monitoring result;

a second determining module 205, configured to determine a first actual movement distance of the target chassis vehicle moving target electrical device when it is determined that the target electrical driving device stops driving the target chassis vehicle according to the second monitoring result and the target chassis vehicle stops moving the moving target electrical device;

a third determining module 206, configured to determine a first point location of the target chassis according to the second relative position and the first actual moving distance, where the first point location is a position where the target chassis is currently located in the power distribution cabinet;

a fourth determining module 207, configured to determine a target point bit difference between the first point location and the preset point location if the first point location is determined to be different from the preset point location;

a fifth determining module 208 is configured to determine a target position of the target electrical device according to the second relative position and the target point potential difference.

In an alternative embodiment, the first determining module 202 includes: the first determining unit is used for determining a first coordinate set of a first boundary point set of the target electrical equipment and determining a second coordinate set of a second boundary point set of the target chassis, wherein the first coordinate set is the coordinate set of the first boundary point set of the target electrical equipment, and the second coordinate set is the coordinate set of the second boundary point set of the target chassis; and the second determining unit is used for determining the first relative position of the target electrical equipment and the target chassis according to the first coordinate set and the second coordinate set.

In an alternative embodiment, the adjusting module 203 includes: a third determining unit configured to determine a first relative distance between the first set of boundary points and the second set of boundary points; the first adjusting unit is used for adjusting the first relative distance according to the preset relative position so as to adjust the first relative position to the second relative position.

In an alternative embodiment, the fifth determining module 208 includes: the monitoring unit is used for controlling the target electric driving equipment to drive the target chassis vehicle-mounted moving target electric equipment to move from the first point to the preset point according to the target point potential difference, and carrying out third monitoring on the process of driving the target chassis vehicle-mounted moving target electric equipment to move from the first point to the preset point by the target electric driving equipment so as to obtain a third monitoring result; the fourth determining unit is used for determining that the target chassis vehicle-mounted moving target electrical equipment moves to a preset point position according to the third monitoring result; and the fifth determining unit is used for calculating the second relative position and the preset point position so as to determine the target position of the target electrical equipment.

In an alternative embodiment, the fourth determining unit further includes: and the control subunit is used for sending a control instruction to the target electric driving equipment after determining that the target chassis vehicle-mounted moving target electric equipment moves to the preset point position according to the third monitoring result so as to control the target electric driving equipment to stop driving the target chassis vehicle-mounted moving target electric equipment to move.

In an alternative embodiment, the fourth determining unit further includes: and the execution subunit is used for executing safety locking operation on the target chassis and the target electrical equipment after calculating the second relative position and the preset point position to determine the target position of the target electrical equipment.

In an alternative embodiment, the apparatus further comprises: the monitoring module is used for controlling the target electric driving equipment to drive the target chassis vehicle moving target electric equipment in the power distribution cabinet to move to a preset point location under the condition that the first relative position is the same as the preset relative position after the first relative position of the target electric equipment and the target chassis vehicle is determined according to the first monitoring result, and performing fourth monitoring on the process that the target electric driving equipment drives the target chassis vehicle moving target electric equipment to move to the preset point location so as to obtain a fourth monitoring result; a sixth determining module, configured to determine a second actual movement distance of the movement of the target chassis vehicle moving target electrical device when it is determined that the target electrical driving device stops driving the target chassis vehicle according to the fourth monitoring result and the target chassis vehicle stops moving the moving target electrical device; the seventh determining module is used for determining a second point position of the target chassis according to the second relative position and the second actual moving distance, wherein the second point position is the current position of the target chassis in the power distribution cabinet; and the eighth determining module is used for determining the target position of the target electrical equipment according to the second relative position and the second point position under the condition that the second point position is determined to be the same as the preset point position.

The application also discloses an electronic device, referring to fig. 3, and fig. 3 is a schematic structural diagram of the electronic device according to the embodiment of the application. The electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, at least one communication bus 302.

Wherein the communication bus 302 is used to enable connected communication between these components.

The user interface 303 may include a Display screen (Display), a Camera (Camera), and the optional user interface 303 may further include a standard wired interface, and a wireless interface.

The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.

Wherein the processor 301 may include one or more processing cores. The processor 301 utilizes various interfaces and lines to connect various portions of the overall electronic device (e.g., server) and performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and invoking data stored in the memory 305. Alternatively, the processor 301 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 301 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 301 and may be implemented by a single chip.

The Memory 305 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 305 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-described respective method embodiments, etc.; the storage data area may store data or the like involved in the above respective method embodiments. Memory 305 may also optionally be at least one storage device located remotely from the aforementioned processor 301. Referring to fig. 3, an operating system, a network communication module, a user interface module, and an application program of a method of determining a location of an electrical device may be included in the memory 305 as a computer storage medium.

In the electronic device 300 shown in fig. 3, the user interface 303 is mainly used for providing an input interface for a user, and acquiring data input by the user; and processor 301 may be used to invoke an application of a method of determining a location of an electrical device stored in memory 305, which when executed by one or more processors 301, causes electronic device 300 to perform the method as described in one or more of the embodiments above. It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

As used in the above embodiments, the term "when …" may be interpreted to mean "if …" or "after …" or "in response to determination …" or "in response to detection …" depending on the context. Similarly, the phrase "at the time of determination …" or "if detected (a stated condition or event)" may be interpreted to mean "if determined …" or "in response to determination …" or "at the time of detection (a stated condition or event)" or "in response to detection (a stated condition or event)" depending on the context.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc.

Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium includes: ROM or random access memory RAM, magnetic or optical disk, etc.

Claims

1. A method of determining a position of an electrical device, comprising:

first monitoring is carried out on a target area in the power distribution cabinet to obtain a first monitoring result, wherein the target area is an area for placing a target chassis, and the target chassis is used for bearing electrical equipment;

determining a first relative position of the target electrical equipment and the target chassis under the condition that the target electrical equipment is borne on the target chassis according to the first monitoring result, wherein the electrical equipment comprises the target electrical equipment;

adjusting the first relative position of the target electrical equipment and the target chassis to a second relative position under the condition that the first relative position is different from a preset relative position, wherein the second relative position is the same as the preset relative position;

After the first relative position is adjusted to the second relative position, controlling a target electric driving device to drive the target chassis vehicle in the power distribution cabinet to move to a preset point, and performing second monitoring on the process that the target electric driving device drives the target chassis vehicle to move to the preset point so as to obtain a second monitoring result;

determining a first actual moving distance of the target chassis vehicle for moving the target electrical equipment under the condition that the target electrical equipment is stopped to be driven by the target electrical drive device according to the second monitoring result and the target chassis vehicle is stopped to be carried by the target electrical equipment to move;

determining a first point position of the target chassis according to the second relative position and the first actual moving distance, wherein the first point position is the current position of the target chassis in the power distribution cabinet;

determining a target point position difference between the first point position and the preset point position under the condition that the first point position is different from the preset point position;

and determining the target position of the target electrical equipment according to the second relative position and the target point potential difference.

2. The method according to claim 1, wherein the determining the first relative position of the target electrical device and the target chassis in the case that the target electrical device is carried on the target chassis according to the first monitoring result specifically comprises:

determining a first coordinate set of a first boundary point set of the target electrical equipment, and determining a second coordinate set of a second boundary point set of the target chassis, wherein the first coordinate set is the coordinate set of the first boundary point set of the target electrical equipment, and the second coordinate set is the coordinate set of the second boundary point set of the target chassis;

and determining the first relative position of the target electrical equipment and the target chassis according to the first coordinate set and the second coordinate set.

3. The method according to claim 2, wherein, in the case that the first relative position is determined to be different from a preset relative position, the adjusting the first relative position of the target electrical device and the target chassis to a second relative position specifically includes:

determining a first relative distance between the first set of boundary points and the second set of boundary points;

And adjusting the first relative distance according to a preset relative position so as to adjust the first relative position to the second relative position.

4. The method according to claim 1, wherein said determining a target position of said target electrical device from said second relative position and said target point head comprises:

controlling the target electric driving device to drive the target chassis vehicle to move from the first point to the preset point according to the target point potential difference, and performing third monitoring on the process that the target electric driving device drives the target chassis vehicle to move from the first point to the preset point so as to obtain a third monitoring result;

determining that the target chassis vehicle moves the target electrical equipment to the preset point according to the third monitoring result;

and calculating the second relative position and the preset point position to determine the target position of the target electrical equipment.

5. The method of claim 4, wherein after the determining that the target chassis vehicle moves the target electrical device to the preset point according to the third monitoring result, the method further comprises:

And sending a control instruction to the target electric driving device so as to control the target electric driving device to stop driving the target chassis vehicle to move the target electric device.

6. The method of claim 4, wherein after said calculating said second relative position and said preset point location to determine said target position of said target electrical device, said method further comprises:

and performing a safety locking operation on the target chassis and the target electrical equipment.

7. The method of claim 1, wherein after determining the first relative position of the target electrical device and the target chassis if the target electrical device is carried on the target chassis based on the first monitoring result, the method further comprises:

under the condition that the first relative position is the same as the preset relative position, controlling a target electric driving device to drive the target chassis vehicle in the power distribution cabinet to move towards a preset point, and performing fourth monitoring on the process that the target electric driving device drives the target chassis vehicle to move towards the preset point so as to obtain a fourth monitoring result;

Determining a second actual moving distance for the target electric equipment to move by the target chassis truck under the condition that the target electric equipment stops driving the target chassis truck and the target chassis truck stops moving the target electric equipment according to the fourth monitoring result;

determining a second point position of the target chassis according to the second relative position and the second actual moving distance, wherein the second point position is the current position of the target chassis in the power distribution cabinet;

and under the condition that the second point position is determined to be the same as the preset point position, determining the target position of the target electrical equipment according to the second relative position and the second point position.

8. An apparatus for determining a position of an electrical device, comprising:

the first acquisition module is used for carrying out first monitoring on a target area in the power distribution cabinet to acquire a first monitoring result, wherein the target area is an area for placing a target chassis, and the target chassis is used for bearing electrical equipment;

the first determining module is used for determining a first relative position of the target electrical equipment and the target chassis when the target electrical equipment is carried on the target chassis according to the first monitoring result, wherein the electrical equipment comprises the target electrical equipment;

The adjusting module is used for adjusting the first relative position of the target electrical equipment and the target chassis to a second relative position under the condition that the first relative position is different from a preset relative position, wherein the second relative position is the same as the preset relative position;

the second acquisition module is used for controlling a target electric drive device to drive the target chassis vehicle in the power distribution cabinet to move towards a preset point after the first relative position is adjusted to the second relative position, and performing second monitoring on the process that the target electric drive device drives the target chassis vehicle to move towards the preset point so as to acquire a second monitoring result;

the second determining module is used for determining a first actual moving distance for the target chassis truck to move the target electrical equipment under the condition that the target electrical equipment is determined to stop driving the target chassis truck according to the second monitoring result and the target chassis truck stops moving the target electrical equipment;

the third determining module is used for determining a first point position of the target chassis according to the second relative position and the first actual moving distance, wherein the first point position is the current position of the target chassis in the power distribution cabinet;

A fourth determining module, configured to determine a target point bit difference between the first point location and the preset point location when it is determined that the first point location is different from the preset point location;

and a fifth determining module, configured to determine a target position of the target electrical device according to the second relative position and the target point potential difference.

9. An electronic device, comprising: one or more processors and memory;

the memory is coupled with the one or more processors, the memory for storing computer program code comprising computer instructions that the one or more processors invoke to cause the electronic device to perform the method of any of claims 1-7.

10. A computer readable storage medium comprising instructions which, when run on an electronic device, cause the electronic device to perform the method of any of claims 1-7.