CN106557057A - A kind of power transmission line intelligent patrols and examines early warning support system - Google Patents
A kind of power transmission line intelligent patrols and examines early warning support system Download PDFInfo
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- CN106557057A CN106557057A CN201510634179.0A CN201510634179A CN106557057A CN 106557057 A CN106557057 A CN 106557057A CN 201510634179 A CN201510634179 A CN 201510634179A CN 106557057 A CN106557057 A CN 106557057A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The present invention relates to a kind of power transmission line intelligent patrols and examines early warning support system, the system includes：At least one shaft tower terminal, at least one unmanned plane concentrator corresponding with unmanned plane, fiber optic communication network and background host computer；Shaft tower terminal transmission line of electricity Internet of Things concentrator corresponding with the unmanned plane and background host computer are connected with the fiber optic communication network respectively, and the unmanned plane is connected with the concentrator corresponding with unmanned plane, and the unmanned plane is connected with the background host computer；The system that the present invention is provided is by integrated unmanned air vehicle technique, image procossing and target identification technology, Networks of Fiber Communications, shaft tower terminal system and background host computer system, Monitoring Data is gathered and processes, the unusual condition to monitoring is alerted, so as to meet the requirement for patrolling and examining work.
Description
Technical field
The present invention relates to intelligent power grid technology field, and in particular to a kind of power transmission line intelligent patrols and examines early warning support system.
Background technology
With the fast development of China's intelligent grid, high-tension transmission number of, lines increasingly increases, coverage constantly expands, by way of weather conditions, geographical environment it is complicated and changeable, easily break down, it is the key factor for causing electric power system fault, therefore in real time, accurately and reliably finds that transmission line malfunction is extremely particularly important.The daily tour work of transmission line of electricity is to ensure that the important means of transmission line of electricity and its equipment safety.
In the last few years, greatly developed for the transmission line online monitoring system of transmission line of electricity most common failure Exception Type, and achieved certain achievement.Some companies propose the on-line monitoring system of powerline ice-covering, pollution severity of insulators degree monitoring system, the method for designing for also having the multiple systems such as conductor galloping track monitoring system.Although these monitoring systems can be judged to transmission line of electricity a certain kind failure exception in real time, exactly, the working condition of transmission line of electricity and its equipment can not be reflected comprehensively, status early warning can not be carried out to the equipment of existing defects or major hidden danger；As power department runs the continuous improvement of security monitoring and operation maintenance demand to transmission line of electricity, research and development one kind can replace manual patrol, in real time, reflect the working condition of transmission line of electricity and its equipment comprehensively, and can be particularly urgent and important with reference to the early warning support system of current new monitoring technology well.
The content of the invention
For the deficiencies in the prior art, the present invention provides a kind of power transmission line intelligent and patrols and examines early warning support system by integrated unmanned air vehicle technique, image procossing and target identification technology, Networks of Fiber Communications, shaft tower terminal system and background host computer system, Monitoring Data is gathered and processes, the unusual condition to monitoring is alerted, so as to meet the requirement for patrolling and examining work.
The purpose of the present invention is realized using following technical proposals：
A kind of power transmission line intelligent patrols and examines early warning support system, and which thes improvement is that, methods described includes：
At least one shaft tower terminal, at least one unmanned plane concentrator corresponding with unmanned plane, fiber optic communication network and background host computer；
Shaft tower terminal transmission line of electricity Internet of Things concentrator corresponding with the unmanned plane and background host computer are connected with the fiber optic communication network respectively, and the unmanned plane is connected with the concentrator corresponding with unmanned plane, and the unmanned plane is connected with the background host computer.
Preferably, the shaft tower terminal includes：Measuring unit, shaft tower end host, optical network unit ONU and the first supply unit；The shaft tower end host connects the measuring unit and optical network unit ONU respectively.
Further, the measuring unit includes：First measurement subelement, the second measurement subelement and the 3rd measurement subelement；The first measurement subelement is used to gather visible light video image and infrared image and by the data is activation for collecting to the shaft tower end host；The second measurement subelement is used to gather microclimate data and by the data is activation for collecting to the shaft tower end host；The 3rd measurement subelement is used to gather infrared acquisition signal and by the data is activation for collecting to the shaft tower end host；The optical network unit ONU is used to carry out communication interaction by fiber optic communication network and background host computer and timing sends visible light video image, infrared image, microclimate data and the infrared acquisition signal that the shaft tower end host is received to background host computer；First supply unit is used to provide the energy for the shaft tower terminal；The shaft tower end host for using image difference method to receive the visible light video image and infrared image carry out breakdown judge, early warning signal is sent to background host computer by the optical network unit ONU if it there is failure, control the measuring unit continuous acquisition visible light video image and infrared image and the visible light video image and infrared image of continuous acquisition are uploaded to into the background host computer by the optical network unit ONU, the tap terminal main frame is additionally operable to timing and the microclimate data and infrared acquisition signal for receiving are sent to the background host computer.
Preferably, the unmanned plane includes：Image acquisition units, processing unit, wireless transceiver, the second power supply unit and locally-stored unit；The processing unit connects described image collecting unit and wireless transceiver respectively.
Further, described image collecting unit is used to gather visible images and infrared image and the visible images for collecting and infrared image be sent to the processing unit；Second supply unit is used to provide the energy for the processing unit；The wireless transceiver is for carrying out communication interaction by concentrator corresponding with unmanned plane and fiber optic communication network and background host computer；The processing unit carries out classification identification for the visible light video image and infrared image to receiving, and breakdown judge is carried out according to classification recognition result, early warning signal is sent to background host computer by the wireless transceiver if it there is failure, while controlling described image collecting unit continuous acquisition visible light video image and infrared image and the visible light video image and infrared image of continuous acquisition being stored to the locally-stored unit；The locally-stored unit is used to store the visible light video image of described image collecting unit continuous acquisition and is analyzed process for the background host computer.
Further, the processing unit carries out classification identification for the visible light video image and infrared image to receiving, and breakdown judge is carried out according to classification recognition result, included to the concrete steps that background host computer sends early warning signal by the wireless transceiver if it there is failure：
(1) Classification and Identification is carried out to the visible light video image and infrared image；
Wherein, the step (1) specifically includes：(1-1) visible images and infrared image are carried out with gray processing and processes acquisition gray level image；
(1-2) gray level image is processed using medium filtering, expansion and caustic solution；
(1-3) after extraction process image wavelet character value；
(1-4) classification identification is carried out using AP clustering methods to the wavelet character value of image after the process, obtains the classification of the visible images and infrared image, wherein, the classification of the visible images and infrared image includes：Insulator, stockbridge damper and power transmission tower；
(2) Fault Identification is carried out to the classification recognition result in step (1) using image difference method.
Preferably, the concentrator corresponding with unmanned plane is used for the communication connection for realizing the unmanned plane and fiber optic communication network.
Preferably, the fiber optic communication network is used to realize that the shaft tower terminal and unmanned plane are carried out data transmission with the background host computer.
Preferably, the background host computer is used to receive the gathered data that the shaft tower terminal and unmanned plane send, and breakdown judge is carried out to the gathered data, if there is failure, the corresponding alarm signal of startup separator type simultaneously sends abort situation and type to staff.
Compared with immediate prior art, the device have the advantages that：
(1) a kind of power transmission line intelligent that the present invention is provided is patrolled and examined early warning support system and combines the terminal being fixed on electric power line pole tower and unmanned plane, build power transmission line intelligent and patrol and examine early warning support system, it is made up of unmanned plane and the shaft tower terminal system by tower configuration, Networks of Fiber Communications and background host computer system, unmanned plane passes through Internet of Things concentrator and Networks of Fiber Communications is connected with background host computer system, each shaft tower terminal is attached by Networks of Fiber Communications with background host computer system, so as to realize mass data transfers；
(2) polling transmission line unmanned plane has two kinds of data save modes, the i.e. locally stored mode of unmanned plane and is uploaded to background mode online, so can both utilize the wireless transmitting system of little bandwidth, it is also possible to meet the needs that manual type is checked；
(3) a kind of power transmission line intelligent that the present invention is provided is patrolled and examined early warning support system and has data prediction, Fault Identification arbitration functions.Unmanned plane and the various monitoring informations of first order early warning system local use positioned at shaft tower end host are analyzed comparison, when noting abnormalities, then early warning signal is sent to backstage host computer system, while sending order continuous acquisition shaft tower monitoring information to measuring unit and being uploaded to background host computer.Second level early warning system positioned at background host computer is received after early warning signal, all kinds of Monitoring Datas of comprehensive analysis, to the transmission line of electricity that caused by typhoon, thunderbolt, arboreal growth, mountain fire etc. and its different faults type of equipment, corresponding fault alarm is carried out, so as to improve transmission line safety and reliability.
Description of the drawings
Fig. 1 is that a kind of power transmission line intelligent that the present invention is provided patrols and examines early warning support system structure chart；
Fig. 2 is the flow chart of two-dimensional wavelet transformation in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the invention, rather than the embodiment of whole.Based on the embodiment in the present invention, all other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made belongs to the scope of protection of the invention.
The invention provides a kind of power transmission line intelligent patrols and examines early warning support system, first order breakdown judge is carried out by shaft tower terminal and unmanned plane, need not accurate failure judgement type, then second level breakdown judge is carried out by background host computer, all kinds of Monitoring Datas of comprehensive analysis, the accuracy of failure exception judgement is improved further using image recognition and breakdown judge scheduling algorithm, as shown in figure 1, including：
At least one shaft tower terminal, at least one unmanned plane concentrator corresponding with unmanned plane, fiber optic communication network and background host computer；
Wherein, the unmanned plane is one-to-one relation with the concentrator corresponding with unmanned plane；
Shaft tower terminal transmission line of electricity Internet of Things concentrator corresponding with the unmanned plane and background host computer are connected with the fiber optic communication network respectively, and the unmanned plane is connected with the concentrator corresponding with unmanned plane, and the unmanned plane is connected with the background host computer；
Wherein, the unmanned plane can be realized by interface with the connection of the background host computer.
Specifically, the shaft tower terminal includes：Measuring unit, shaft tower end host, optical network unit ONU and the first supply unit；The shaft tower end host connects the measuring unit and optical network unit ONU respectively.
The measuring unit includes：First measurement subelement, the second measurement subelement and the 3rd measurement subelement；The first measurement subelement is used to gather visible light video image and infrared image and by the data is activation for collecting to the shaft tower end host；The second measurement subelement is used to gather microclimate data and by the data is activation for collecting to the shaft tower end host；The 3rd measurement subelement is used to gather infrared acquisition signal and by the data is activation for collecting to the shaft tower end host；The optical network unit ONU is used to carry out communication interaction by fiber optic communication network and background host computer and timing sends visible light video image, infrared image, microclimate data and the infrared acquisition signal that the shaft tower end host is received to background host computer；First supply unit is used to provide the energy for the shaft tower terminal；The shaft tower end host for using image difference method to receive the visible light video image and infrared image carry out breakdown judge, early warning signal is sent to background host computer by the optical network unit ONU if it there is failure, control the measuring unit continuous acquisition visible light video image and infrared image and the visible light video image and infrared image of continuous acquisition are uploaded to into the background host computer by the optical network unit ONU, the tap terminal main frame is additionally operable to timing and the microclimate data and infrared acquisition signal for receiving are sent to the background host computer.
Wherein, described image calculus of finite differences is that adjacent two field pictures are carried out with additive operation using consecutive frame difference algorithm, extracts the difference image of adjacent two field pictures.
Image acquisition units, processing unit, wireless transceiver, the second power supply unit and locally-stored unit；The processing unit connects described image collecting unit and wireless transceiver respectively.
Described image collecting unit is used to gather visible images and infrared image and the visible images for collecting and infrared image be sent to the processing unit；Second supply unit is used to provide the energy for the processing unit；The wireless transceiver is for carrying out communication interaction by concentrator corresponding with unmanned plane and fiber optic communication network and background host computer；The processing unit carries out classification identification for the visible light video image and infrared image to receiving, and breakdown judge is carried out according to classification recognition result, early warning signal is sent to background host computer by the wireless transceiver if it there is failure, while controlling described image collecting unit continuous acquisition visible light video image and infrared image and the visible light video image and infrared image of continuous acquisition being stored to the locally-stored unit；The locally-stored unit is used to store the visible light video image of described image collecting unit continuous acquisition and is analyzed process for the background host computer.
Unmanned plane has the identification of transmission line of electricity facility's objectives and breakdown judge function, may determine that insulator, stockbridge damper and transmission tower, so as to targetedly gathering view data and carrying out Fault Identification, specifically, the processing unit carries out classification identification for the visible light video image and infrared image to receiving, and carries out breakdown judge according to classification recognition result, is included to the concrete steps that background host computer sends early warning signal by the wireless transceiver if it there is failure：
(1) Classification and Identification is carried out to the visible light video image and infrared image；
Wherein, the step (1) specifically includes：(1-1) visible images and infrared image are carried out with gray processing and processes acquisition gray level image, the purpose of gray processing is the memory space requirements for reducing picture, in order to follow-up process；
(1-2) picture quality for being gathered during patrolling and examining due to unmanned plane is not high, there is different degrees of degradation phenomena in image, these degradation phenomenas are by various factors, what such as geometric distortion, motion blur and noise etc. were caused, therefore, the gray level image is processed using medium filtering, expansion and caustic solution, many interference lines and noise spot can be removed, reduce the value differences inside image object shape area, the wavelet character value for being beneficial to successive image is extracted；
(1-3) after extraction process image wavelet character value；
First, choose with symmetric compact schemes orthogonal wavelet, two-dimensional wavelet transformation is carried out to image after process, obtain 4 decomposition subgraphs, it is smooth subgraph a, horizontal subgraph h, vertical subgraph v and oblique subgraph d respectively, the coefficient of wavelet decomposition for wherein smoothing subgraph is general picture coefficient, and the coefficient of wavelet decomposition of remaining subgraph is detail coefficients.Then, the coefficient of wavelet decomposition of each subgraph is averaged and variance, and is classified as characteristic value.
Wherein, the process of two-dimensional wavelet transformation is as shown in Fig. 2 f (x, y) represents the gray value at input picture position (x, y) point in figure, and a is smooth subgraph, and h is horizontal subgraph, and v is vertical subgraph, and d is oblique subgraph, and h1 is low pass filter, h2For high-pass filter, 2 ↓ 1 represent row sampling, and 1 ↑ 2 represents row sampling.
(1-4) classification identification is carried out using AP clustering methods to the wavelet character value of image after the process, obtains the classification of the visible images and infrared image, wherein, the classification of the visible images and infrared image includes：Insulator, stockbridge damper and power transmission tower；
AP clustering algorithms are also called neighbour's propagation clustering algorithm, its objective is to find the representative point set of optimum in sample set, make all sample points maximum with the similarity of the representative point of its generic.Representative point of the AP clustering algorithms by all sample points all as candidate, so that cluster result is not selected to be affected by initial cluster center, the AP clustering algorithms that the present embodiment is provided mainly are clustered according to the similarity between N number of sample point of the shape facility of insulator, stockbridge damper or power transmission tower, these similarities constitute the similarity matrix S of N*N, wherein S (i, j) represents the similarity between sample point i and sample point j.Numerical value on similarity matrix S leading diagonals is referred to as deflection value, and the value is the judgment criteria that can corresponding sample point become cluster centre, is used to control cluster number of sets.In general, the value is bigger, and resulting cluster number of sets is more, and the possibility that this point becomes cluster centre is bigger.In AP clusters, two category informations are mutually transmitted between sample point and sample point, is R and A respectively.Confidence levels of R (i, k) the expression k as the cluster barycenter of sample point i, A (i, k) represent that sample point i selects k that the confidence level of barycenter is clustered as which, and characteristic values of the wherein k for image in the present embodiment, AP clustering algorithms are as follows：
A. the similarity matrix S of insulator, stockbridge damper and power transmission tower shape facility being initialized respectively, initial value being assigned to P, P is generally the intermediate value of matrix S；
B. the characteristic value of more new images respectively with the R values between insulator, stockbridge damper or power transmission tower shape facility, formula is：
C. the characteristic value of more new images respectively with the A values between insulator, stockbridge damper or power transmission tower shape facility, formula is：
D. A values between the characteristic value of more new images itself, formula is：
E. iteration execution a-d exceedes predetermined threshold value up to iterations, for example：Threshold value is set to iterations for 1000 times, or cluster centre is not when changing in iteration several times, for example：When result does not change in 50 iteration, then stop iteration, the classification of image feature value is judged according to final R (i, k) and A (i, k).
(2) Fault Identification is carried out to the classification recognition result in step (1) using image difference method.
Wherein, described image calculus of finite differences is that adjacent two field pictures are carried out with additive operation using consecutive frame difference algorithm, extracts the difference image of adjacent two field pictures.
The concentrator corresponding with unmanned plane is used for the communication connection for realizing the unmanned plane and fiber optic communication network.
The fiber optic communication network is used to realize that the shaft tower terminal and unmanned plane are carried out data transmission with the background host computer.
The background host computer is used to receive the gathered data that the shaft tower terminal and unmanned plane send, and carries out breakdown judge to the gathered data, if there is failure, the corresponding alarm signal of startup separator type simultaneously sends abort situation and type to staff.
Wherein, carry out breakdown judge to process gathered data by image recognition algorithm and breakdown judge algorithm to the gathered data, for example：Image recognition algorithm includes：Threshold targets extraction algorithm, template matching algorithm and texture recognition algorithm；Breakdown judge algorithm includes：Powerline ice-covering algorithm, circuit breaking algorithm, conductor galloping algorithm, insulator arc-over algorithm and foreign object invasion algorithm.
Finally it should be noted that：Only to illustrate technical scheme rather than a limitation, although being described in detail to the present invention with reference to above-described embodiment, those of ordinary skill in the art should be understood above example：Still the specific embodiment of the present invention can be modified or equivalent, and any modification or equivalent without departing from spirit and scope of the invention, which all should be covered within the claims of the present invention.
Claims (9)
1. a kind of power transmission line intelligent patrols and examines early warning support system, it is characterised in that the system includes：
At least one shaft tower terminal, at least one unmanned plane concentrator corresponding with unmanned plane, fiber optic communication network and background host computer；
Shaft tower terminal transmission line of electricity Internet of Things concentrator corresponding with the unmanned plane and background host computer respectively with the optical fiber
Communication network connects, and the unmanned plane is connected with the concentrator corresponding with unmanned plane, and the unmanned plane is connected with the background host computer
Connect.
2. the system as claimed in claim 1, it is characterised in that the shaft tower terminal includes：Measuring unit, shaft tower terminal
Main frame, optical network unit ONU and the first supply unit；The shaft tower end host connects the measuring unit and optical-fiber network respectively
Unit ONU.
3. system as claimed in claim 2, it is characterised in that the measuring unit includes：First measurement subelement, the
Two measurement subelements and the 3rd measurement subelement；The first measurement subelement is used to gather visible light video image and infrared image
And by the data is activation for collecting to the shaft tower end host；The second measurement subelement is used to gather microclimate data and incite somebody to action
The data is activation for collecting is to the shaft tower end host；The 3rd measurement subelement is used to gather infrared acquisition signal and will adopt
The data is activation for collecting is to the shaft tower end host；The optical network unit ONU is used for by fiber optic communication network and background host computer
Carry out communication interaction and timing send to background host computer visible light video image, infrared image that the shaft tower end host receives,
Microclimate data and infrared acquisition signal；First supply unit is used to provide the energy for the shaft tower terminal；The shaft tower end
End main frame for using image difference method to receive the visible light video image and infrared image carry out breakdown judge, if exist
Failure then sends early warning signal to background host computer by the optical network unit ONU, controls the measuring unit continuous acquisition visible
Light video image and infrared image and by the visible light video image and infrared image of continuous acquisition by the optical network unit ONU
Be uploaded to the background host computer, the tap terminal main frame be additionally operable to timing send to the background host computer microclimate data that receive and
Infrared acquisition signal.
4. the system as claimed in claim 1, it is characterised in that the unmanned plane includes：Image acquisition units, process are single
Unit, wireless transceiver, the second power supply unit and locally-stored unit；The processing unit connects described image collecting unit respectively
And wireless transceiver.
5. system as claimed in claim 4, it is characterised in that described image collecting unit be used to gathering visible images and
Infrared image simultaneously sends the visible images for collecting and infrared image to the processing unit；Second supply unit is used for
The energy is provided for the processing unit；The wireless transceiver for by concentrator corresponding with unmanned plane and fiber optic communication network with
Background host computer carries out communication interaction；The processing unit carries out class for the visible light video image and infrared image to receiving
Do not recognize, and breakdown judge is carried out according to classification recognition result, by the wireless transceiver to background host computer if it there is failure
Early warning signal is sent, while controlling described image collecting unit continuous acquisition visible light video image and infrared image and continuously being adopted
The visible light video image and infrared image of collection is stored to the locally-stored unit；The locally-stored unit is used to store described
The visible light video image of image acquisition units continuous acquisition is analyzed process for the background host computer.
6. system as claimed in claim 5, it is characterised in that the processing unit is regarded for the visible ray to receiving
Frequency image and infrared image carry out classification identification, and carry out breakdown judge according to classification recognition result, pass through institute if it there is failure
Stating wireless transceiver includes to the concrete steps that background host computer sends early warning signal：
(1) Classification and Identification is carried out to the visible light video image and infrared image；
Wherein, the step (1) specifically includes：(1-1) gray processing process is carried out to the visible images and infrared image
Obtain gray level image；
(1-2) gray level image is processed using medium filtering, expansion and caustic solution；
(1-3) after extraction process image wavelet character value；
(1-4) classification identification is carried out using AP clustering methods to the wavelet character value of image after the process, is obtained described visible
Light image and the classification of infrared image, wherein, the classification of the visible images and infrared image includes：Insulator, stockbridge damper
And power transmission tower；
(2) Fault Identification is carried out to the classification recognition result in step (1) using image difference method.
7. the system as claimed in claim 1, it is characterised in that the concentrator corresponding with unmanned plane is used to realizing described
The communication connection of unmanned plane and fiber optic communication network.
8. the system as claimed in claim 1, it is characterised in that the fiber optic communication network be used to realizing the shaft tower terminal and
Unmanned plane is carried out data transmission with the background host computer.
9. the system as claimed in claim 1, it is characterised in that the background host computer is used to receive the shaft tower terminal and nothing
The gathered data of man-machine transmission, and breakdown judge is carried out to the gathered data, if there is failure, startup separator type correspondence
Alarm signal and abort situation and type are sent to staff.
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