CN105741379A - Method for panoramic inspection on substation - Google Patents
Method for panoramic inspection on substation Download PDFInfo
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- CN105741379A CN105741379A CN201610061498.1A CN201610061498A CN105741379A CN 105741379 A CN105741379 A CN 105741379A CN 201610061498 A CN201610061498 A CN 201610061498A CN 105741379 A CN105741379 A CN 105741379A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Abstract
The invention discloses a method for panoramic inspection on a substation. The method comprises the following steps: selecting image acquisition points according to specific conditions of the substation; acquiring image information by an inspector holding inspection equipment; performing fault judgement on a panoramic image by the inspection equipment according to preset fault criteria during the process of inspection performed by the inspector holding the inspection equipment; and finally, performing key survey and maintenance aiming at a fault point. The inspection equipment comprises an inspection device, a location device and a signal processor. The method can be used for acquiring panoramic information of the substation once via image splicing technology, finding the fault point in the substation quickly and accurately, reducing omission in inspection, and improving the work efficiency of the inspector to a great extent.
Description
Technical field
The present invention relates to field of power, particularly relate to a kind of transformer station panorama method for inspecting.
Background technology
Transformer station's power grid security is related to the industry-by-industry such as the energy, industry, affects each nerve of society, ensures that the safe operation of transformer station becomes most important.Transformer station's Daily Round Check work can find to prevent trouble before it happens electrical equipment malfunction in time, it is ensured that station equipment is maintained in time.
Patrol and examine work at present mainly based on manual inspection, transformer station's construction area is bigger, the construction area of 220kv transformer station minimum at present is 7519 square metres, circuit is patrolled and examined crisscross in standing, electric equipment is similar, patrol officer's single patrols and examines workload greatly, length consuming time, it is easy to lose or obscure fault message.
The image f iotaeld-of-view of tradition inspection device shooting is limited.When chip imaging resolution one timing, photographed scene is more big, and image resolution ratio is more low, and the sensitivity of inspection device will reduce.By the restriction of equipment visual field, current hand-held inspection device can't once observe transformer station's overall condition, it is necessary to circuit is detected by patrol officer one by one.
In sum, patrol and examine work at present and exist following not enough:
(1) patrol officer needs whole transformer station is patrolled and examined, and transformer station region is broad, manually patrols and examines time and effort consuming, inefficiency comprehensively；
(2) in transformer station, electrical equipment outward appearance is similar, circumstance complication, when patrol officer patrols and examines, it is easy to obscures or loses and patrols and examines target；
(3) the general manual operating instrument of patrol officer, movement range inconvenience controls, it is possible to patrol and examine blind spot；
(4) inspection device is by technical limitations in the market, and visual field is limited, it is impossible to transformer station is carried out comprehensive and systematic observation.
Summary of the invention
Patrolling and examining blind spot and transformer station can carrying out transformer station's panorama method for inspecting of panorama observation, not easily occur in goal of the invention: it is an object of the invention to provide one and patrol and examine efficiency height.
Technical scheme: for reaching this purpose, the present invention by the following technical solutions:
Transformer station of the present invention panorama method for inspecting, comprises the following steps that
S1: choose image acquisition point: the concrete condition according to transformer station, chooses image acquisition point；
S2: image information collecting: patrol officer holds inspection device and carries out image information collecting: after inspection device reads a two field picture, inspection device prompting patrol officer slightly moves the sensing of inspection device, to gather the second two field picture；After inspection device has read two two field pictures, two two field pictures are carried out orientation recognition and image recognition by inspection device, are spliced by two width images, and are shown on the display screen of inspection device；After inspection device completes the display to two two field pictures, inspection device continues to read next frame image, until panoramic picture completes to read and splicing；
S3: Image Information Processing: patrol officer holds inspection device and carries out in the process patrolled and examined, panoramic picture is carried out breakdown judge according to pre-set failure criterion by inspection device: when first time detects trouble point, the azimuth information of inspection device record trouble point and fault message；When again detecting trouble point, the inspection device point of record trouble again azimuth information and fault message；The azimuth information of the trouble point of twice record is processed by inspection device, so that it is determined that the accurate orientation of trouble point；
S4: emphasis is reconnoitred: carry out emphasis prospecting and maintenance for trouble point.
Further, the image mosaic in described step S2 comprises the following steps:
S2.1: Image semantic classification: two width images to be spliced are carried out denoising, edge extracting and histogram treatment, sets up the matching template of image, image is carried out Fourier transformation and wavelet transformation；
S2.2: image registration: according to inspection device towards choosing reference picture, afterwards according to matching strategy, find out the position that matching template is corresponding in a reference image, and then determine the transformation relation between two width images；
S2.3: set up transformation model: according to the transformation relation between two width images, set up the mathematical transformation model of two width images；
S2.4: uniform coordinate converts: according to mathematical transformation model, be transformed in the coordinate system of reference picture by two width images to be spliced；
S2.5: merge reconstruct: merged the overlapping region of two width images to be spliced, obtain the panoramic picture of spliced smooth and seamless.
Further, described step S3 comprises the following steps:
S3.1: when first time detects trouble point, patrol officer holds inspection device and moves to inspection point provided A, and the coordinate of inspection device record inspection point provided A is (XA,YA), the angle of the line between inspection point provided A and trouble point and x-axis positive axis is α；
S3.2: when again detecting trouble point, patrol officer holds inspection device and moves to inspection point provided B, and the coordinate of inspection device record inspection point provided B is (XB,YB), the angle of the line between inspection point provided B and trouble point and x-axis positive axis is β；
S3.3: it is (X, Y) that inspection device calculates the coordinate obtaining trouble point, wherein:
Further, described inspection device includes inspection device, positioner and signal processing apparatus；Wherein:
Inspection device: for gathering the fault message of trouble point；
Positioner: for gathering the azimuth information of trouble point and carrying out trouble point target following；
Signal processing apparatus: for the accurate orientation of image mosaic, Fault Identification and the localization of faults.
Further, described inspection device includes one or more in ultraviolet imager, thermal infrared imaging instrument or ultraviolet-visible light-thermal infrared triple channel imager.
Further, described positioner includes one or more in GPS, gyroscope or inclinometer.
Further, described signal processing apparatus includes image mosaic processing module, faulted-phase judgment module and auxiliary positioning module；Wherein:
Image mosaic processing module: realize image mosaic, thus obtaining panoramic picture；
Faulted-phase judgment module: each two field picture is carried out Fault Identification, it is judged that whether trouble point exists；
Auxiliary positioning module: the azimuth information of trouble point corresponding to twice inspection point provided is calculated, obtains the accurate orientation of trouble point.
Beneficial effect: compared with prior art, the present invention can once obtain the panoramic information of transformer station by image mosaic technology, finds out the trouble point in transformer station quickly and accurately, reduces and patrols and examines careless omission, improves the work efficiency of patrol officer dramatically.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the present invention；
Fig. 2 is the workflow diagram of the inspection device of the present invention；
Fig. 3 is the flow chart of image mosaic；
Fig. 4 is the forming process of the panoramic picture with azimuth information；
Fig. 5 is the schematic diagram of the step S3 of the present invention；
Fig. 6 is the schematic diagram of the image information collecting of the present invention；
Fig. 7 is the searching process of the trouble point of the present invention；
Fig. 8 is the block diagram of the system in the embodiment of the present invention 2；
Fig. 9 is the flow chart of the method in the embodiment of the present invention 2；
Figure 10 is the schematic diagram of the image mosaic in the embodiment of the present invention 2；
Figure 11 is the schematic diagram of the three kinds of modes obtaining object dimensional model of the present invention.
Detailed description of the invention
Below in conjunction with detailed description of the invention, technical scheme is further introduced.
After transformer substation construction completion, basic electrical equipment does not have too big change, therefore first transformer station can be carried out panoramic picture collection, obtains transformer station's panoramic information image with this, sets up transformer station's panorama threedimensional model on this basis.Three-dimensional reconstruction needs transformer station first carries out panoramic information collection and image calibration.When equipment carries out pan-shot, backstage utilizes image recognition technology to match among threedimensional model by the photo of shooting, shooting the image obtained according to the images match in three dimensions, carrying out orientation recognition in the three-dimensional model, so carrying out the judgement in orientation, trouble point.Assume that whole cuboid is transformer station three-dimensional space model N, equipment carries out pan-shot in transformer station's certain point, obtaining panoramic picture is M, trouble point is arranged in the location A of panoramic picture, system is mated with existing space image according to image and orientation recognition, finds out A position in three-dimensional space model N, can draw the actual range of observation station and target according to existing three-dimensional space model N, under the guide of GPS, patrol officer can go to detection.
The invention discloses a kind of transformer station panorama method for inspecting, as it is shown in figure 1, comprise the following steps that
S1: choose image acquisition point: the concrete condition according to transformer station, chooses image acquisition point；
S2: image information collecting: patrol officer holds inspection device and carries out image information collecting: after inspection device reads a two field picture, inspection device prompting patrol officer slightly moves the sensing of inspection device, to gather the second two field picture；After inspection device has read two two field pictures, two two field pictures are carried out orientation recognition and image recognition by inspection device, are that two width images are spliced by default direction according to direct north, and are shown on the display screen of inspection device；After inspection device completes the display to two two field pictures, inspection device continues to read next frame image, until panoramic picture completes to read and splicing, as shown in Figure 6；
S3: Image Information Processing: patrol officer holds inspection device and carries out in the process patrolled and examined, panoramic picture is carried out breakdown judge according to pre-set failure criterion by inspection device: when first time detects trouble point, the azimuth information of inspection device record trouble point and fault message；When again detecting trouble point, the inspection device point of record trouble again azimuth information and fault message；The azimuth information of the trouble point of twice record is processed by inspection device, so that it is determined that the accurate orientation of trouble point；
S4: emphasis is reconnoitred: carry out emphasis prospecting and maintenance for trouble point.
Wherein, the image mosaic in step S2 is as it is shown on figure 3, comprise the following steps:
S2.1: Image semantic classification: two width images to be spliced are carried out denoising, edge extracting and histogram treatment, sets up the matching template of image, image is carried out Fourier transformation and wavelet transformation；
S2.2: image registration: when choosing inspection device towards direct north, the image of shooting is as reference picture, afterwards according to matching strategy, finds out the position that matching template is corresponding in a reference image, and then determines the transformation relation between two width images；
S2.3: set up transformation model: according to the transformation relation between two width images, set up the mathematical transformation model of two width images；
S2.4: uniform coordinate converts: according to mathematical transformation model, be transformed in the coordinate system of reference picture by two width images to be spliced；
S2.5: merge reconstruct: merged the overlapping region of two width images to be spliced, obtain the panoramic picture of spliced smooth and seamless.
As shown in Figure 5, Figure 7, step S3 comprises the following steps:
S3.1: when first time detects trouble point, patrol officer holds inspection device and moves to inspection point provided A, and the coordinate of inspection device record inspection point provided A is (XA,YA), the angle of the line between inspection point provided A and trouble point and x-axis positive axis is α；
S3.2: when again detecting trouble point, patrol officer holds inspection device and moves to inspection point provided B, and the coordinate of inspection device record inspection point provided B is (XB,YB), the angle of the line between inspection point provided B and trouble point and x-axis positive axis is β；
S3.3: it is (X, Y) that inspection device calculates the coordinate obtaining trouble point, wherein:
Azimuth information and image information can be overlapped such as Fig. 4 mode, inspection device camera shutter triggers orientation measurement module and carries out a data acquisition and record, and it being simultaneously displayed on display screen, the two information is merged by backstage, it is possible to obtain the panoramic picture with azimuth information.
As in figure 2 it is shown, inspection device includes inspection device, positioner and signal processing apparatus；Wherein:
Inspection device: for gathering the fault message of trouble point, it is possible to be one or more in ultraviolet imager, thermal infrared imaging instrument or ultraviolet-visible light-thermal infrared triple channel imager.Generally this kind equipment visual field is narrower, and in transformer station, view finder (or display screen) cannot show transformer station's overall picture.The present invention incorporates panoramic photographing technique and image mosaic technology on existing equipment basis, both can not reduce the quality of image acquisition, can realize again the collection of extremely wide field of view or full field of view image information.
Positioner: can be one or more in GPS, gyroscope or inclinometer.When inspection device shoots every two field picture, the azimuth information of linkage positioning device records photographing image, thus acquiring the azimuth information of trouble point.Positioner also has target following function, when patrol officer goes to trouble point to reconnoitre, it is possible to use this positioner detects again.When positioner captures target again, can patrol and examine, according to twice, the target detected to be identified, the information such as change by characteristics of image, the change of signal intensity or location information, extrapolate the actual range of patrol officer's Relative fault target, guide patrol officer accurately to arrive trouble point, and do not limited by observation place.
Signal processing apparatus: for the accurate orientation of image mosaic, Fault Identification and the localization of faults, including image mosaic processing module, faulted-phase judgment module and auxiliary positioning module；Wherein:
Image mosaic processing module: available image border identifies technology, is spliced by the image that shooting obtains, obtains instant panoramic picture, it is also possible to utilize other image mosaic technology to carry out the collection of panoramic picture；
Faulted-phase judgment module: the signal of every two field picture, while capturing panoramic view image, namely can be identified, judge by view finder, is identified fault-signal according to existing electrical equipment malfunction regulation；The identification of electrical equipment malfunction can also be determined according to transformer station's practical situation, as increased threshold value, increasing alarm etc.；
Auxiliary positioning module: the azimuth information of trouble point corresponding to twice inspection point provided is calculated, obtains the accurate orientation of trouble point.
Embodiment 1:
Inspection device adopts thermal infrared imaging instrument as inspection device, GPS and gyroscope as positioner, and positioner and thermal infrared imaging instrument camera lens are positioned on same optical axis, and it is consistent with the Orientation differences direction detected to make camera lens moving direction.GPS and gyroscope point to orientation for the spot for photography coordinate and optical axis measuring thermal infrared imaging instrument, when patrol officer finds a view at transformer station center first time, and GPS record geography information now, gyroscope recording angular information.
Thermal infrared imaging instrument adopts panoramic picture shooting algorithm, signal processing algorithm and location algorithm etc., wherein:
Panoramic picture shooting algorithm can utilize extraction picture edge characteristic mode to realize, and first finds out lap in adjacent two images, it is then determined that the transformation relation of two images, namely carries out image registration.Difference due to visual angle, shooting time, resolution, intensity of illumination, sensor type etc., the difference such as image to be spliced often exists translation, rotation, dimensional variation, perspective deformation, aberration, distortion, moving target block, the purpose of registration is exactly find out a kind of to describe the transformation model of mapping relations between image to be spliced.Some conventional at present space transform models have translation transformation, rigid transformation, affine transformation and projective transformation etc..
Signal processing algorithm includes the step such as threshold process, binary conversion treatment.There is interference in the infrared signal generally detected, signal processing is on the one hand for clear resolution image marginal information, the collection being conducive to panoramic picture is spliced, the temperature signal detected can be processed in real time on the other hand, increase temperature threshold and can point out abnormity point temperature, and abnormity point is labeled, record.
Concrete method for inspecting is as follows:
(1) first, the hand-held inspection device of patrol officer is positioned at transformer station center, for obtaining stable image, can be placed on spider by inspection device and shoot；Patrol officer points out according to view finder, clockwise (or counterclockwise) mobile inspection device, transformer station is carried out panorama and finds a view；
The ultimate principle of infrared detection is through the infrared radiation signal of detecting object, it is thus achieved that the Warm status feature of object, and judges the state of testee according to this Warm status feature and corresponding criterion.Due to infrared detection technology have at a distance, do not contact, in real time, the feature such as quick, thus the on-line monitoring and fault diagonosing realizing power equipment is had great importance；Infrared equipment can set threshold value on infrared detection thermometric module, when the temperature detected is more than threshold temperature, and system and recordable current location, currently detected temperature；
(2) patrol officer recalls the panoramic picture photographed, and goes to looking up the fault point according to the geography information in image；As it is shown in figure 5, patrol officer can arrange first time shoots the geographical coordinate (X that place is inspection point provided A, GPS reading inspection point provided A of imageA,YA), learn the azimuth information of now trouble point according to image feedback, namely the angle of the line between inspection point provided A and trouble point and x-axis positive axis is α；
(3) Substation Electric Equipment is similar, and single detection is easily lost target；When close to trouble point, patrol officer's available devices is found a view again, and when system captures trouble point again, equipment can send voice message, and again feeds back current geography information；Now patrol officer location is inspection point provided B, records the geographical coordinate (X of now inspection point provided BB,YB), learn the azimuth information of now trouble point according to image feedback, namely the angle of the line between inspection point provided B and trouble point and x-axis positive axis is β；Inspection device solves linear equation in two unknowns according to twice coordinate information, obtains the actual coordinate (X, Y) of trouble point, when Substation Electric Equipment is similar, it is possible to accurately find out trouble point.
The present embodiment can quick and precisely find out trouble point, relative and unit thermal infrared inspection device, it is possible to greatly improves and patrols and examines efficiency.
Embodiment 2:
This programme can be applicable in ultraviolet/infrared/visible triple channel Portable inspection unit, patrol officer holds this system and patrols and examines in transformer station, transformer station's situation can be detected by all-dimensional all-weather, and according to Image Feature Matching mode, trouble point is matched in transformer station's threedimensional model, guide patrol officer to go to prospecting.
Ultraviolet corona detector is for the incipient fault detection of Substation Electric Equipment, and ultraviolet corona detector has without features such as background, capacity of resisting disturbance are strong, is widely used to during substation inspection works；Infrared detection technology is for the middle and advanced stage fault detect of Substation Electric Equipment；Visible ray equipment can directly observe the stained situation of electrical equipment；By triplicity, add pan-shot algorithm and alignment system, it is possible to accurately looking up the fault point, improve and patrol and examine efficiency.
As a case, this programme is detected equipment, location equipment and background process equipment and constitutes by triple channel.Triple channel detection equipment is by ultraviolet, infrared, visual light imaging equipment Common-path method, visible channel or superposition passage is utilized to be found a view in scene, location equipment is utilized to position, background devices is utilized to carry out information processing identification, it is tagged in threedimensional model, helping the accurate looking up the fault point of patrol officer, system designs as shown in Figure 8.
Owing to triple channel equipment is Common-path method, it is seen that light image feature is obvious, and as a case, this programme can carry out Panorama Mosaic according to visible images, infrared image, ultraviolet image can be spliced simultaneously according to the node of splicing.Ultraviolet image, infrared image are carried out signal analysis, record trouble point failure information, positional information by backstage respectively, then match in threedimensional model by panoramic picture, fault point, guide patrol officer to go to prospecting, and workflow can be undertaken by Fig. 9 mode:
(1) patrol officer carry triple channel detection equipment scene is carried out panoramic picture collection, image is spliced by backstage in real time, and records the azimuth information of the splice point of every frame visible images, every two field picture.
Zero background and the target uniqueness of day blind ultraviolet detection bring great convenience to target acquisition, reduce the fault erroneous judgement that ambient interferences causes.But, day blind ultraviolet detection to image make reference entirely without background, can only be used for detect target, but cannot be used for search for target and location target.Therefore, need to merge visible ray/infrared channel, utilize the image detection corona signal of day blind ultraviolet passage, reference background is provided with the reference picture of visible ray/infrared channel, adopt image fusion technology that three's video is overlapped fusion treatment again, it is finally completed corona target location, and is transferred to rear end.Backstage can the data of centralized stores every equipment showing, according to substation inspection rule, signal is carried out anticipation identification.
Compared to simple ultraviolet imager, the data processing amount of the three-in-one complex imaging testing equipment of ultraviolet/visible light/thermal infrared is bigger, and it is also higher that image co-registration shows that the processing speed to data requires.Article " image fusion technology and new development thereof " more fully describes multisensor multi-band image integration technology research trends and progress, different according to level, Image Fusion is divided into: pixel layer data anastomosing algorithm, characteristic layer Image Fusion, symbol layer Image Fusion etc..
(2) image of shooting is carried out splicing in real time, the signal detected is carried out differentiation process, orientation is identified by inspection device.It is Common-path method owing to triple channel detects equipment, it is possible to use the splice point of every frame visible images, by corresponding every frame ultraviolet/infrared image splicing, finally gives three-channel panoramic picture.
As shown in Figure 10, solid line, dashed rectangle are the image of each frame shooting, lap is the intersection that image mosaic uses, backstage records the splice point between every two frames, owing to infrared/ultraviolet passage and visible channel are Common-path method, so the picture registration that every two field picture figure of visible channel shooting obtains with infrared/ultraviolet passage, so the splice point of visible images is equally applicable to other two passages, utilize backstage image processing system, splice infrared/ultraviolet channel image, finally give triple channel panoramic mosaic image.
(3) background system utilizes the panoramic picture spliced to carry out feature identification, images match with the 3-dimensional image model being originally stored in background system, the visible panoramic picture of shooting is matched in the threedimensional model built up, mate the infrared image of correspondence, ultraviolet image simultaneously, trouble point can be demonstrated in transformer station's threedimensional model；Further according to the location equipment that equipment is furnished with, the shooting point position at patrol officer place can be positioned.
(4) patrol officer recalls threedimensional model, just can check the position of the position of oneself, trouble point the trouble point information according to prompting in the three-dimensional model, goes to this position emphasis prospecting.
After transformer substation construction completion, the position of basic electrical equipment does not have too big change, and transformer station first can be carried out image acquisition by native system, obtains the geography information of transformer station's image information, equipment with this, sets up transformer station's panorama threedimensional model on this basis.
Objective world is spatially three-dimensional, and the acquired image of existing image collecting device is two-dimentional.Although containing some form of three-dimensional spatial information in image, but really to use the application further of these information to process in a computer, it is necessary for adopting three-dimensional reconstruction reasonably extract from two dimensional image and express these three-dimensional informations.Three-dimensional reconstruction can construct realistic 3-D graphic from two dimensional image, and the technological means that three-dimensional information obtains is varied, and the mode generally obtaining object dimensional model has three kinds: one, utilizes modeling software structure threedimensional model；Two, threedimensional model is obtained by instrument and equipment；Three, utilize image or video to rebuild scene threedimensional model, as shown in figure 11.
The third modeling method is according to image or video modeling, by a series of images to scene real scene shooting, it is possible to recover the scene or object model with phase chip level sense of reality；On the other hand, modeling process automaticity is also improving constantly along with the progress of technology so that hand labor intensity is increasingly lighter, reduces modeling cost.Also very simple based on the equipment needed for image modeling, it is only necessary to a digital camera, or a common picture pick-up device.
Image is 2-D data, but can find many clues in about a width of a certain scene or object or multiple image, therefrom can know the geological information of scene that image records or object by inference.These clues include the corresponding relation and contour of object information etc. of characteristic point in the geometrical relationship between object edge and limit, the parallax relation of two width images, two width images.These clues are that in scene, object is had, and are called " passive clue ".Sometimes can also create clue as required, as stamped striped with light artificially on a surface of an or producing shade.Such artificial clue is called " actively clue ".
Utilize panoramic photographing technique looking up the fault point, utilize threedimensional model fault point, efficiency is patrolled and examined by what greatly improve patrol officer, in addition the data every time patrolled and examined are carried out system finishing, the each equipment of transformer station can be carried out fault statistics, in time equipment is safeguarded, ensure the operation of power system highly effective and safe.
Claims (7)
1. transformer station's panorama method for inspecting, it is characterised in that: comprise the following steps that
S1: choose image acquisition point: the concrete condition according to transformer station, chooses image acquisition point；
S2: image information collecting: patrol officer holds inspection device and carries out image information collecting: after inspection device reads a two field picture, inspection device prompting patrol officer slightly moves the sensing of inspection device, to gather the second two field picture；After inspection device has read two two field pictures, two two field pictures are carried out orientation recognition and image recognition by inspection device, are spliced by two width images, and are shown on the display screen of inspection device；After inspection device completes the display to two two field pictures, inspection device continues to read next frame image, until panoramic picture completes to read and splicing；
S3: Image Information Processing: patrol officer holds inspection device and carries out in the process patrolled and examined, panoramic picture is carried out breakdown judge according to pre-set failure criterion by inspection device: when first time detects trouble point, the azimuth information of inspection device record trouble point and fault message；When again detecting trouble point, the inspection device point of record trouble again azimuth information and fault message；The azimuth information of the trouble point of twice record is processed by inspection device, so that it is determined that the accurate orientation of trouble point；
S4: emphasis is reconnoitred: carry out emphasis prospecting and maintenance for trouble point.
2. transformer station according to claim 1 panorama method for inspecting, it is characterised in that: the image mosaic in described step S2 comprises the following steps:
S2.1: Image semantic classification: two width images to be spliced are carried out denoising, edge extracting and histogram treatment, sets up the matching template of image, image is carried out Fourier transformation and wavelet transformation；
S2.2: image registration: according to inspection device towards choosing reference picture, afterwards according to matching strategy, find out the position that matching template is corresponding in a reference image, and then determine the transformation relation between two width images；
S2.3: set up transformation model: according to the transformation relation between two width images, set up the mathematical transformation model of two width images；
S2.4: uniform coordinate converts: according to mathematical transformation model, be transformed in the coordinate system of reference picture by two width images to be spliced；
S2.5: merge reconstruct: merged the overlapping region of two width images to be spliced, obtain the panoramic picture of spliced smooth and seamless.
3. transformer station according to claim 1 panorama method for inspecting, it is characterised in that: described step S3 comprises the following steps:
S3.1: when first time detects trouble point, patrol officer holds inspection device and moves to inspection point provided A, and the coordinate of inspection device record inspection point provided A is (XA,YA), the angle of the line between inspection point provided A and trouble point and x-axis positive axis is αA；
S3.2: when again detecting trouble point, patrol officer holds inspection device and moves to inspection point provided B, and the coordinate of inspection device record inspection point provided B is (XB,YB), the angle of the line between inspection point provided B and trouble point and x-axis positive axis is αB；
S3.3: it is (X, Y) that inspection device calculates the coordinate obtaining trouble point, wherein:
4. transformer station according to claim 1 panorama method for inspecting, it is characterised in that: described inspection device includes inspection device, positioner and signal processing apparatus；Wherein:
Inspection device: for gathering the fault message of trouble point；
Positioner: for gathering the azimuth information of trouble point and carrying out trouble point target following；
Signal processing apparatus: for the accurate orientation of image mosaic, Fault Identification and the localization of faults.
5. transformer station according to claim 4 panorama method for inspecting, it is characterised in that: described inspection device includes one or more in ultraviolet imager, thermal infrared imaging instrument or ultraviolet-visible light-thermal infrared triple channel imager.
6. transformer station according to claim 4 panorama method for inspecting, it is characterised in that: described positioner includes one or more in GPS, gyroscope or inclinometer.
7. transformer station according to claim 4 panorama method for inspecting, it is characterised in that: described signal processing apparatus includes image mosaic processing module, faulted-phase judgment module and auxiliary positioning module；Wherein:
Image mosaic processing module: realize image mosaic, thus obtaining panoramic picture；
Faulted-phase judgment module: each two field picture is carried out Fault Identification, it is judged that whether trouble point exists；
Auxiliary positioning module: the azimuth information of trouble point corresponding to twice inspection point provided is calculated, obtains the accurate orientation of trouble point.
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Cited By (15)
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| CN106370305A (en) * | 2016-09-07 | 2017-02-01 | 山东大学 | Transformer station panoramic temperature measurement point presetting method |
| CN106451201A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Inspection system for transformer substation |
| CN106709999A (en) * | 2016-12-30 | 2017-05-24 | 春兴新能源电力（苏州）有限公司 | Power station site survey method based on unmanned aerial vehicle |
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| CN106840412A (en) * | 2017-02-10 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of integrated system and method based on infrared panorama Monitoring Data |
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| CN109520564A (en) * | 2018-11-05 | 2019-03-26 | 福建石子科技有限公司 | A kind of monitoring application method of intelligent analytical model |
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| CN106451201A (en) * | 2016-08-31 | 2017-02-22 | 杭州申昊科技股份有限公司 | Inspection system for transformer substation |
| CN106370305A (en) * | 2016-09-07 | 2017-02-01 | 山东大学 | Transformer station panoramic temperature measurement point presetting method |
| CN106780804A (en) * | 2016-11-23 | 2017-05-31 | 南京军理科技股份有限公司 | Register method, apparatus and system |
| CN106709999A (en) * | 2016-12-30 | 2017-05-24 | 春兴新能源电力（苏州）有限公司 | Power station site survey method based on unmanned aerial vehicle |
| CN106840412A (en) * | 2017-02-10 | 2017-06-13 | 云南电网有限责任公司电力科学研究院 | A kind of integrated system and method based on infrared panorama Monitoring Data |
| CN107491781A (en) * | 2017-07-21 | 2017-12-19 | 国家电网公司 | A kind of crusing robot visible ray and infrared sensor data fusion method |
| CN107818369A (en) * | 2017-09-13 | 2018-03-20 | 国家电网公司 | Transformer fault handling method and terminal device |
| CN108226677A (en) * | 2017-12-29 | 2018-06-29 | 武汉神宇电气有限公司 | Metal cabinet and nonstandard cabinet fault rapid detecting method and system |
| CN108052058A (en) * | 2018-01-31 | 2018-05-18 | 广州市建筑科学研究院有限公司 | Construction project site safety of the one kind based on " internet+" patrols business flow system of running affairs |
| CN108052058B (en) * | 2018-01-31 | 2023-11-24 | 广州市建筑科学研究院有限公司 | Construction engineering site safety patrol transaction flow system based on Internet +' |
| CN109243135A (en) * | 2018-09-26 | 2019-01-18 | 北京环境特性研究所 | A kind of intelligence fire detection and localization method, apparatus and system |
| CN109520564A (en) * | 2018-11-05 | 2019-03-26 | 福建石子科技有限公司 | A kind of monitoring application method of intelligent analytical model |
| CN109520564B (en) * | 2018-11-05 | 2020-10-30 | 福建石子科技有限公司 | Monitoring application method of intelligent analysis model |
| CN110189568A (en) * | 2019-05-15 | 2019-08-30 | 内蒙古电力(集团)有限责任公司包头供电局 | A kind of substation simulation system and method based on virtual reality technology |
| CN112257514A (en) * | 2020-09-27 | 2021-01-22 | 复旦大学 | Infrared vision intelligent detection shooting method for equipment fault inspection |
| CN113992823A (en) * | 2021-09-27 | 2022-01-28 | 国网浙江省电力有限公司金华供电公司 | Intelligent primary and secondary equipment fault diagnosis method based on multiple information sources |
| CN113992823B (en) * | 2021-09-27 | 2023-12-08 | 国网浙江省电力有限公司金华供电公司 | Secondary equipment fault intelligent diagnosis method based on multiple information sources |
| CN117612047A (en) * | 2024-01-23 | 2024-02-27 | 国网湖北省电力有限公司信息通信公司 | Unmanned aerial vehicle inspection image recognition method for power grid based on AI large model |
| CN117612047B (en) * | 2024-01-23 | 2024-04-12 | 国网湖北省电力有限公司信息通信公司 | Unmanned aerial vehicle inspection image recognition method for power grid based on AI large model |
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