CN104464173A - Power transmission line external damage protection system based on space image three-dimensional measurement - Google Patents
Power transmission line external damage protection system based on space image three-dimensional measurement Download PDFInfo
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- CN104464173A CN104464173A CN201410721823.3A CN201410721823A CN104464173A CN 104464173 A CN104464173 A CN 104464173A CN 201410721823 A CN201410721823 A CN 201410721823A CN 104464173 A CN104464173 A CN 104464173A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
- G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
- G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
Abstract
The invention discloses a power transmission line external damage protection system based on space image three-dimensional measurement. Produced electric energy is stored in a power supply management module through a power generation module, the power supply management module supplies power to an embedded system, the embedded system controls a detection module, a WIFI module, a pan-tilt, an acousto-optic and wireless warning module and a power supply of a GPRS module, the embedded system is in communication with the detection module, the GPRS module and the power supply management module through serial buses, and the detection module is in signal connection with the pan-tilt through a serial bus, is connected with the WIFI module through an internet access and triggers the acousto-optic and wireless warning module through an IO port. By means of the system, dangerous events can be precisely recognized, conditions of moving objects in a power transmission line corridor situation are monitored in real time, a loudspeaker is started on site to warn or inform relative staff, the dangerous events are recorded through high-definition pictures, warning information is reported to a client in real time through wireless communication, and major operation accidents can be prevented.
Description
Technical field
The present invention relates to a kind of electronic monitoring product, specifically based on the preventing damage to power transmission line caused by external force system of spatial image three-dimensional measurement.
Background technology
According to the difference of distance measuring method, mainly contain laser ranging, ultrasonic ranging, microwave radar, infrared distance measuring and visual token.Laser ranging has the advantages such as structure is relatively simple, high monochromaticity, high directivity, coherence is good, Measuring Time section, range are large, precision is high, detection range is far away, low price, is widely applied in a lot of fields.Pulse type laser can be divided into find range and phase laser distance measurement by measuring principle difference.Pulse type laser range measurement principle: the laser that stadimeter is launched is received by stadimeter again after object being measured reflection, the time that stadimeter colleague recording laser comes and goes, the speed that recycling light is propagated in media as well is certain, calculates the distance between stadimeter and testee.The precision of impulse method measuring distance is generally at about 1 meter.Phase laser distance measurement instrument utilizes the frequency of radio section, after carrying out amplitude modulation(PAM), measures the phase-modulation that light modulated round trip produces to laser beam, then according to the wavelength of light modulated, converses the distance representated by phase delay.Laser ranging shortcoming is that measurement performance is subject to environmental factor interference, and under the weather conditions such as rain, snow, mist, measurement performance can decline to some extent, can only transmit relative distance information by measuring away from restriction.
The method of ultrasonic ranging has magnitudes of acoustic waves detection method, phase-detection method and transit time method etc., though phase-detection method precision is high, sensing range is limited; Magnitudes of acoustic waves detection method is subject to transmitted wave impact; Transit time testing mode is simple, directly perceived, easily realizes in hardware controls and Software for Design.Hyperacoustic speed is comparatively large by external environment variable effect, and ultrasonic velocity is different at different temperature; Square being directly proportional of ultrasonic energy and distance decays, therefore distance is far away, and the ultrasound wave be reflected back is fewer, and sensitivity declines very soon, thus ultrasonic ranging mode is only useful in comparatively short distance.
The expulsive force of millimetre-wave radar development mainly comes from can obtain the antenna beam narrower than microwave radar, higher antenna gain with small aperture antenna.The high anti-jamming capacity that narrow beam has high resolving power and only has spatial selectivity good and bring.The practice of the Gulf War in recent years, Kosovo War shows, " long-range strike; precision strike " technology can be extremely important in Military Application, and the measurement of high precision, high resolving power, precise guidance and precision target indicate, realize the development of the demands such as automatic target detection to millimetre-wave radar provides huge new expulsive force.
The corresponding frequency of millimere-wave band (1 ~ 10mm) is 30 ~ 300GHZ, and its low section is adjoined superhigh frequency band, has the round-the-clock feature of superhigh frequency band, and high-end adjacent infrared band has the high resolution feature of infrared waves.Millimetre-wave radar wave beam is narrow, and angular resolution is high, bandwidth, good concealment, and antijamming capability is strong, and volume is little, lightweight.Compared with infrared, laser equipment, it has the propagation characteristic well penetrating cigarette, dirt, rain, mist, has the ability of good anti-interference, anti-stealthy, anti-low-level penetration and antagonism counter radiation.Because components and parts processing is artistic and the restriction of atmospheric conditions, have certain influence to the operating distance of millimetre-wave radar, but its measuring distance still can up to 30km.
Ultrared wavelength ratio visible light ray is long, has significant thermal effect and stronger penetrates cloud and mist ability, by receiving the infrared ray that objects in front is reflected back, and the difference of the strong and weak and wavelength of basis signal, poor by analysis time, character and the distance of detecting object can be obtained.(infrared is single wave number, and power consumption is large, cannot use continuously in the wild, is therefore not suitable for this project and uses)
Computer vision technique distance accuracy is high, and along with the computing power of computer hardware improves, the application of computer vision technique in numerous areas can reach the requirement of process in real time.In the application of vision technique, usually there are monocular system and biocular systems.Binocular vision imitates the method for human use binocular parallax perceived distance, with two video cameras to same scenery from diverse location imaging, and then recover distance from parallax.But two bit images also exist distortion, noise, the degree of depth and invisible part information the situation such as to be lost, these all will increase image registration.Many orders method for registering adopts multiple video camera to absorb the multiple image of object simultaneously, thus increases the quantity of information of scenery and the constraint condition of registration, simplifies registration problems.Multiple video camera is adopted also to increase the demarcation of whole range measurement system, installation, the technical difficulty such as synchronous.Monocular vision method adopts single image, and the focal length according to video camera estimates depth information with the parameter determined.Single camera vision system structure is simple, cost is low, has lacked image registration problem, decrease system works amount, save computer processing time relative to binocular vision and multi-vision visual system.But monocular vision method needs focal length of camera to fix, measure ground level in scene visible, and the object measured is on ground level, carry out simulated calibration to video camera before disposing, measuring distance is limited.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement.
The technical scheme that technical solution problem of the present invention is taked is:
Based on the preventing damage to power transmission line caused by external force system of spatial image three-dimensional measurement, comprise detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module, GPRS module, power management module, electricity generation module, embedded system, electricity generation module by produce power storage in power management module, power management module is powered to embedded system, and described embedded system controls the power supply of detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module and GPRS module; Embedded system carries out communication by universal serial bus and detection module, GPRS module, power management module; Detection module is connected with The Cloud Terrace signal by universal serial bus, connects WIFI module by network interface, triggers acousto-optic/Wireless alarm module by I/O port.
Furtherly, described detection module is made up of image capture module, millimetre-wave radar range finder module.
Furtherly, described power management module is made up of power management component and accumulator.
Furtherly, described electricity generation module is made up of photovoltaic cell and aerogenerator.
Furtherly, described image capture module is CMOS low-power consumption camera or the CCD camera of 5,000,000 pixels.
Furtherly, described camera before use, need to demarcate, specifically: utilize Zhang Zhengyou calibration algorithm thought, utilize the demarcation check board that black and white lattice replace, obtain the image of several different attitudes, utilize calibration algorithm to calculate inside and outside parameter and the distortion factor of camera, utilize the correction that these parameters can distort to image.
The demarcation of the millimetre-wave radar in millimetre-wave radar range finder module, specifically: the position first fixing camera and radar, keep camera optical axis substantially parallel to the ground, the front different distance drop target of camera, basic guarantee target is on the optical axis of camera; And to the target that each distance is placed, respectively offset multiple equal angular in the left and right of optical axis, just to these positions difference acquisition of image data and radar data simultaneously; For the position of target data on radar data and image, according to the homography rotational transform relation between the two of the Relation acquisition between world coordinates and camera coordinates system, the data fusion between radar fix and camera coordinates; Utilize camera distortion gain of parameter camera coordinates and the precise relation of picture planimetric coordinates, realize the accurate standard of target in radar target and camera image.
Furtherly, head end video analysis is done to the large-scale moving target near line corridor, moving object detection and target following are carried out to image, the distance of the target provided according to millimetre-wave radar and azimuth information, determine the height of the distance of the moving target detected, size and distance camera optical axis; When danger being detected, automatic startup early warning program: start sound and light alarm module, and reported to the police to Surveillance center by GPRS module, first upload warning word, upload images information mark hazardous location again, after Surveillance center receives word warning message, sends warning message to Surveillance center and working-yard related personnel at once, after receiving alarm image, then send alarm image to related personnel.
Millimetre-wave radar range finding combines with monocular vision measuring technique by the present invention, carries out automatically corresponding demarcation, reach the distance occurred abnormal object, and the position relationship between power transmission line is measured to millimetre-wave radar and monocular-camera.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Figure 1, based on the preventing damage to power transmission line caused by external force system of spatial image three-dimensional measurement, comprise detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module, GPRS module, power management module, electricity generation module, embedded system, electricity generation module by produce power storage in power management module, power management module is powered to embedded system, and described embedded system controls the power supply of detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module and GPRS module; Embedded system carries out communication by universal serial bus and detection module, GPRS module, power management module; Detection module is connected with The Cloud Terrace signal by universal serial bus, connects WIFI module by network interface, triggers acousto-optic/Wireless alarm module by I/O port.
Detection module in the present embodiment is surveyed by the CMOS low-power consumption camera of 5,000,000 pixels, millimetre-wave radar and is formed.Power management module is made up of power management component and accumulator.Electricity generation module is made up of photovoltaic cell and aerogenerator.
1. the demarcation of monocular camera.Mainly utilize the calibration algorithm thought of Zhang Zhengyou, utilize the demarcation check board that black and white lattice replace, obtain the image of several different attitudes, utilize calibration algorithm to calculate inside and outside parameter and the distortion factor of camera, utilize the correction that these parameters can distort to image.
2. the demarcation of millimetre-wave radar and camera.First fix the position of camera and radar, keep camera optical axis substantially parallel to the ground, front different distance (as 10m, 20m, 30m etc.) drop target (as laughable tank etc.) of camera, basic guarantee target is on the optical axis of camera; And to the target that each distance is placed, respectively offset multiple equal angular in the left and right of optical axis, just to these positions difference acquisition of image data and radar data simultaneously.For the position of target data on radar data and image, according to the homography rotational transform relation between the two of the Relation acquisition between world coordinates and camera coordinates system, the data fusion between radar fix and camera coordinates.Be easy to obtain camera coordinates and the precise relation of picture planimetric coordinates in the camera distortion parameter utilizing embodiment 1 to obtain, realize the accurate standard of target in radar target and camera image.
3. the large-scale moving target of pair close line corridor does head end video analysis, moving object detection and target following are carried out to image, the distance of the target provided according to radar and azimuth information, can determine the height of the distance of the moving target detected, size and distance camera optical axis etc. (camera install height known).
4. when danger being detected, automatic startup early warning program: start on-the-spot sound and light alarm, and reported to the police to Surveillance center by GPRS cordless communication network, first upload warning word, upload images information (optional whether compress) mark hazardous location again, after Surveillance center receives word warning message, sends warning message to Surveillance center and working-yard related personnel at once, after receiving alarm image, then send alarm image to related personnel.
5. system is with Wi-Fi and GPRS radio communication; When installing first, configured by Wi-Fi and calibrate.After configuration terminates, Wi-Fi closes, and starts Wi-Fi by GPRS radio network configuration;
6. system is furnished with The Cloud Terrace, and The Cloud Terrace is connected with main frame through serial ports, and can carry out rotation configuration, presetting bit quantity can reach 200.
7. product outfit sound and light alarm packaging is put, and field personnel is known in time, controls dangerous play in time.
8. adopt the wind-light complementary system of solar panel and small-sized fan to power, and provide interface real-time monitoring battery state.
9. system can be taken pictures at night.
10. can check live video stream by Wi-Fi, can select under GPRS wireless network to transmit individual high-definition image.
Using after this product can the generation of minimizing accident greatly, because have early warning and alarm function, great minimizing is due to the artificial off one's guard and accident that causes, owing to there being real-time monitoring and early warning measure, be very easy to power supply administration and carry out key-point management, thus effectively reduce and the generation of control accident.Fund up to a million can be saved for power supply administration every year, meanwhile, favorable attributes made to the stable of society.
Claims (7)
1. based on the preventing damage to power transmission line caused by external force system of spatial image three-dimensional measurement, comprise detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module, GPRS module, power management module, electricity generation module, embedded system, it is characterized in that: electricity generation module by produce power storage in power management module, power management module is powered to embedded system, and described embedded system controls the power supply of detection module, WIFI module, The Cloud Terrace, acousto-optic/Wireless alarm module and GPRS module; Embedded system carries out communication by universal serial bus and detection module, GPRS module, power management module; Detection module is connected with The Cloud Terrace signal by universal serial bus, connects WIFI module by network interface, triggers acousto-optic/Wireless alarm module by I/O port.
2. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 1, is characterized in that: described detection module is made up of image capture module, millimetre-wave radar range finder module.
3. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 1, is characterized in that: described power management module is made up of power management component and accumulator.
4. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 1, is characterized in that: described electricity generation module is made up of photovoltaic cell and aerogenerator.
5. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 2, is characterized in that: described image capture module is CMOS low-power consumption camera or the CCD camera of 5,000,000 pixels.
6. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 5, it is characterized in that: described camera before use, need to demarcate, specifically: utilize Zhang Zhengyou calibration algorithm thought, utilize the demarcation check board that black and white lattice replace, obtain the image of several different attitudes, utilize calibration algorithm to calculate inside and outside parameter and the distortion factor of camera, utilize the correction that these parameters can distort to image;
The demarcation of the millimetre-wave radar in millimetre-wave radar range finder module, specifically: the position first fixing camera and radar, keep camera optical axis substantially parallel to the ground, the front different distance drop target of camera, basic guarantee target is on the optical axis of camera; And to the target that each distance is placed, respectively offset multiple equal angular in the left and right of optical axis, just to these positions difference acquisition of image data and radar data simultaneously; For the position of target data on radar data and image, according to the homography rotational transform relation between the two of the Relation acquisition between world coordinates and camera coordinates system, the data fusion between radar fix and camera coordinates; Utilize camera distortion gain of parameter camera coordinates and the precise relation of picture planimetric coordinates, realize the accurate standard of target in radar target and camera image.
7. the preventing damage to power transmission line caused by external force system based on spatial image three-dimensional measurement according to claim 6, it is characterized in that: head end video analysis is done to the large-scale moving target near line corridor, moving object detection and target following are carried out to image, the distance of the target provided according to millimetre-wave radar and azimuth information, determine the height of the distance of the moving target detected, size and distance camera optical axis; When danger being detected, automatic startup early warning program: start sound and light alarm module, and reported to the police to Surveillance center by GPRS module, first upload warning word, upload images information mark hazardous location again, after Surveillance center receives word warning message, sends warning message to Surveillance center and working-yard related personnel at once, after receiving alarm image, then send alarm image to related personnel.
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Cited By (8)
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| CN104867268A (en) * | 2015-05-11 | 2015-08-26 | 国家电网公司 | Monitoring device and method for judging limit exceeding of moving object under power transmission line |
| CN105160672A (en) * | 2015-08-31 | 2015-12-16 | 国网山东省电力公司淄博供电公司 | Site photo three-dimensional reconstruction and intrusion recognition based power transmission line external damage preventing method |
| CN105513243A (en) * | 2015-11-27 | 2016-04-20 | 国家电网公司 | External damage prevention device for power transmission line |
| CN110727277A (en) * | 2019-08-23 | 2020-01-24 | 珠海格力电器股份有限公司 | Control method and device of car washer with millimeter wave radar and intelligent car washer |
| CN110827500A (en) * | 2019-11-27 | 2020-02-21 | 长沙深之瞳信息科技有限公司 | Intelligent security method and system |
| CN111429600A (en) * | 2020-03-28 | 2020-07-17 | 国网河南省电力公司偃师市供电公司 | Active early warning type external damage prevention dangerous point control method for power transmission and distribution line |
| CN111638510A (en) * | 2020-07-14 | 2020-09-08 | 广东电网有限责任公司 | Intelligent management and control device for large machinery |
| CN116609613A (en) * | 2023-05-22 | 2023-08-18 | 北京华清起航科技有限公司 | Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system |
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| CN111429600A (en) * | 2020-03-28 | 2020-07-17 | 国网河南省电力公司偃师市供电公司 | Active early warning type external damage prevention dangerous point control method for power transmission and distribution line |
| CN111638510A (en) * | 2020-07-14 | 2020-09-08 | 广东电网有限责任公司 | Intelligent management and control device for large machinery |
| CN116609613A (en) * | 2023-05-22 | 2023-08-18 | 北京华清起航科技有限公司 | Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system |
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