CN108613628A - A kind of overhead transmission line arc sag measurement method based on binocular vision - Google Patents
A kind of overhead transmission line arc sag measurement method based on binocular vision Download PDFInfo
- Publication number
- CN108613628A CN108613628A CN201810466357.7A CN201810466357A CN108613628A CN 108613628 A CN108613628 A CN 108613628A CN 201810466357 A CN201810466357 A CN 201810466357A CN 108613628 A CN108613628 A CN 108613628A
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- binocular vision
- transmission line
- arc sag
- characteristic point
- measurement method
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Classifications
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The present invention provides a kind of overhead transmission line arc sag measurement method based on binocular vision, including logical (1) builds binocular vision system, establishes three-dimensional coordinate system；(2) binocular vision system is demarcated, obtains binocular vision system inside and outside parameter；(3) live transmission line of electricity Image Acquisition and amendment；(4) conducting wire selection and central line pick-up；(5) left and right view conductor characteristic point matches；(6) conductor characteristic point measures plane projection in arc sag；(7) sag computing.This method only needs two cameras of binocular vision system at the scene respectively to shoot a photo, you can quickly obtains sag value, site workload is small, to spot for photography no requirement (NR), strong applicability.
Description
Technical field
It is specifically a kind of to be transmitted electricity by binocular vision system quick obtaining the present invention relates to transmission route survey technical field
The method of arc sag size.
Background technology
Power transmission line sag is the important indicator of circuit design and operation and maintenance, and whether arc sag size controls sets defined
The safe and stable operation of circuit is directly influenced in meter tolerance.Design department, unit in charge of construction and operation and maintenance unit, all Ying Congjing
Ji property and safety perspective set out, and ensure the control of overhead power transmission line arc sag within the scope of rational.Circuit operating load and week
The variation in collarette border can all cause the variation of arc sag, such as under the big load of high temperature, powerline ice-covering operating mode, arc sag meeting
Increase, arc sag is caused to transfinite the insufficient hidden danger of scissors crossing safe distance.Therefore, it is very to important power transmission line sag measurement
It is necessary.Traditional arc sag measurement method mainly has a grade side preset angle configuration, span end angle method and degree of speeding plate observation method etc., these methods
Need that the physical quantity observed is more, calculating process is cumbersome.
As the cost for manufacturing reliable large area electron sensor devices is lower and lower so that image becomes a kind of cost
It is cheap, informative, the high data source of reliability.But traditional arc sag measurement method based on image, due to a lack of depth information
Transmission line of electricity pattern distortion is caused with shooting angle, measurement error is larger, and applicable situation is limited.
Invention content
The overhead transmission line arc sag measurement method based on binocular vision that the purpose of the present invention is to provide a kind of, is based on
Binocular vision system carries out transmission line of electricity Image Acquisition, obtains the coordinate information of transmission line of electricity spatial point by three-dimensional reconstruction, so
After project to sag computing plane, calculate power transmission line sag value, this method has in-site measurement speed fast, efficient, knot
The accurate advantage of fruit.
In order to achieve the above object, the present invention includes the following steps：
(1) binocular vision system is built, three-dimensional coordinate system is established；
(2) binocular vision system is demarcated, obtains binocular vision system inside and outside parameter；
(3) live transmission line of electricity Image Acquisition and amendment；
(4) conducting wire selection and central line pick-up；
(5) left and right view conductor characteristic point matches；
(6) conductor characteristic point measures plane projection in arc sag；
(7) sag computing.
Further, the step (1) builds binocular vision system, establishes three-dimensional coordinate system step and is：It is taken the photograph double
As terminal is fixed on horizontal base line seat, keep two camera shooting terminal relative positions constant, rotation angle is constant, there is an orientation
Vertical angle establishes 3 d space coordinate system convenient for shooting overhead transmission line by origin of left side camera shooting terminal.
Further, step (2) the binocular vision system demarcating steps are：Using Zhang Shi methods to binocular vision system
Intrinsic parameter α, β, γ, μ, υ are demarcated, and wherein α is the scale factor in x-axis, and β is the scale factor in y-axis, and γ sits for image
The oblique factor of mark and optical axis coordinate, μ are position of the optical axis optical center in image coordinate x-axis, and υ is optical axis optical center in image coordinate
Position in y-axis；Outer parameter R, t of binocular vision system is demarcated using self-calibration method, wherein R is twiddle factor, and t is
Shift factor.
Further, in the step (3) Image Acquisition with correct the specific steps are：First ensure that left and right camera shooting terminal energy
More than half image enough while that collect one grade of transmission line of electricity overall length, and include minimum point；Secondly each shooting one is defeated simultaneously
Electric line image；Then using calibrating parameters to image progress distortion correction and polar curve amendment, at the match point for making two images
In same level.
Further, in the step (4) conducting wire selection with central line pick-up the specific steps are：It is calculated first with Sobel
Son carries out edge detection to left and right view；Secondly it carries out binaryzation and is filtered；Then multiple by choosing interest area filter
Miscellaneous road surface background；It handles to obtain wire center line using refinement, deburring, if there are more center lines, selection to need in figure
Measure the conducting wire of arc sag.
Further, view conductor characteristic point matching in left and right is specially in the step (5)：To conducting wire in the view of left and right with
One fixed step size scans in a vertical direction, determines corresponding characteristic point, according to coordinate value of these characteristic points on different views, knot
Calibrating parameters are closed, the D coordinates value of whole characteristic points is calculated.
Further, in the step (6) conductor characteristic point arc sag measure plane projection the specific steps are：According to feature
Point D coordinates value, determines twiddle factor, and characteristic point, which is rotated to arc sag, measures plane.
Further, in the step (7) conducting wire sag calculate the specific steps are：Catenary equation is used under new coordinate system
Bring different characteristic point coordinates into, fitting obtains the value of parameter a, b, c in equation, and wherein a, b, c is fitting coefficient, knot
Conducting wire span and high difference are closed, calculates this grade of conducting wire beginning and end coordinate, you can calculate sag value.
The advantage of the invention is that：
1, in such a way that Zhang Shi standardizations and self-calibration method are combined, to binocular vision system intrinsic parameter and outer parameter into
Behaviour is first demarcated, and is solved the problems, such as after setting up using traditional scaling method is inconvenient, precision is not high and field calibration is difficult.
2, it by obtaining conductor characteristic space of points location information, determines sag computing perspective plane, conducting wire is projected into two dimension
In plane, realization carries out sag computing in two dimensional surface.Currently used preset angle configuration needs to measure degree of speeding angle, hanging point angle, show
Field temperature, also to obtain conducting wire can calculate sag value than information such as loads, and this method passes through computer software analysis binocular image
Information can be obtained accurate arc sag data, improves in-site measurement speed, increases real-time.
Description of the drawings
Fig. 1 is the structural schematic diagram of binocular measuring system in the present invention；
Fig. 2 is the schematic diagram on sag computing perspective plane in the present invention；
Fig. 3 is that the present invention is based on the flow diagrams of the overhead transmission line arc sag measurement method of binocular vision.
In figure：1-left camera terminal, 2-right camera terminals, 3-horizontal base line seats, 4-holders.
Specific implementation mode
Below in conjunction with the attached drawing in the present invention, the technical solution in the present invention is clearly and completely described.
As shown in figure 3, a kind of overhead transmission line arc sag measurement method based on binocular vision, includes the following steps：
Step P101：Binocular vision system is built, three-dimensional coordinate system is established.Specifically, as shown in Figure 1, being taken the photograph double
Picture terminal (left camera terminal 1, left camera terminal 1) is fixed on horizontal base line seat 3, and horizontal base line seat 3 is fixed on holder 4, is protected
It holds that two camera shooting terminal relative positions are constant, and rotation angle is constant, has centainly to vertical angle, convenient for shooting overhead transmission line
Road.3 d space coordinate system is established by origin of left side camera shooting terminal.
Step P102：Binocular vision system is demarcated, binocular vision system inside and outside parameter is obtained.Specifically, utilizing
Zhang Shi methods demarcate intrinsic parameter α, β, γ, μ, υ of binocular vision system, and wherein α is the scale factor in x-axis, and β is y-axis
On scale factor, γ be image coordinate and optical axis coordinate oblique factor, μ be position of the optical axis optical center in image coordinate x-axis
It sets, υ is position of the optical axis optical center in image coordinate y-axis；Outer parameter R, t of binocular vision system is carried out using self-calibration method
Calibration, wherein R are twiddle factor, and t is shift factor.After the completion of calibration, such as double camera shooting terminal relative positions, rotation angle become
Change, it is necessary to be re-scaled again after fixed.
Step P103：Live transmission line of electricity Image Acquisition and amendment.Specifically, erected on site binocular vision system, adjustment
It is horizontal.Ensure that left and right camera shooting terminal can collect more than half image of one grade of transmission line of electricity overall length simultaneously, and includes minimum
Point；Then a transmission line of electricity image is respectively shot simultaneously；Distortion correction and polar curve amendment are carried out to image using calibrating parameters, made
The match point of two images is in same level.
Step P104：Conducting wire selects and central line pick-up.Specifically, to left and right view, it is all made of following manner processing：
(1) edge detection is carried out using Sobel operators；(2) it carries out binaryzation and is filtered；(3) by choosing interest area filter
The backgrounds such as complicated road surface；(4) it is to avoid same conducting wire since far and near difference causes the thickness on photo inconsistent, using thin
Change, after deburring processing, obtains wire center line.
If there are multiple conducting wires in figure, select to need the conducting wire for measuring arc sag (with center line table in the view picture of left and right
Show), it is matched.
Step P105：Left and right view conductor characteristic point matching.It is to be measured in the view of left and right by step P103 and step P104
It measures coordinate in the vertical direction of arc sag conducting wire to be consistent, i.e. the y-coordinate value having the same of the match point in the view of left and right.It is left
Right view conductor characteristic point matching the specific steps are：Conducting wire in the view of left and right is scanned in a vertical direction with a fixed step size, is determined
Corresponding characteristic point.According to coordinate value of these characteristic points on different views, in conjunction with calibrating parameters, you can calculate whole spies
Levy the D coordinates value of point.
Step P106：Conductor characteristic point measures plane projection in arc sag.Specifically, three-dimensional according to the characteristic point of step P105
Coordinate value determines twiddle factor, and characteristic point, which is rotated to arc sag, measures plane, as shown in Figure 2.New coordinate system is established, it will be whole
Feature point coordinates is converted into the two-dimensional coordinate under new coordinate system.
Step P107：Sag computing.Specifically, under the coordinate system that step P106 is determined, according to catenary equation
Bring different characteristic point coordinates into, fitting obtains the value of parameter a, b, c in equation, and wherein a, b, c is fitting coefficient.
Step P108：It (searches circuit to set according to the step P107 catenary equations determined and conducting wire span and high difference
Meter O＆M data obtains span and high difference), then search circuit design O＆M data and obtain span and high difference, you can it calculates
Sag value.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Belong to those skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in all are answered
It is included within the scope of the present invention.
Claims (8)
1. a kind of overhead transmission line arc sag measurement method based on binocular vision, it is characterised in that include the following steps：
(1) binocular vision system is built, three-dimensional coordinate system is established；
(2) binocular vision system is demarcated, obtains binocular vision system inside and outside parameter；
(3) live transmission line of electricity Image Acquisition and amendment；
(4) conducting wire selection and central line pick-up；
(5) left and right view conductor characteristic point matches；
(6) conductor characteristic point measures plane projection in arc sag；
(7) sag computing.
2. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
Step (1) builds binocular vision system, establishes three-dimensional coordinate system step and is：Double camera shooting terminals are fixed on horizontal base line seat
On, keep two camera shooting terminal relative positions constant, rotation angle is constant, has centainly to vertical angle, aerial defeated convenient for shooting
Electric line establishes 3 d space coordinate system by origin of left side camera shooting terminal.
3. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
Step (2) binocular vision system demarcating steps are：Intrinsic parameter α, β, γ, μ, υ of binocular vision system are carried out using Zhang Shi methods
Calibration, wherein α are the scale factor in x-axis, and β is the scale factor in y-axis, γ be image coordinate and optical axis coordinate oblique because
Son, μ are position of the optical axis optical center in image coordinate x-axis, and υ is position of the optical axis optical center in image coordinate y-axis；Utilize mark certainly
Determine method to demarcate outer parameter R, t of binocular vision system, wherein R is twiddle factor, and t is shift factor.
4. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
In step (3) Image Acquisition with correct the specific steps are：First ensure that left and right camera shooting terminal can collect one grade of transmission of electricity simultaneously
More than half image of total track length, and include minimum point；Secondly a transmission line of electricity image is respectively shot simultaneously；Then mark is utilized
Determine parameter and distortion correction and polar curve amendment are carried out to image, the match point of two images is made to be in same level.
5. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
In step (4) conducting wire selection with central line pick-up the specific steps are：Edge inspection is carried out to left and right view first with Sobel operators
It surveys；Secondly it carries out binaryzation and is filtered；Then pass through the road surface background of selection interest area filter complexity；Using thin
Change, deburring handle to obtain wire center line, if there are more center lines in figure, selection needs to measure the conducting wire of arc sag.
6. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
View conductor characteristic point in left and right, which matches, in step (5) is specially：Conducting wire in the view of left and right is swept in a vertical direction with a fixed step size
It retouches, determines corresponding characteristic point, calculated all in conjunction with calibrating parameters according to coordinate value of these characteristic points on different views
The D coordinates value of characteristic point.
7. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
In step (6) conductor characteristic point arc sag measure plane projection the specific steps are：According to characteristic point D coordinates value, rotation is determined
Characteristic point is rotated to arc sag and measures plane by the factor.
8. the overhead transmission line arc sag measurement method based on binocular vision as described in claim 1, it is characterised in that：It is described
In step (7) conducting wire sag calculate the specific steps are：Catenary equation is used under new coordinate system
Bring different characteristic point coordinates into, fitting obtains the value of parameter a, b, c in equation, and wherein a, b, c is fitting coefficient, in conjunction with leading
Line span and high difference calculate this grade of conducting wire beginning and end coordinate, you can calculate sag value.
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| CN109462183A (en) * | 2018-11-30 | 2019-03-12 | 北京拓维思科技有限公司 | Power line sag adjustment method and apparatus |
| CN109712179A (en) * | 2018-11-30 | 2019-05-03 | 北京拓维思科技有限公司 | A kind of transmission line of electricity wire jumper electric clearance determines method and device |
| CN109801302A (en) * | 2018-12-14 | 2019-05-24 | 华南理工大学 | A kind of ultra-high-tension power transmission line foreign matter detecting method based on binocular vision |
| CN110458947A (en) * | 2019-08-09 | 2019-11-15 | 江苏濠汉信息技术有限公司 | A kind of three-dimensional rebuilding method and system of transmission pressure arc sag |
| CN110992463A (en) * | 2019-11-11 | 2020-04-10 | 国网通用航空有限公司 | Three-dimensional reconstruction method and system for sag of power transmission conductor based on trinocular vision |
| CN111062131A (en) * | 2019-12-17 | 2020-04-24 | 广东电网有限责任公司 | Power transmission line sag calculation method and related device |
| CN108613628B (en) * | 2018-05-16 | 2020-05-15 | 国网湖北省电力有限公司电力科学研究院 | Overhead transmission line sag measurement method based on binocular vision |
| CN111814546A (en) * | 2020-06-03 | 2020-10-23 | 国网浙江省电力有限公司 | Image recognition algorithm for power transmission line sag measurement |
| CN112033286A (en) * | 2020-08-19 | 2020-12-04 | 哈尔滨工业大学 | Binocular vision-based structural six-degree-of-freedom motion measurement system and measurement method thereof |
| CN112697084A (en) * | 2020-12-11 | 2021-04-23 | 广东电网能源发展有限公司 | Sag measurement method, system, device and medium based on sag measurement instrument |
| CN112882644A (en) * | 2021-02-24 | 2021-06-01 | 中国电建集团河南工程有限公司 | Method for automatically extracting hectometer sag value of power transmission line |
| CN115600048A (en) * | 2022-12-12 | 2023-01-13 | 安徽送变电工程有限公司（Cn） | Sag observation method, device and system with adjacent wire spacing compensation function |
| CN115731303A (en) * | 2022-11-23 | 2023-03-03 | 江苏濠汉信息技术有限公司 | Large-span transmission conductor sag three-dimensional reconstruction method based on bidirectional binocular vision |
| CN116718122A (en) * | 2023-08-09 | 2023-09-08 | 南方电网数字电网研究院有限公司 | Sag measurement method and device based on image parallax depth and computer equipment |
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| CN109712179A (en) * | 2018-11-30 | 2019-05-03 | 北京拓维思科技有限公司 | A kind of transmission line of electricity wire jumper electric clearance determines method and device |
| CN109462183A (en) * | 2018-11-30 | 2019-03-12 | 北京拓维思科技有限公司 | Power line sag adjustment method and apparatus |
| CN109801302A (en) * | 2018-12-14 | 2019-05-24 | 华南理工大学 | A kind of ultra-high-tension power transmission line foreign matter detecting method based on binocular vision |
| CN110458947A (en) * | 2019-08-09 | 2019-11-15 | 江苏濠汉信息技术有限公司 | A kind of three-dimensional rebuilding method and system of transmission pressure arc sag |
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| CN111062131A (en) * | 2019-12-17 | 2020-04-24 | 广东电网有限责任公司 | Power transmission line sag calculation method and related device |
| CN111062131B (en) * | 2019-12-17 | 2024-01-23 | 广东电网有限责任公司 | Power transmission line sag calculation method and related device |
| CN111814546A (en) * | 2020-06-03 | 2020-10-23 | 国网浙江省电力有限公司 | Image recognition algorithm for power transmission line sag measurement |
| CN112033286A (en) * | 2020-08-19 | 2020-12-04 | 哈尔滨工业大学 | Binocular vision-based structural six-degree-of-freedom motion measurement system and measurement method thereof |
| CN112697084A (en) * | 2020-12-11 | 2021-04-23 | 广东电网能源发展有限公司 | Sag measurement method, system, device and medium based on sag measurement instrument |
| CN112697084B (en) * | 2020-12-11 | 2022-08-19 | 广东电网能源发展有限公司 | Sag measurement method, system, device and medium based on sag measurement instrument |
| CN112882644A (en) * | 2021-02-24 | 2021-06-01 | 中国电建集团河南工程有限公司 | Method for automatically extracting hectometer sag value of power transmission line |
| CN112882644B (en) * | 2021-02-24 | 2022-07-29 | 中国电建集团河南工程有限公司 | Method for automatically extracting hectometer sag value of power transmission line |
| CN115731303A (en) * | 2022-11-23 | 2023-03-03 | 江苏濠汉信息技术有限公司 | Large-span transmission conductor sag three-dimensional reconstruction method based on bidirectional binocular vision |
| CN115731303B (en) * | 2022-11-23 | 2023-10-27 | 江苏濠汉信息技术有限公司 | Large-span transmission conductor sag three-dimensional reconstruction method based on bidirectional binocular vision |
| CN115600048B (en) * | 2022-12-12 | 2023-03-24 | 安徽送变电工程有限公司 | Sag observation method, device and system with adjacent wire spacing compensation function |
| CN115600048A (en) * | 2022-12-12 | 2023-01-13 | 安徽送变电工程有限公司（Cn） | Sag observation method, device and system with adjacent wire spacing compensation function |
| CN116718122A (en) * | 2023-08-09 | 2023-09-08 | 南方电网数字电网研究院有限公司 | Sag measurement method and device based on image parallax depth and computer equipment |
| CN116718122B (en) * | 2023-08-09 | 2023-10-20 | 南方电网数字电网研究院有限公司 | Sag measurement method and device based on image parallax depth and computer equipment |
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