CN108489425B - All-weather automatic video monitoring system and method for opening and closing states of isolating switch - Google Patents
All-weather automatic video monitoring system and method for opening and closing states of isolating switch Download PDFInfo
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- CN108489425B CN108489425B CN201810370718.8A CN201810370718A CN108489425B CN 108489425 B CN108489425 B CN 108489425B CN 201810370718 A CN201810370718 A CN 201810370718A CN 108489425 B CN108489425 B CN 108489425B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000003384 imaging method Methods 0.000 claims description 15
- 238000005286 illumination Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 17
- 239000003550 marker Substances 0.000 description 8
- 238000000691 measurement method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011496 digital image analysis Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention discloses an all-weather automatic video monitoring system and method for the opening and closing states of an isolating switch, comprising an isolating switch marked with a positioning reflection point, a total station, a digital camera, a microcomputer, a power station central control system, a video monitoring system and a switch sequential control system, wherein the microcomputer comprises a camera control and acquisition chipset, a parameter calibration chipset and an opening and closing state identification chipset, the digital camera is connected with the microcomputer, and the total station is connected with the microcomputer. Through the mode, the all-weather automatic video monitoring system and the all-weather automatic video monitoring method for the opening and closing states of the isolating switch can realize non-contact measurement of the opening angle of the isolating switch and realize automatic judgment of the opening and closing states, the method and the corresponding system are not limited by weather conditions, all-weather monitoring can be realized, meanwhile, the sending of opening and closing standard signals can be realized, and the universality is good.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to an all-weather automatic video monitoring system and method for the opening and closing states of an isolating switch.
Background
The isolating switch is core equipment of the transformer substation, and has the function of ensuring the safety of the high-voltage electrical appliance and the device during maintenance work and isolating voltage. In the overhaul process of transformer substation equipment, the isolating switch needs to be moved to a designated position to realize the opening and closing of the circuit, so that whether the isolating switch moves in place directly determines whether the circuit can normally operate or not. Considering that the line voltage of a transformer substation can reach hundreds of kilovolts, the maximum current can reach tens of kiloamperes, and the fact that the isolating switch is not moved in place can cause great damage to equipment, so that great economic loss can be caused, and serious safety production accidents such as personal injury and the like are more likely to occur.
At present, whether the isolating switch moves in place is generally judged by adopting a mode of matching motor signals with human eye observation, namely whether the isolating switch moves in place is judged by a travel switch rotated by a motor in a mechanical actuating device, and then secondary confirmation is carried out by human eye observation. The method has the great problems in the actual use process: firstly, the mechanical device has various gaps and abrasion caused by processing, installation and long-term use, and the motor rotation angle and the isolating switch movement angle cannot be completely synchronous, so that the situation that the motor rotates in place and the isolating switch does not move in place can occur, and the error rate is high; secondly, secondary confirmation by human eyes is needed, the practice relying on experience is poor in standard and requires a lot of manpower and time; thirdly, with the continuous progress of the power grid technology in China, the intelligent and automatic power grid control technology based on the idea of one-key sequential control has entered a substantial implementation stage, and the mode of distinguishing by naked eyes obviously cannot meet the requirements.
In view of the high current flowing through the isolating switch, it is not suitable for installing the sensor device, and thus a non-contact measurement means is the optimal option. The camera shooting measurement method based on high-resolution imaging and digital image analysis is a means most suitable for distinguishing the motion state of the isolating switch by virtue of the advantages of non-contact, high-resolution, large-range and full-field measurement.
However, the current image capturing measurement method is still difficult to be applied to measurement of the isolating switch, and the reason is mainly that:
1. the isolating switch performs space three-dimensional movement when being opened and closed, so that two cameras are required to form a three-dimensional shooting measurement system based on binocular stereoscopic vision to work. However, in consideration of the limitation of the installation site conditions of the transformer substation and the extremely large number of isolating switches to be observed, the three-dimensional measurement of the two cameras cannot meet the requirements. A three-dimensional measurement method and a three-dimensional measurement system based on a single camera need to be designed and developed;
2. according to the principle of shooting measurement, before a camera is used for measuring the three-dimensional pose of the isolating switch, complex calibration equipment and a calibration method are required to be used for calibrating imaging parameters of the camera, the link is time-consuming and labor-consuming, considerable technical capacity and experience are required, and the imaging parameters are difficult to master by ordinary technicians;
3. the transformer substation measurement needs to be carried out under all-weather (day, night, rain, snow and fog) conditions, and the current camera shooting measurement method is difficult to adapt to the measurement requirements;
4. the on-off signal of the isolating switch needs to be transmitted to a power grid dispatching control center, so that the accuracy of the signal needs to be 100%, and the accuracy of the signal cannot be ensured by 100% in the traditional video measurement.
Disclosure of Invention
The invention mainly solves the technical problem of providing the all-weather automatic video monitoring system and the method for the opening and closing states of the isolating switch, which can realize non-contact measurement of the opening angle of the isolating switch and realize automatic judgment of the opening and closing states.
In order to solve the technical problems, the invention adopts a technical scheme that: an all-weather automatic video monitoring system and method for the on-off state of isolating switch is composed of isolating switch marked with locating reflecting point, total station, digital camera, microcomputer, central control system of power supply station, video monitoring system and switch sequential control system,
the microcomputer comprises a camera control and acquisition chipset, a parameter calibration chipset and an opening and closing state identification chipset,
the isolating switch marked with the positioning reflection point is completely covered by the collecting range of the total station and the digital camera,
the digital camera is connected with the microcomputer and is used for inputting the digital image of the isolating switch marked with the positioning reflection point to the camera control and acquisition chip set,
the total station is connected with the microcomputer and is used for inputting the three-dimensional coordinates of the positioning reflection point to the parameter calibration chip set,
the camera control and acquisition chipset is respectively connected with the parameter calibration chipset and the opening and closing state identification chipset to transmit digital images,
the parameter calibration chip set is connected with the opening and closing state identification chip set and used for transmitting positioning parameters,
the switching-on and switching-off state identification chip set is connected with the central control system of the power supply station and is used for outputting switching-on and switching-off state signals,
the power supply station central control system is connected with a video monitoring system,
the central control system of the power supply station is connected with a switch sequential control system which is connected with the isolating switch marked with the positioning reflecting point to switch on and off the knife,
the digital camera is equipped with an illumination light source electrically connected to a camera control and acquisition chipset via the digital camera.
An all-weather automatic video monitoring method for the opening and closing state of an isolating switch comprises the following steps:
step one: the camera is arranged below the side of the isolating switch, imaging parameters are adjusted, and the isolating switch image in any state can be completely and clearly acquired;
step two: arranging a plurality of positioning reflecting points at key positions of the isolating switch, wherein the positioning reflecting points are dots provided with central symmetry cross lines;
step three: establishing a three-dimensional coordinate system by using a total station to obtain the three-dimensional coordinates of the positioning reflection point;
step four: collecting images from the digital camera by using a camera control and collection chip set, and calculating pixel coordinates of a positioning reflection point in the images;
step five: calculating internal and external imaging parameters by using a simplified imaging model, and calibrating parameters of the positioning reflection point;
step six: changing the switching position of the isolating switch, executing the third step and the fourth step, and calculating the angle of change before and after switching of the isolating switch;
step seven: comparing the front-back change angle with a preset angle judgment threshold value, and outputting a separation switch on-off state value;
step eight: and sending the switching state value to a central control system of the power supply station to realize all-weather automatic monitoring of the switching state, and remotely controlling the switching of the isolating switch through the switch sequential control system based on the monitoring condition.
The beneficial effects of the invention are as follows: the all-weather automatic video monitoring system and the all-weather automatic video monitoring method for the opening and closing states of the isolating switch can realize non-contact measurement of the opening angle of the isolating switch and realize automatic judgment of the opening and closing states, the method and the corresponding system are not limited by weather conditions, all-weather monitoring can be realized, meanwhile, the sending of opening and closing standard signals can be realized, and the universality is good.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a system block diagram of a preferred embodiment of an all-weather automatic video monitoring system for the opening and closing state of an isolating switch according to the present invention;
FIG. 2 is a flowchart of an all-weather automatic video monitoring method for the opening and closing state of an isolating switch according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of an isolating switch according to a preferred embodiment of the present invention;
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, an embodiment of the present invention includes:
an all-weather automatic video monitoring system and method for the opening and closing state of isolating switch is composed of isolating switch marked with locating reflecting point, total station, digital camera, microcomputer, central control system of power supply station, video monitoring system and switch sequential control system,
the microcomputer comprises a camera control and acquisition chipset, a parameter calibration chipset and an opening and closing state identification chipset,
the isolating switch marked with the positioning reflection point is completely covered by the collecting range of the total station and the digital camera,
the digital camera is connected with the microcomputer and is used for inputting the digital image of the isolating switch marked with the positioning reflection point to the camera control and acquisition chip set,
the total station is connected with the microcomputer and is used for inputting the three-dimensional coordinates of the positioning reflection point to the parameter calibration chip set,
the camera control and acquisition chipset is respectively connected with the parameter calibration chipset and the opening and closing state identification chipset to transmit digital images,
the parameter calibration chip set is connected with the opening and closing state identification chip set and used for transmitting positioning parameters,
the switching-on and switching-off state identification chip set is connected with the central control system of the power supply station and is used for outputting switching-on and switching-off state signals,
the power supply station central control system is connected with a video monitoring system,
the central control system of the power supply station is connected with a switch sequential control system which is connected with the isolating switch marked with the positioning reflecting point to switch on and off the knife,
the digital camera is equipped with an illumination light source electrically connected to a camera control and acquisition chipset via the digital camera.
Specifically, the camera control and acquisition chipset is connected with the camera parameter calibration module and is used for realizing the acquisition of images at the self-defined speed and parameters and matching with the illumination of the light source;
specifically, the camera parameter calibration module is connected with the camera control and acquisition chipset and the opening and closing state judgment module and is used for realizing parameter calibration. When the system works, three-dimensional coordinate information sent by the total station is received, and calibration images sent by the camera parameter calibration module are received. The calibration method provided by the invention is used for integrating the image and the three-dimensional coordinate, and calculating to obtain parameters expressing the relation between the actual angle and the measured angle of the switch. The parameter can be reused after being calibrated, and can be stored and used as an internal parameter of the system under the condition that the position of the camera is not changed;
specifically, the opening and closing state judging module is connected with the camera control and acquisition chip set and the camera parameter calibration module, and is used for receiving image data for measurement sent by the camera control and acquisition chip set on one hand and receiving parameters sent by the camera parameter calibration module on the other hand. The actual angle of the isolating switch is calculated by combining the parameters by using the high-precision positioning method for the graphics under different meteorological conditions. The switching signals of the switches are transmitted to a sequence control system through a field bus or an output contact for 'one-key sequence control'. The real-time video screenshot of each switch can be put into a monitoring flow chart through the industrial Ethernet, so that operators can clearly and intuitively see the state of the switch.
An all-weather automatic video monitoring method for the opening and closing state of an isolating switch comprises the following steps:
step one: the camera is arranged below the side of the isolating switch, imaging parameters are adjusted, and the isolating switch image in any state can be completely and clearly acquired;
step two: arranging a plurality of positioning reflecting points at key positions of the isolating switch, wherein the positioning reflecting points are dots provided with central symmetry cross lines;
step three: establishing a three-dimensional coordinate system by using a total station to obtain the three-dimensional coordinates of the positioning reflection point;
in practical application, the camera is arranged below the side of the isolating switch, and the gesture and imaging parameters of the camera are adjusted to obtain a clear image of the isolating switch. Reflective marker points (the number of the marker points depends on the type of the isolating switch and is not less than 6) are arranged on the isolating switch, and a cross line is drawn at the center of the marker points. And obtaining the three-dimensional coordinates of the mark points by using a total station, acquiring an isolating switch image by using a camera, and automatically identifying the pixel coordinates of the mark points. Based on a simplified imaging model which only considers the change of the pitching angle, and combining the three-dimensional coordinates and the corresponding pixel coordinates, calibrating parameters expressing the relation between the actual angle and the measured angle of the switch;
step four: collecting images from the digital camera by using a camera control and collection chip set, and calculating pixel coordinates of a positioning reflection point in the images;
step five: calculating internal and external imaging parameters by using a simplified imaging model, and calibrating parameters of the positioning reflection point;
in the actual operation process, reflective markers are arranged on a single or a plurality of isolating switches, images of all the isolating switches are acquired by using a camera, gray-scale gravity centers (or centroids) and geometric dimensions of marker points in the images are calculated, and then all the points are classified according to the dimensional and positional relationships, so that the marker points are respectively positioned on which isolating switch and on which moving part of the isolating switch. And then, calculating an included angle based on the coordinates, and obtaining a real angle by using the calibrated parameters. In the image analysis process, high-precision positioning of the mark points under the conditions of low visibility and low illumination is realized by using technologies such as color segmentation, image enhancement and the like;
step six: changing the switching position of the isolating switch, executing the third step and the fourth step, and calculating the angle of change before and after switching of the isolating switch;
step seven: comparing the front-back change angle with a preset angle judgment threshold value, and outputting a separation switch on-off state value;
step eight: and sending the switching state value to a central control system of the power supply station to realize all-weather automatic monitoring of the switching state, and remotely controlling the switching of the isolating switch through the switch sequential control system based on the monitoring condition.
After the actual angle measurement is completed, the state of the isolating switch at the moment is judged according to the set angle threshold values of the in-place closing and in-place opening, and an on-off signal expressed by 0 and 1 is given to be input into a general control system so as to provide an indication for a transformer substation operator.
Embodiment two:
an example of application of the measuring system will be described below by taking the measuring of the opening and closing state of the scissor type disconnecting switch as an example:
first, 6 reflective marker points are arranged on the scissor type disconnecting switch, and the 6 points are divided into 2 groups and are respectively positioned on two arms of the disconnecting switch, as shown in fig. 3. And drawing a cross line at the center of the mark point. The camera is arranged below the side of the isolating switch, and the posture and the observation range of the camera are adjusted so that the mark point cannot move out of the field of view no matter in an open state or a closed state of the isolating switch. Adjusting the focal length of the lens to obtain a clear mark point image;
next, three-dimensional coordinates of the 6 marker points are obtained using a total station, and are sorted and grouped in a specific order. The disconnecting switch image in this state is acquired using a camera. Dividing an image based on color and gray gradient, separating areas of 6 mark points from the background by image morphology processing, calculating the pixel coordinates of the gray centers or geometric centers of the mark points by using a gray center algorithm or an edge fitting algorithm, sequencing and grouping according to a specific sequence, and judging which isolating switch and which moving part of the isolating switch the mark points are respectively positioned on so as to correspond to the three-dimensional coordinates. Based on a simplified imaging model which only considers the change of the pitching angle, calculating parameters expressing the relation between the actual angle and the measured angle of the switch by combining the three-dimensional coordinates and the corresponding pixel coordinates;
and thirdly, adjusting the angles of the two arms of the isolating switch to enable the two arms to be in any opened or closed state, and acquiring images of the isolating switch by using a camera. The pixel coordinates of the marker points in the image are identified using the same method as described above, and the pixel coordinates are converted to three-dimensional coordinates using a model of known parameters. And (3) carrying out least square linear fitting on three-dimensional coordinates of three points on each arm, and calculating a direction vector of the straight line. And then calculating the included angle between the two straight lines by using a cosine formula, comparing the included angle with a threshold value describing the opening and closing state, and judging that the opening state is 0 and the closing state is 1. And converting the digital judgment signal into high and low levels through a digital-to-analog conversion circuit, and outputting the high and low levels to a central control system to finish one-time state measurement.
The above-mentioned process is circularly and reciprocally carried out, so that the state of light opening can be continuously and real-timely monitored.
In summary, the invention provides an all-weather automatic video monitoring system and method for the opening and closing states of the isolating switch, which can realize non-contact measurement of the opening angle of the isolating switch and realize automatic judgment of the opening and closing states.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (2)
1. An all-weather automatic video monitoring system for the opening and closing states of an isolating switch is characterized by comprising an isolating switch marked with a positioning reflection point, a total station, a digital camera, a microcomputer, a power supply station central control system, a video monitoring system and a switch sequential control system,
the microcomputer comprises a camera control and acquisition chipset, a parameter calibration chipset and an opening and closing state identification chipset,
the isolating switch marked with the positioning reflection point is completely covered by the collecting range of the total station and the digital camera,
the digital camera is connected with the microcomputer and is used for inputting the digital image of the isolating switch marked with the positioning reflection point to the camera control and acquisition chip set,
the total station is connected with the microcomputer and is used for inputting the three-dimensional coordinates of the positioning reflection point to the parameter calibration chip set,
the camera control and acquisition chipset is respectively connected with the parameter calibration chipset and the opening and closing state identification chipset to transmit digital images,
the parameter calibration chip set is connected with the opening and closing state identification chip set and used for transmitting positioning parameters,
the switching-on and switching-off state identification chip set is connected with the central control system of the power supply station and is used for outputting switching-on and switching-off state signals,
the power supply station central control system is connected with a video monitoring system,
the central control system of the power supply station is connected with a switch sequential control system which is connected with the isolating switch marked with the positioning reflecting point to switch on and off the knife,
the digital camera is equipped with an illumination light source electrically connected to a camera control and acquisition chipset via the digital camera.
2. The all-weather automatic video monitoring method for the opening and closing states of the isolating switch, which is realized by the all-weather automatic video monitoring system for the opening and closing states of the isolating switch, is characterized by comprising the following steps:
step one: the camera is arranged below the side of the isolating switch, imaging parameters are adjusted, and the isolating switch image in any state can be completely and clearly acquired;
step two: arranging a plurality of positioning reflecting points at key positions of the isolating switch, wherein the positioning reflecting points are dots provided with central symmetry cross lines;
step three: establishing a three-dimensional coordinate system by using a total station to obtain the three-dimensional coordinates of the positioning reflection point;
step four: collecting images from the digital camera by using a camera control and collection chip set, and calculating pixel coordinates of a positioning reflection point in the images;
step five: calculating internal and external imaging parameters by using a simplified imaging model, and calibrating parameters of the positioning reflection point;
step six: changing the switching position of the isolating switch, executing the third step and the fourth step, and calculating the angle of change before and after switching of the isolating switch;
step seven: comparing the front-back change angle with a preset angle judgment threshold value, and outputting a separation switch on-off state value;
step eight: and sending the switching state value to a central control system of the power supply station to realize all-weather automatic monitoring of the switching state, and remotely controlling the switching of the isolating switch through the switch sequential control system based on the monitoring condition.
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