CN103438819A - Transformer substation tubular busbar deflection monitoring method - Google Patents
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- CN103438819A CN103438819A CN2013103815546A CN201310381554A CN103438819A CN 103438819 A CN103438819 A CN 103438819A CN 2013103815546 A CN2013103815546 A CN 2013103815546A CN 201310381554 A CN201310381554 A CN 201310381554A CN 103438819 A CN103438819 A CN 103438819A
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Abstract
The invention discloses a transformer substation tubular busbar deflection monitoring method. According to the technical scheme, a plurality of key points used as monitoring points and are colored for marking are selected on a monitored tubular busbar, then two calibrated cameras with inclined angles formed between the two calibrated cameras shoot the tubular busbar images of all the monitoring points; then a computer connected with the two cameras processes the images collected by the two cameras, and coordinate data of each monitoring point are extracted, and the maximum deflection of the tubular busbar is calculated according to the data; finally the calculation result is compared with the limiting value of the tubular busbar deflection, and whether the deflection of the tubular busbar exceeds the standard is judged. According to the transformer substation tubular busbar deflection monitoring method, the measuring mode that the camera monitoring point extraction technology is matched with three-dimensional space points is used to achieve real-time monitoring of the deflection of the transformer substation tubular busbar, the method is easy and simple to implement, can achieve real-time and accurate monitoring of the deflection of the tubular busbar, and therefore the safe operation of a power grid is ensured.
Description
Technical field
The present invention relates to a kind of transformer station's tube type bus amount of deflection method of real-time based on the camera review key point is extracted and the three dimensional space coordinate coupling is calculated, belong to monitoring technical field.
Background technology
Transformer station's tube type bus is because span is larger, conduct oneself with dignity heavier, add that highfield effect and wind carry the impact of vibration, after operation a period of time, middle part easily sinks, form certain deflection deformation, when this deflection deformation surpasses the rules setting, will threaten the safe operation of electrical network, therefore be necessary the amount of deflection of tube type bus is carried out to Real-Time Monitoring.But due to transformer station's highfield, strongly disturbing working environment, make the monitoring of tube type bus realize being faced with many difficult problems, up to the present, for the research of tube type bus, focus mostly in to aspects such as pipe parent structure resistance to shock, analysis of experiments, mounting process improvement, scene lacks a kind of efficiently and effectively and tube type bus is carried out to the method for Real-Time Monitoring, can't guarantee the safe operation of electrical network.
Summary of the invention
The object of the invention is to the drawback for prior art, a kind of transformer station tube type bus deflection monitoring method is provided, to find in time accident potential, guarantee the safe operation of electrical network.
Problem of the present invention realizes with following technical proposals:
A kind of transformer station tube type bus deflection monitoring method, at first described method selects a plurality of key points to carry out mark as monitoring point and by color on monitored tube type bus, then utilize two at an angle to each other and shoot with video-corder in real time through the video camera of demarcating the tube type bus image that comprises all monitoring points; The image by the computing machine be connected with two video cameras, two video cameras gathered is again processed, and extracts the coordinate data of each monitoring point and calculates the maximum defluxion of tube type bus according to these data; Finally the limit value of result of calculation and tube type bus amount of deflection is compared, judge whether the amount of deflection of tube type bus exceeds standard.
Above-mentioned transformer station tube type bus deflection monitoring method, the method to set up of described monitoring point is as follows:
A. get half section, a left side of intending the monitoring tube type bus or right half section, and it be divided into to m(m >=5) section;
B. Along ent is comprised to the mid point of tube type bus, an end portion supports point and all pads of being got in half section tube type bus carry out mark as monitoring point, the method of mark is to spray afterwards in power failure the black circle that diameter is 60mm with red paint on monitoring point, on such half section tube type bus, (m+1+n) individual monitoring point is just arranged, wherein n is that the welding do not overlapped with Along ent on half section tube type bus is counted.
Above-mentioned transformer station tube type bus deflection monitoring method, the method for camera calibration is as follows:
A. adjust camera position, make two video cameras equate with the horizontal range of tube type bus; Adjusting focal length, make to intend monitoring cast bus section, busbar section and within video camera is shot with video-corder the visual field, wherein, must comprise a strong point of all monitoring points and tube type bus over part more than 3/5;
B. the fixed cameras position, make it no longer to move, and keeps focal length of camera constant simultaneously, and externally install anti-riot protective cover, in case the external factor such as wind and snow are disturbed, video camera moved;
C. place scaling board in two video cameras are shot with video-corder the crossover range in the visual field, described scaling board is a rectangular slab, the square pigment lattice that its surface spraying is chequered with black and white;
D. open as the host computer computing machine
The camera calibration program module, the mouse point is got the point of crossing that video camera is shot with video-corder black and white lattice in the scaling board image; Change the position of scaling board, the point of crossing of again with the mouse point, getting black and white lattice in the scaling board image, so repeated multiple times;
E. open image capturing and fixation and recognition program module as the host computer computing machine, check proven video camera all black and white lattice point of crossing on scaling board to be extracted automatically during in optional position at scaling board, if can not, repeating step d, until meet the requirements;
F. remove scaling board, demarcation completes.
Above-mentioned transformer station tube type bus deflection monitoring method, the calculating of its tube type bus amount of deflection is as follows with the decision method that exceeds standard:
A. set gray threshold according to aberration situation between the monitoring point sprayed on tube type bus and bus;
B. two video cameras synchronously capture the tube type bus picture, and computing machine identifies all monitoring points according to gray difference and extracts the three-dimensional coordinate of monitoring point;
Described coordinate system is set up by following principle: coordinate origin is positioned at fixed insulation 1 and intersection, earth's surface at half section monitored tube type bus place, vertical direction is Y direction, horizontal direction along the tube type bus axis is directions X, with XY plane vertical direction be Z-direction;
C. calculate the distance between all monitoring points and the tube type bus strong point
l i , the difference of x coordinate between all monitoring points and the tube type bus strong point
x i , the difference of y coordinate between all monitoring points and the tube type bus strong point
y i , between all monitoring points and the tube type bus strong point with the difference of z coordinate
z i ;
D. get
l i with
x i the difference of two squares open radical sign and obtain
f 1
i ;
E. get
z i with
y i quadratic sum open radical sign and obtain
f 2
i ;
F. get
f 1
i with
f 2
i average
f ai for deflection value corresponding to this monitoring point;
G. the corresponding deflection value in all monitoring points is contrasted, got the maximum defluxion of its maximal value as tube type bus
f max;
H. get the limit value of tube type bus amount of deflection
f lim
for tube type bus external diameter value
dwith 0.0045 times of span
laverage,
f lim
=(
d+ 0.0045
l)/2;
I. by the maximum defluxion of tube type bus
f maxwith limit value
f lim
contrasted, if
f max>=
f lim
, judge that the tube type bus amount of deflection exceeds standard and sends warning message, otherwise judge that the tube type bus amount of deflection does not exceed standard.
Above-mentioned transformer station tube type bus deflection monitoring method, draw out each monitoring point according to all monitoring points coordinate obtained, and adopt interpolation method to simulate corresponding tube type bus curve to be presented in computer display, observation curve is provided.
The present invention utilizes camera review monitoring point extractive technique and three dimensions point Matched measurement mode to realize the Real-Time Monitoring to transformer station's tube type bus amount of deflection, method therefor is simple, can realize real-time, accurately monitoring to the tube type bus amount of deflection, thereby guarantee the safe operation of electrical network.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Fig. 1 is testing scheme general illustration of the present invention;
Fig. 2 is that the tube type bus monitoring point arranges schematic diagram;
Fig. 3 is the camera calibration schematic diagram;
Fig. 4 is the parameter schematic diagram that the tube type bus amount of deflection is calculated;
Fig. 5 is the logical schematic that the tube type bus amount of deflection is calculated and exceeded standard and judge.
In figure, each list of reference numerals is: 1, fixed insulation, 2, tube type bus, 3, monitoring point, the 4, first video camera, 5, the second video camera, 6, protective cover, 7, fixed mount, 8, shielding multiple twin order wire, 9, switch, 10, computing machine, 11, weld seam, 12, scaling board.
The meaning of each symbol used in Wen Zhongyu figure:
x i , the difference of each monitoring point and end portion supports point x coordinate on tube type bus;
y i , the difference of each monitoring point and end portion supports point y coordinate on tube type bus;
z i , the difference of each monitoring point and end portion supports point z coordinate on tube type bus;
l i , the distance of each monitoring point and end portion supports point on tube type bus;
f 1
i , each monitoring point locates the first estimated value of corresponding tube type bus amount of deflection, equal
l i with
x i the difference of two squares open radical sign;
f 2
i , each monitoring point locates the second estimated value of corresponding tube type bus amount of deflection, equal
z i with
y i quadratic sum open radical sign;
f ai , each monitoring point locates corresponding tube type bus deflection value, equal
f 1
i with
f 2
i average;
f max, tube type bus is at the maximum immunity value at place, all monitoring points;
f lim, tube type bus amount of deflection limit value, the i.e. threshold value that exceeds standard of tube type bus;
d, tube type bus the external diameter value;
l, tube type bus the support span, adjacent two for the distance between fixed insulation that supports tube type bus.
Embodiment
The present invention be directed to the deficiency of prior art aspect the tube type bus deflection monitoring and custom-designed.
The present invention need to solve four problems: the one, by which kind of approach, the amount of deflection of tube type bus is monitored; The 2nd, how the monitoring point on tube type bus is set and calculates so that the later stage extracts; The 3rd, how monitoring point is identified and the coordinate data extraction; The 4th, how scientificlly and effectively according to the monitoring point coordinate data of extracting, the amount of deflection of tube type bus to be calculated and the warning that exceeds standard.
Referring to Fig. 1, the present invention adopt two inside and outside parameter all consistent video camera in conjunction with background support software, the tube type bus amount of deflection is monitored.Monitoring realizes by following approach: two video cameras at an angle to each other (the first video camera 4 and the second video camera 5) are set, and the video camera outside installs protective cover 6 additional, and is fixed on fixed mount 7, and the video camera angular field of view comprises 3/5 above tube type bus; Monitoring point 3 is set on tube type bus 2, and all monitoring points 3 are all in the angular field of view of two video cameras; Two video cameras adopt shielding multiple twin order wire 8 to be connected with switch 9, and switch 9 is connected with computing machine 10 by shielding multiple twin order wire 8 again; By the extract real-time to all monitoring points 3, calculating, obtain the maximum defluxion of tube type bus, thereby reach the purpose of the tube type bus amount of deflection being carried out to Real-Time Monitoring.
Referring to Fig. 2, the present invention marks monitoring point by the black circle that sprays a certain size on tube type bus, and wherein the color of the color of black circle and tube type bus should have larger aberration, so that the identification in later stage and extraction, for example, can adopt red paint to be sprayed.Corresponding spraying method is as follows: after tube type bus 2 outages, be equally divided into m(m >=5 by intending half section, the left side of monitoring tube type bus or right half section) section (tube type bus central point to end portion supports is put region), and spray the black circle 3 of unified specification with red paint at the Along ent place.Because tube type bus 2 numerical value on length is larger, an on-the-spot tube type bus forms one by several shorter buses by welding often.Material and stress remnants, the problem of stress concentration of considering the pad place may make tube type bus 2 that certain concavo-convex and out-of-flatness is arranged at this place, therefore also spray the black circle 3 of same size at the central point of tube type bus weld, weld seam 11, so that monitoring is more reasonable, science.If n the pad do not overlapped with Along ent arranged in half section tube type bus of monitoring, on final tube type bus, set monitoring point has (m+1+n) individual.
Referring to Fig. 3, the identification of monitoring point 3 and coordinate data are extracted by the following method and are realized: at first two video cameras are carried out to parameter setting and demarcation, proving operation carries out with the position of adjusting scaling board 12 by the black and white angle point repeatedly extracted on scaling board 12, in calibration process, scaling board 12 is positioned near tube type bus 2, and it equates to be advisable with the horizontal range of tube type bus 2 and video camera with the horizontal range of video camera; Calibration process is to adjust the process of inner reduced parameter(s) in fact, and two complete same point corresponding on the video camera synchronization hypograph of demarcation and can convert and obtain this and put real three-dimensional coordinate by program.Coordinate origin is positioned at fixed insulation 1 and intersection, earth's surface at half section monitored tube type bus place, and vertical direction is Y direction, along the horizontal direction of tube type bus axis, is directions X, with XY plane vertical direction be Z-direction, as shown in Figure 4.Because the color of sprayed monitoring point 3 correspondences and the color of tube type bus have larger aberration, therefore after being converted to gray-scale map, program can be identified each monitoring point 3 automatically according to gray threshold, according to inner reduced parameter(s), the centre coordinate of monitoring point 3 is converted out, gray threshold can carry out artificial the setting and modification by driver simultaneously.After obtaining each monitoring point three-dimensional coordinate, the amount of deflection at place, each monitoring point of tube type bus is calculated computing method solution corresponding to four problems that see below.
Referring to Fig. 4 and Fig. 5, the present invention considers horizontal direction amount of deflection (factors such as wind carries, vibration cause) and vertical direction amount of deflection (factors such as deadweight, vibration cause), and after extraction obtains each monitoring point coordinate, the present invention adopts following methods to carry out amount of deflection calculating:
1) calculate the distance between all monitoring points and the tube type bus strong point
l i , the difference of x coordinate between all monitoring points and the tube type bus strong point
x i , the difference of y coordinate between all monitoring points and the tube type bus strong point
y i , between all monitoring points and the tube type bus strong point with the difference of z coordinate
z i ;
2) get
l i with
x i the difference of two squares open radical sign and obtain
f 1
i ;
3) get
z i with
y i quadratic sum open radical sign and obtain
f 2
i ;
4) get
f 1
i with
f 2
i average
f ai for deflection value corresponding to this monitoring point;
5) the corresponding deflection value in all monitoring points is contrasted, got the maximum defluxion of its maximal value as tube type bus
f max;
6) get the average that the limit value of tube type bus amount of deflection is tube type bus external diameter value and 0.0045 times of span,
f lim
=(
d+ 0.0045
l)/2;
7) by the maximum defluxion of tube type bus
f maxwith limit value
f lim
contrasted, if
f max>=
f lim
, judge that the tube type bus amount of deflection exceeds standard, program is reported to the police, and ejects the warning dialog box, and shows the amount of deflection numerical value that exceeds standard, the maximal value of amount of deflection, the relevant informations such as monitoring point numbering corresponding to maximal value, otherwise judge that the tube type bus amount of deflection does not exceed standard, program is not reported to the police.
Wherein the step 4) operation is the error of bringing in order to reduce the operations such as camera calibration.
Shooting with video-corder in real time with the candid photograph scheme of tube type bus amount of deflection image is as follows:
A. two video cameras carry out in real time, synchronously shoot with video-corder tube type bus, synchronously adjustment standard be two video cameras of synchronization shoot with video-corder on interface automatically show minute, second, the time all identical;
B. according to substation in the Climate situation, every morning, afternoon, night respectively set one constantly (generally selecting wind to carry the larger moment) as sampling instant;
C. two video cameras carry out a subsynchronous candid photograph at interval of the regular hour, and can artificially arrange, revise interval time; If capture, be sampling instant constantly, or the maximum defluxion of the tube type bus 2 that calculates of routine analyzer surpass the external diameter value of tube type bus 2
dwith 0.0045 times of span
laverage,
f max>=(
d+ 0.0045
l)/2, store two captured images into the catalogue file folder of appointment, and by the maximal value of tube type bus amount of deflection, monitoring point numbering corresponding to maximal value, and the relevant information such as time preserved, otherwise the information such as image and amount of deflection are not preserved; The example of the correspondence that information is preserved is:
1) two video cameras 4,5 carry out a subsynchronous candid photograph every 30 seconds, capture image and add that with the captured time constantly " left ", " right " are named, deposit to the CACHE DIRECTORY of computing machine 10 appointments, and carried out extraction and the calculating of volume coordinate point coupling of all monitoring points for two captured images by background program, obtain the maximal value of tube type bus amount of deflection
f max;
2) if the amount of deflection maximal value of tube type bus 2 surpasses the rules value of setting, program is reported to the police, eject the warning dialog box, and show the amount of deflection numerical value that exceeds standard, number amount of deflection maximal value, corresponding monitoring point, and the relevant information such as time is stored in independent Excel form 1, and as the historical data long preservation; In addition, two images capturing are stored under preassigned catalogue 1 file, delete two candid photograph images storing in buffer memory after storage;
3) if the amount of deflection maximal value of tube type bus 2 does not surpass the rules value of setting, first judge whether residing candid photograph is sampling instant constantly, if sampling instant, the image of just capturing is stored under catalogue 2 files of appointment, corresponding tube type bus maximum immunity value, corresponding monitoring point in these moment are numbered simultaneously, and the relevant information such as time writes Excel form 2, the history of forming data recording, if not sampling instant is directly deleted cache image and is carried out timing and prepare capturing next time.
The view data grandfather cycle of 4) storing under catalogue 1 file is 10 years, point out the operations staff overdue image after 10 years, the operations staff can select to derive or deletion action as required, if in 3 hours, the operations staff is without operation, automatically the image that expires is carried out to deletion action; The view data grandfather cycle that catalogue 2 files are stored is 6 months, while after 6 months, newly depositing image in, automatically the image that surpasses the grandfather cycle is deleted in chronological order; Excel form 1 its data long preservation of storing; 2 its data grandfather cycles of Excel form are 10 years, after 10 years, point out the operations staff overdue image, and the operations staff can select to derive or deletion action as required, if in 3 hours, the operations staff is without operation, automatically carries out deletion action.
D. monitoring facilities has except automatic monitoring operational mode, also has manual mode of operation, the operations staff can be switched as required, and under manual mode setting-up time to tube type bus regularly record a video, arbitrary period random time length video recording, the manually operation such as sectional drawing and amount of deflection analysis.
Claims (5)
1. transformer station's tube type bus deflection monitoring method, it is characterized in that, at first described method selects a plurality of key points to carry out mark as monitoring point and by color on monitored tube type bus, then utilize two at an angle to each other and shoot with video-corder in real time through the video camera of demarcating the tube type bus image that comprises all monitoring points; The image by the computing machine be connected with two video cameras, two video cameras gathered is again processed, and extracts the coordinate data of each monitoring point and calculates the maximum defluxion of tube type bus according to these data; Finally the limit value of result of calculation and tube type bus amount of deflection is compared, judge whether the amount of deflection of tube type bus exceeds standard.
2. a kind of transformer station according to claim 1 tube type bus deflection monitoring method, is characterized in that, the method to set up of described monitoring point is as follows:
A. get half section, a left side of intending the monitoring tube type bus or right half section, and it is divided into to the m section, m >=5;
B. Along ent is comprised to the mid point of tube type bus, an end portion supports point and all pads of being got in half section tube type bus carry out mark as monitoring point, the method of mark is to spray afterwards in power failure the black circle that diameter is 60mm with red paint on monitoring point, on such half section tube type bus, (m+1+n) individual monitoring point is just arranged, wherein n is that the welding do not overlapped with Along ent on half section tube type bus is counted.
3. a kind of transformer station according to claim 1 and 2 tube type bus deflection monitoring method, is characterized in that, the method for camera calibration is as follows:
A. adjust camera position, make two video cameras equate with the horizontal range of tube type bus; Adjusting focal length, make to intend monitoring cast bus section, busbar section and within video camera is shot with video-corder the visual field, wherein, must comprise a strong point of all monitoring points and tube type bus over part more than 3/5;
B. the fixed cameras position, make it no longer to move, and keeps focal length of camera constant simultaneously, and externally install anti-riot protective cover;
C. place scaling board in two video cameras are shot with video-corder the crossover range in the visual field, described scaling board is a rectangular slab, the square pigment lattice that its surface spraying is chequered with black and white;
D. open the computer camera calibrating procedure module as host computer, the mouse point is got the point of crossing that video camera is shot with video-corder black and white lattice in the scaling board image; Change the position of scaling board, the point of crossing of again with the mouse point, getting black and white lattice in the scaling board image, so repeated multiple times;
E. the computer image of opening as host computer catches and the fixation and recognition program module, check proven video camera all black and white lattice point of crossing on scaling board to be extracted automatically during in optional position at scaling board, if can not, repeating step d, until meet the requirements;
F. remove scaling board, demarcation completes.
4. a kind of transformer station according to claim 3 tube type bus deflection monitoring method, is characterized in that, the calculating of tube type bus amount of deflection is as follows with the decision method that exceeds standard:
A. set gray threshold according to aberration situation between the monitoring point sprayed on tube type bus and bus;
B. two video cameras synchronously capture the tube type bus picture, and computing machine identifies all monitoring points according to gray difference and extracts the three-dimensional coordinate of monitoring point;
Described coordinate system is set up by following principle: coordinate origin is positioned at fixed insulation 1 and intersection, earth's surface at half section monitored tube type bus place, vertical direction is Y direction, horizontal direction along the tube type bus axis is directions X, with XY plane vertical direction be Z-direction;
C. calculate the distance between all monitoring points and the tube type bus strong point
l i , the difference of x coordinate between all monitoring points and the tube type bus strong point
x i , the difference of y coordinate between all monitoring points and the tube type bus strong point
y i , between all monitoring points and the tube type bus strong point with the difference of z coordinate
z i ;
D. get
l i with
x i the difference of two squares open radical sign and obtain
f 1
i ;
E. get
z i with
y i quadratic sum open radical sign and obtain
f 2
i ;
F. get
f 1
i with
f 2
i average
f ai for deflection value corresponding to this monitoring point;
G. the corresponding deflection value in all monitoring points is contrasted, got the maximum defluxion of its maximal value as tube type bus
f max;
H. get the limit value of tube type bus amount of deflection
f lim
for tube type bus external diameter value
dwith 0.0045 times of span
laverage,
f lim
=(
d+ 0.0045
l)/2;
I. by the maximum defluxion of tube type bus
f maxwith limit value
f lim
contrasted, if
f max>=
f lim
, judge that the tube type bus amount of deflection exceeds standard and sends warning message, otherwise judge that the tube type bus amount of deflection does not exceed standard.
5. a kind of transformer station according to claim 4 tube type bus deflection monitoring method, it is characterized in that, draw out each monitoring point according to all monitoring points coordinate detected, and adopt interpolation method to simulate corresponding tube type bus curve to be presented in computer display, observation curve is provided.
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| CN201310381554.6A CN103438819B (en) | 2013-08-28 | 2013-08-28 | A kind of transformer substation tubular busbar deflection monitoring method |
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| CN105488808A (en) * | 2015-12-30 | 2016-04-13 | 江苏阳明船舶装备制造技术有限公司 | Device and method of field measurement of folding pipes on the basis of three-dimensional space shooting positioning technology |
| CN105488808B (en) * | 2015-12-30 | 2018-02-02 | 江苏阳明船舶装备制造技术有限公司 | Gathering pipe field measurement apparatus and method based on three dimensions shooting location technology |
| CN108050951A (en) * | 2017-12-27 | 2018-05-18 | 海宁文硕科技咨询有限公司 | A kind of busbar in high tension distribution system stretches amount detection systems |
| CN108759687A (en) * | 2018-08-14 | 2018-11-06 | 国网青海省电力公司检修公司 | The system for monitoring displacement and method of GIS device |
| CN108759687B (en) * | 2018-08-14 | 2024-04-12 | 国网青海省电力公司检修公司 | Displacement monitoring system and method of GIS equipment |
| CN110986787A (en) * | 2019-10-18 | 2020-04-10 | 南京慕荣电气科技有限公司 | Transformer substation support type pipe bus deformation early warning method based on point cloud data |
| CN110986787B (en) * | 2019-10-18 | 2021-08-10 | 南京慕荣电气科技有限公司 | Transformer substation support type pipe bus deformation early warning method based on point cloud data |
| CN112419287A (en) * | 2020-11-27 | 2021-02-26 | 杭州鲁尔物联科技有限公司 | Building deflection determination method and device and electronic equipment |
| CN112419287B (en) * | 2020-11-27 | 2024-05-28 | 杭州鲁尔物联科技有限公司 | Building deflection determination method and device and electronic equipment |
| CN113063367A (en) * | 2021-05-07 | 2021-07-02 | 中国地质大学（北京） | Full-field deflection real-time measurement system and measurement method based on oblique optical axis digital image correlation method |
| CN114061476A (en) * | 2021-11-17 | 2022-02-18 | 国网宁夏电力有限公司建设分公司 | Deflection detection method for insulator of power transmission line |
| CN114061476B (en) * | 2021-11-17 | 2023-04-18 | 国网宁夏电力有限公司建设分公司 | Method for detecting deflection of insulator of power transmission line |
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