CN109946564A - A kind of distribution network overhead line inspection data collection method and cruising inspection system - Google Patents
A kind of distribution network overhead line inspection data collection method and cruising inspection system Download PDFInfo
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Abstract
Present disclose provides a kind of distribution network overhead line inspection data collection method and cruising inspection systems, obtain inspection vehicle present bit appearance and travel speed, calculate the distance between inspection vehicle and each distribution shaft tower to be measured, when inspection vehicle is less than given threshold at a distance from a certain shaft tower, control holder movement, the detection sensor for carrying it tracks the overhead transmission line between current shaft tower and adjacent shaft tower, according to the frequency collection route running state data of setting.
Description
Technical field
This disclosure relates to a kind of distribution network overhead line inspection data collection method and cruising inspection system.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
With the continuous quickening of distribution investment construction speed in recent years and deepening continuously for smart grid trend, pass
System is gradually difficult to meet growing distribution O&M service work demand with the patrol mode of " based on manpower ".In this regard, related
Research institution researches and develops in succession using hand-held mobile terminal, inspection vehicle or unmanned plane as carrier and applies a plurality of types of movements
Distribution itineration check system.Compared to other existing Distribution itineration check modes inspection can be carried based on vehicle-mounted Distribution itineration check on inspection vehicle
It is limited smaller to survey type, weight, size of sensor etc., the work such as the analysis of inspection data, arrangement, typing can also be at inspection scene
Vehicle interior is completed, and the timeliness of inspection data has been effectively ensured, has improved Distribution itineration check efficiency.
In having vehicle-mounted Distribution itineration check system, inspection vehicle roof usually carries cradle head of two degrees of freedom and is installed on cloud
The non-contact datas such as visible light camera, thermal infrared imager, ultrasonic partial discharge detector in platform top protection cover acquisition sensing
Device, inspection crewmember can control PTZ level and vertical two-freedom corner inside the vehicle, so that sensor alignment shaft tower
Or route region to be checked carries out data acquisition.Since the acquisition of inspection data also needs manual type to realize, existing vehicle-mounted Distribution itineration check
Data acquisition efficiency still needs to be further improved.
It, to the automatic collection of inspection data, would generally be adopted at present based on holder visual servo to realize vehicle movement in the process
Automatic data collection scheme.The program identifies shaft tower or route region to be checked in acquisition image first, calculates later to be checked
The deviation of regional center point and picture centre, and holder two-freedom corner is controlled using this deviation as feedback quantity, and then realize
Tracking and sensor data acquisition in vehicle operation to shaft tower or route region to be checked.However, combining reality is vehicle-mounted to match
Net inspection operating environment feature, this scheme there is problems:
(1) existing distribution line is usually set up along urban road, and route surrounding enviroment are complicated, and shaft tower route is vulnerable to week
The continuous randomness of side trees, building etc. is blocked and is interfered, and easily leading to tracking precision reduces even failure.In addition, vision is watched
For clothes in outdoor application, performance inevitably will receive the influence of the factors such as illumination, weather, limit vehicle-mounted Distribution itineration check
Application scenarios.
(2) due to certainly existing delay output execution from front end Image Acquisition to rear end holder SERVO CONTROL amount, prolong
When the time mainly influenced by acquisition picture size, image transmitting time, the factors such as image processing time, holder is servo-controlled
Real-time is more difficult significantly to be promoted, and inspection vehicle maximum operational speed is constrained, and is unfavorable for subsequent inspection data acquisition efficiency
Further promoted.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of distribution network overhead line inspection data collection method and inspection system
System, the disclosure by fusion consider the position of virtual detection point, the position of inspection vehicle and travel speed, apart from monitoring point away from
From etc. multiple parameters, carry out the control of holder, guarantee sensor data acquisition, can overcome Visual servoing control method vulnerable to
The problem of such environmental effects and real-time more difficult promotion.
To achieve the goals above, the disclosure adopts the following technical scheme that
A kind of distribution network overhead line inspection data collection method, periodically execution following steps:
(1) inspection vehicle current spatial location and posture and driving speed information are obtained, and calculates vehicle and each network distribution rod
The distance between tower；
(2) when being less than given threshold at a distance from a certain shaft tower when inspection vehicle, virtual detection point is sought in world coordinates
Coordinate in system, and be converted to the detection coordinate system on the basis of holder, according to inspection vehicle detection coordinate system at this time
Coordinate, seek PTZ level and vertical two-freedom rolling target angle, with above-mentioned angle control holder movement, make its top
Detection sensor tracks the overhead transmission line between current shaft tower and adjacent shaft tower with gathering line road running state data；
(3) when include in patrol task it is all need to acquire inspection data acquisition after, patrol task terminates.
It limits as further, when region automatic tracing to be checked to overhead transmission line, is done from detection coordinate system coordinate origin
The vertical line of overhead transmission line stringing regional center point on adjacent distribution shaft tower, gained intersection point intersection point are defined as virtual detection point.
It is limited as further, seeking virtual detection point in the detailed process of the coordinate of world coordinate system includes:
According to space coordinate transformation relationship, column write coordinate transfer equation, solve coordinate of the holder in world coordinate system, according to
Determine virtual detection point in the coordinate of world coordinate system according to space line equation and space line vertical relation.
It is limited as further, the inspection data of visible images or infrared chart to overhead transmission line are acquired in vehicle
Piecewise acquisition in operational process, data acquiring frequency comprehensive sensor are set away from route distance with running velocity.
It is limited as further, when setting overhead transmission line data acquisition, the image collector that is carried on inspection vehicle
The optical axis set and line alignment are perpendicular, calculate length of the route in the field of view of image collecting device；
It is limited as further, obtains Vehicle Speed vector, fusion Vehicle Speed vector and visual field area
Length information in domain obtains the data acquiring frequency in the corresponding period.
It is limited as further, route length in the field of view of image collecting device are as follows: image collecting device
Vertical range apart from current line of imaging sensor width and optical center product and lens focus ratio.
It is limited as further, obtains the component of Vehicle Speed vector and overhead transmission line parallel direction, calculated
The ratio of length of the mould and route of the component in the field of view of image collecting device, and round up, after obtaining calculating
Frequency acquisition.
A kind of cruising inspection system, including inspection vehicle, are provided with two degrees of freedom digital tripod head at the top of the inspection vehicle, and two
It is provided with detection sensor and image collecting device on freedom degree digital tripod head, carries vehicle-mounted industry control in the inspection vehicle
Machine；
The vehicle-mounted industrial personal computer is configured as executing above-mentioned collecting method.
Limited as further, the detection sensor include visible detection sensor, infrared detection sensor and/
Or ultrasonic partial discharge detection sensor.
Compared with prior art, the disclosure has the beneficial effect that
(1) disclosure passes through the position of fusion consideration virtual detection point, the position of inspection vehicle and travel speed, distance prison
The multiple parameters such as the distance of measuring point carry out the control of holder, guarantee the data acquisition of sensor, can overcome Visual servoing control
The problem of method is vulnerable to such environmental effects and real-time more difficult promotion；
(2) the holder SERVO CONTROL and collecting method that the disclosure proposes, not by route periphery trees, building etc.
Continuous randomness block and interfere and other such environmental effects, it can be achieved that detection sensor to overhead transmission line region to be checked with
The reliable tracking and data acquisition of track.
(3) the tracking precision of the disclosure is only influenced by vehicle pose data precision, by installing high-precision sensor additional
Facilitate the promotion for realizing tracking accuracy.Holder SERVO CONTROL, which calculates, is not related to complicated data handling procedure, can also be obviously improved
Servo-controlled real-time；
(4) disclosure, which passes through, adjusts distribution line data acquiring frequency according to running velocity, can guarantee to be acquired
Under the premise of data are to the complete covering of whole route, unnecessary data redundancy is reduced, can effectively reduce subsequent to data progress
Analyze the workload of processing.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the spatial coordinate location schematic diagram of test point；
Fig. 2 is the flow chart of the present embodiment；
Fig. 3 is virtual detection space of points coordinate position schematic diagram.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs
The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand
For the limitation to the disclosure.
In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be,
It should not be understood as the limitation to the disclosure.
This disclosure relates to vehicle-mounted inspection data collection system hardware components in addition at the top or inside of inspection vehicle respectively
Detection sensor (visible light, infrared, ultrasonic partial discharge detection etc.), the light-duty digital tripod head of two degrees of freedom, vehicle-mounted industry control are installed
Outside the equipment such as machine, display, keyboard, remote-control handle, vehicle-mounted inertia combined navigation module also is mounted in inspection vehicle interior, it should
Module output data cannot be only used for inspection vehicle running state monitoring, it is often more important that it can be mentioned for subsequent holder SERVO CONTROL
For necessary inspection vehicle present bit appearance (position and posture, similarly hereinafter) and driving speed information.It is mounted with to count on vehicle-mounted industrial personal computer
According to acquisition software, its in the disclosure is mainly realized during vehicle-mounted Distribution itineration check to distribution shaft tower and overhead transmission line region to be checked
Holder SERVO CONTROL and inspection data acquisition function when automatic tracing.
The spatial coordinate location of some test point on distribution shaft tower or overhead transmission line
As shown in Figure 1, pre-defined following three coordinate system:
(1) the world coordinate system O of distribution shaft tower geographical coordinate and vehicle location is indicatedWXWYWZW；
It (2) is origin using vehicle traffic direction as the vehicle axis system of X-axis using vehicle-mounted inertia combined navigation module centers
OCXCYCZC；
(3) coordinate origin is in PTZ level and vertical pivot intersection point and reference axis and vehicle axis system OCXCYCZCIt is flat
Capable detection coordinate system OSXSYSZS。
Assuming that a certain test point is (e, n, h) in the coordinate of world coordinate system, in which: (e, n) is that the plane of test point is sat
Mark, h are the elevation of test point；Spatial pose in the alive boundary's coordinate system of inspection vehicle is (u, v, w, o, p, r), in which: (u, v,
It w) is three-dimensional vehicle spatial position, (o, p, r) is then to have respectively represented the current traffic direction of vehicle, pitching with respect to the horizontal plane
Angle and roll angle；The coordinate of holder (that is, detection coordinate system center, similarly hereinafter) in vehicle axis system is respectively (a, b, c)；Inspection
Coordinate of the measuring point in detection coordinate system is (x, y, z).
In addition, T in Fig. 10And T1Respectively homogeneous coordinates of the test point under world coordinate system and detection coordinate system convert square
Battle array, T2And T3The homogeneous coordinates of respectively vehicle axis system to detection coordinate system, world coordinate system to vehicle axis system convert square
Battle array.The above-mentioned specific representation of coordinate conversion matrix is as follows:
In formula: being write to simplify, in T3Expression formula in: c represents cos operation, behalf sin operation, and footnote then represents
Operation is carried out to that attitude angle of vehicle.
After patrol task starts, inspection teams and groups drive vehicle and travel along distribution line, run on vehicle-mounted work at the same time
Data Collection Software on control machine will periodical control inspection data acquisition, to frame in patrol task implementation procedure
The workflow that empty line data-logging data are acquired is as shown in Figure 2:
(step 1) acquisition software obtains the current pose of vehicle (spatial position and posture, similarly hereinafter) and driving speed information, and
Calculate the distance between vehicle and each distribution shaft tower.
For (step 2) when vehicle is less than given threshold at a distance from a certain shaft tower, acquisition software will control holder movement, make
Its top detection sensor tracks the overhead transmission line between current shaft tower and adjacent shaft tower with gathering line road running state data.
(step 3) when include in patrol task it is all need to acquire inspection data acquisition after, patrol task terminates, no
(step 1) is then returned to continue to execute.
Wherein, the current pose of vehicle can be obtained by installing vehicle-mounted inertia combined navigation module inside the vehicle in step 2.
When region automatic tracing to be checked to overhead transmission line, the overhead transmission line on adjacent distribution shaft tower can be done from detection coordinate system coordinate origin
The vertical line of stringing regional center point (referred to as: stringing point, similarly hereinafter), gained intersection point intersection point are defined as virtual detection point, and space is sat
Cursor position is as shown in Figure 3.
Specific steps are acquired to overhead transmission line region automatic tracing to be checked and inspection data are as follows:
(step 2-1) seeks virtual detection point in the coordinate (e, n, h) of world coordinate system, can be as follows:
(step 2-1-1) is first depending on space coordinate transformation relationship, and column write coordinate transfer equation, solves holder and sits in the world
Coordinate (A, B, C) in mark system, establishes an equation as follows:
T4=T3T2
In formula: T4Homogeneous coordinates transition matrix of the detection coordinate origin of holder position under world coordinate system is represented,
Concrete form are as follows:
After (step 2-1-2), virtual detection point can be according to space line equation in the coordinate (e, n, h) of world coordinate system
And space line vertical relation, it is acquired by following two formulas simultaneous equations.
(e2-e1)(e-A)+(n2-n1)(n-B)+(h2-h1) (h-C)=0
In formula: (e1,n1,h1) and (e2,n2,h2) it is respectively above-mentioned adjacent shaft tower restocking line point coordinate, plane coordinates is
For shaft tower geographical coordinate, and elevation information can be obtained by measurement means.
(step 2-2) seeks PTZ level using virtual detection point coordinate in detection coordinate system and vertical two-freedom revolves
Turn target angle α and β are as follows:
α=tan-1(y/x),
The angle acquired is issued to holder and executed by (step 2-3), to realize that detection sensor is specific to distribution shaft tower
Region tracking and data acquisition to be checked.
In (step 2-3), since the acquisition of the inspections data such as visible images, infrared chart to overhead transmission line is in vehicle
Piecewise acquisition is completed in operational process, by guarantee complete covering of the acquisition data to whole route, while reduce it is unnecessary
Data redundancy, data acquiring frequency F needs comprehensive sensor to be set away from route distance with running velocity.Below with
For the acquisition of overhead transmission line visible images, illustrate the calculating step of data acquiring frequency, specific as follows:
(step 1) assumes that camera optical axis is vertical with line alignment when the acquisition of overhead transmission line data, then can calculate route and exist
Theoretical length L in video camera detection zone is
In formula: l is video camera imaging sensor width, and f is lens focus,For according to virtual inspection
The vertical range for the camera lens centre distance current line that measuring point coordinate is estimated.
The car speed vector V that vehicle-mounted inertia combined navigation module exports is decomposed by (step 2) in world coordinate system
With line parallel and vertical velocity vector V//And V⊥。
The value of (step 3) data acquiring frequency F can be by the mould with line parallel velocity vector | | V//| | it takes divided by L and upwards
It obtains, is shown below after whole:
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of distribution network overhead line inspection data collection method, it is characterized in that: the following steps are included:
Inspection vehicle current spatial location and posture and driving speed information are obtained, and is calculated between vehicle and each distribution shaft tower
Distance；
When inspection vehicle is less than given threshold at a distance from a certain shaft tower, seat of the virtual detection point in world coordinate system is sought
Mark, and be converted to the detection coordinate system on the basis of holder, according to the coordinate of inspection vehicle detection coordinate system at this time, ask
PTZ level and vertical two-freedom rolling target angle are taken, with the control holder movement of above-mentioned angle, makes its top detection sensing
Device tracks the overhead transmission line between current shaft tower and adjacent shaft tower with gathering line road running state data.
2. a kind of distribution network overhead line inspection data collection method as described in claim 1, it is characterized in that: waiting for overhead transmission line
When examining region automatic tracing, the overhead transmission line stringing regional center point on adjacent distribution shaft tower is done from detection coordinate system coordinate origin
Vertical line, gained intersection point intersection point is defined as virtual detection point.
3. a kind of distribution network overhead line inspection data collection method as described in claim 1, it is characterized in that: seeking virtual detection
Point includes: in the detailed process of the coordinate of world coordinate system
According to space coordinate transformation relationship, column write coordinate transfer equation, coordinate of the holder in world coordinate system are solved, according to empty
Between linear equation and space line vertical relation determine virtual detection point in the coordinate of world coordinate system.
4. a kind of distribution network overhead line inspection data collection method as described in claim 1, it is characterized in that: to overhead transmission line
The inspection data of visible images or infrared chart acquisition piecewise acquisition in vehicle operation, data acquiring frequency is comprehensive to be passed
Sensor is set away from route distance with running velocity.
5. a kind of distribution network overhead line inspection data collection method as claimed in claim 4, it is characterized in that: setting overhead transmission line
When data acquire, the optical axis and line alignment of the image collecting device carried on inspection vehicle are perpendicular, calculate route in image
Length in the field of view of acquisition device；
Vehicle Speed vector is obtained, the length information in fusion Vehicle Speed vector and field of view is corresponded to
Data acquiring frequency in period.
6. a kind of distribution network overhead line inspection data collection method as claimed in claim 5, it is characterized in that: route is adopted in image
Length in the field of view of acquisition means are as follows: the imaging sensor width of image collecting device and optical center are apart from current line
The product of vertical range and the ratio of lens focus.
7. a kind of distribution network overhead line inspection data collection method as claimed in claim 4, it is characterized in that: obtaining vehicle driving
The component of velocity vector and overhead transmission line parallel direction, calculate the component mould and route image collecting device field of view
The ratio of interior length, and round up, the frequency acquisition after being calculated.
8. a kind of distribution network overhead line inspection data collection method as described in claim 1, it is characterized in that: periodically executing
Step as described in claim 1.
9. a kind of cruising inspection system is provided with two degrees of freedom number it is characterized in that: including inspection vehicle at the top of the inspection vehicle
Holder is provided with detection sensor and image collecting device on two degrees of freedom digital tripod head, carries vehicle in the inspection vehicle
Carry industrial personal computer；
The vehicle-mounted industrial personal computer is configured as executing such as collecting method of any of claims 1-8.
10. cruising inspection system as claimed in claim 9, it is characterized in that: the detection sensor include visible detection sensor,
Infrared detection sensor and/or ultrasonic partial discharge detection sensor.
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| CN113601536A (en) * | 2021-10-11 | 2021-11-05 | 国网智能科技股份有限公司 | Distribution network vehicle-mounted intelligent inspection robot system and method |
| CN113910252A (en) * | 2021-10-11 | 2022-01-11 | 国网智能科技股份有限公司 | Dynamic tracking method and system for distribution network vehicle-mounted intelligent inspection robot pole tower |
| CN113601536B (en) * | 2021-10-11 | 2022-03-18 | 国网智能科技股份有限公司 | Distribution network vehicle-mounted intelligent inspection robot system and method |
| CN113910252B (en) * | 2021-10-11 | 2023-03-03 | 国网智能科技股份有限公司 | Dynamic tracking method and system for distribution network vehicle-mounted intelligent inspection robot pole tower |
| CN114785961A (en) * | 2022-06-21 | 2022-07-22 | 山东信通电子股份有限公司 | Patrol route generation method, device and medium based on holder camera |
| CN114785961B (en) * | 2022-06-21 | 2022-09-20 | 山东信通电子股份有限公司 | Patrol route generation method, device and medium based on holder camera |
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Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co., Ltd. Applicant after: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant after: State Grid Corporation of China Address before: 250101 block B, Yinhe building, 2008 Xinjie street, hi tech Zone, Ji'nan, Shandong. Applicant before: Shandong Luneng Intelligent Technology Co., Ltd. Applicant before: Electric Power Research Institute of State Grid Shandong Electric Power Company Applicant before: State Grid Corporation of China |
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Effective date of registration: 20201030 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant after: National Network Intelligent Technology Co.,Ltd. Address before: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Applicant before: National Network Intelligent Technology Co.,Ltd. Applicant before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Applicant before: STATE GRID CORPORATION OF CHINA |
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