CN110824295B - Infrared thermal image fault positioning method based on three-dimensional graph - Google Patents
Infrared thermal image fault positioning method based on three-dimensional graph Download PDFInfo
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- CN110824295B CN110824295B CN201911007084.0A CN201911007084A CN110824295B CN 110824295 B CN110824295 B CN 110824295B CN 201911007084 A CN201911007084 A CN 201911007084A CN 110824295 B CN110824295 B CN 110824295B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000007689 inspection Methods 0.000 claims abstract description 31
- 238000001931 thermography Methods 0.000 claims abstract description 7
- 238000012217 deletion Methods 0.000 claims description 3
- 230000037430 deletion Effects 0.000 claims description 3
- 230000000717 retained effect Effects 0.000 claims description 3
- 238000003331 infrared imaging Methods 0.000 abstract 1
- 238000003384 imaging method Methods 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The invention discloses an infrared thermal image fault positioning method based on three-dimensional graphics, which comprises the following steps of: the inspection robot inspects along the X axis, when the infrared thermal imaging identifies a fault point A, the inspection robot shoots the fault A, and the coordinate of the fault point A is calculated according to data obtained by the flight sensor; the inspection robot carries out multi-angle shooting on the fault point A in the X-axis direction to obtain a plurality of coordinates of the fault point A; the inspection robot inspects along the Y axis, when the fault point A is identified through infrared imaging, the inspection robot shoots the fault point A, and the coordinate of the fault point A is calculated according to data obtained by the flight sensor; the inspection robot carries out multi-angle shooting on the fault point A in the Y-axis direction to obtain a plurality of coordinates of the fault point A; and carrying out statistical calculation on the obtained coordinates of the fault point A to obtain the final position of the fault point A. The invention improves the working efficiency of fault location and simultaneously improves the accuracy of fault location.
Description
Technical Field
The invention relates to the technical field of power equipment testing methods, in particular to an infrared thermal image fault positioning method based on a three-dimensional graph.
Background
When the power equipment runs and a fault point occurs, the phenomenon of temperature rise often appears due to the current, discharge and other fields, and the judgment of the fault point position is very important for the continuous running of the power equipment. At present, when power equipment generates heat the phenomenon, mostly judge for the manual work, arrive the station by relevant professional promptly, carry out diversified infrared shooting to equipment to carry out comprehensive judgement according to infrared thermograph, not only work efficiency is low, still there is subjective deviation.
Disclosure of Invention
The invention provides an infrared thermal image fault positioning method based on three-dimensional graphs, aiming at solving the problems of low efficiency and deviation in power equipment fault point judgment in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: an infrared thermal image fault positioning method based on three-dimensional graphics comprises the following steps:
s1: taking the intersection of any plurality of patrol lines or the starting point of one patrol line as the origin O of the three-dimensional coordinates;
s2, starting from the origin O and flying along the X axis, and shooting the fault point A by the inspection robot when the fault point A is identified by infrared thermal imaging;
s3: the position of the inspection robot is a shooting point B at the moment, the distance OB between the shooting point B and the origin O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 1 and the steering angle beta 1 are recorded; the inspection robot flies a known distance L along the X axis to reach a shooting point B1, the elevation angle alpha 11 at the moment is recorded, and the distance c1 from the shooting point B to a fault point A is obtained by utilizing the sine theorem;
wherein alpha 1 is an included angle between a connecting line between the fault point A and the shooting point B and the XY plane; alpha 11 is an included angle between a connecting line between the fault point A and the shooting point B1 and the XY plane; beta 1 is an included angle between a projection line of a connecting line between the fault point A and the shooting point B on the XY plane and the X axis;
s4: let the coordinates of the fault point a be (Xx1, Yx1, Zx1), where the subscript X1 indicates that the patrol robot patrol along the X axis for the 1 st time, using the data in step S3, there are
Zx1＝c1sinα1
Xx1＝c1cosα1cosβ1+OB
Yx1＝c1cosα1sinβ1
S5: the patrol robot continues to perform step S2, and obtains the coordinates (Xxn, Yxn, Zxn) of n fault points a through step S3 and step S4, wherein xn represents that the patrol robot patrols along the X axis for the nth time;
s6: the inspection robot starts from an original point O and flies along a Y axis, and when the infrared thermal imaging identifies a fault point A, the inspection robot shoots the fault point A;
s7: the position of the inspection robot is a shooting point D at the moment, the distance OD between the shooting point D and the origin O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 2, the steering angle beta 2 and the distance c2 between the shooting point D and the fault point A are recorded;
wherein alpha 2 is an included angle between a connecting line between the fault point A and the shooting point D and the XY plane, alpha 22 is an included angle between a connecting line between the fault point A and the shooting point D1 and the XY plane, and beta 2 is an included angle between a projection line of the connecting line between the fault point A and the shooting point D on the XY plane and the X axis;
s8: let the coordinates of the fault point A be (Xy1, Yy1, Zy1), where the subscript Y1 indicates that the patrol robot patrol along the Y axis for the 1 st time, using the data in step S7, there are
Zy1＝c2sinα2
Xy1＝c2cosα2cosβ2+OD
Yy1＝c2cosα2sinβ2
S9: the patrol robot continues to execute step S6, and through step S7 and step S8, obtains a plurality of sets of coordinates (Xyn, Yyn, Zyn) of the fault point a, where yn represents that the patrol robot performs a patrol along the Y axis for the nth time;
s10: obtaining 2n coordinates (Xx1, Yx1, Zx1), (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and (Xy1, Yy1, Zy1), (Xy2, Yy2, Zy2) to (Xyn, Yyn, Zyn) of the fault point a;
s11: carrying out data statistics on 2n points by using c language, carrying out statistics on Xx1.. Xxn and Xy1... Xyn, and counting out a number a with the highest position of an X coordinate and the largest occurrence frequency1Sequentially counting to a single digit a2nAnd let the X-axis reference xj be the most significant value for each digit as follows:
xj＝a1·102n-1+....+a2n·10°
s12: confirming the basic coordinate value of the y-axis and the z-axis by the same method, and determining a reference fault point Aj(xj，yj，zj) (ii) a Calculating difference values of the reference fault points and A (Xx1, Yx1, Zx1), A (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and A (Xy1, Yy1, Zy1), A (Xy2, Yy2, Zy2) · A (Xyn, Yyn, Zyn), keeping the point A if the difference values are less than 5%, deleting the point A if the difference values exceed the error values, and recording the error of each point; after the comparison and deletion are finished, the retained points A are averaged to obtain a mean value Ap＝(xp，yp，zp) Using mean point ApAnd determining the position of the fault point.
S13: after the fault point is determined, the point A with the minimum error rate is determined as the best observation point, and subsequent tracking inspection is facilitated.
Preferably, in the step S3, according to α 1, α 11, the distance L between the shooting point B and the shooting point B1, and the sine theorem, there are:
Preferably, in the step S7, according to α 2, α 22, the distance M between the shooting point D and the shooting point D1, and the sine theorem, there are:
In the technical scheme, due to the field technical reasons of shooting position, shielding and image identification, the three-dimensional coordinate of the fault point A is determined by only one point and is not accurate, so that the inspection robot needs to shoot the fault point A at multiple points in the X-axis direction respectively. Meanwhile, in order to ensure accurate positioning, after multipoint shooting is completed in the X-axis direction, multipoint shooting needs to be performed in the Y-axis direction. It should be noted that the flight path may be set by a program, and the shooting elevation angle and the steering angle may be obtained by sensors provided on the patrol robot.
Compared with the prior art, the beneficial effects are:
the novel fault location testing method integrates the infrared temperature measurement technology based on the three-dimensional graph of the internal structure of the power equipment, improves the working efficiency of fault location, and simultaneously improves the accuracy of fault location.
Drawings
FIG. 1 is a schematic diagram I of a fault location method of the present invention;
fig. 2 is a schematic diagram II of the fault location method of the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "long", "short", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The technical scheme of the invention is further described in detail by the following specific embodiments in combination with the attached drawings:
example 1
An infrared thermal image fault positioning method based on three-dimensional graphics comprises the following steps:
s1: taking the intersection of any plurality of patrol lines or the starting point of one patrol line as the origin O of the three-dimensional coordinates;
s2, as shown in figure 1, starting from an origin O and flying along an X axis, and shooting a fault point A by the inspection robot when the fault point A is identified by infrared thermal imaging;
s3: the position of the inspection robot is a shooting point B at the moment, the distance OB between the shooting point B and the origin O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 1 and the steering angle beta 1 are recorded; the inspection robot flies a known distance L along the X axis to reach a shooting point B1, the elevation angle alpha 11 at the moment is recorded, and the distance c1 from the shooting point B to a fault point A is obtained by utilizing the sine theorem;
wherein alpha 1 is an included angle between a connecting line between the fault point A and the shooting point B and the XY plane; alpha 11 is an included angle between a connecting line between the fault point A and the shooting point B1 and the XY plane; beta 1 is an included angle between a projection line of a connecting line between the fault point A and the shooting point B on the XY plane and the X axis; it should be noted that the imaging point B, the imaging point B1, and the failure point a form a single plane BB1A, and that, during the movement of the patrol robot from the imaging point B to the imaging point B1, the line connecting any one of the imaging points and the failure point a is always on the plane BB 1A.
S4: let the coordinates of the fault point a be (Xx1, Yx1, Zx1), where the subscript X1 indicates that the patrol robot patrol along the X axis for the 1 st time, using the data in step S3, there are
Zx1＝c1sinα1
Xx1＝c1cosα1cosβ1+OB
Yx1＝c1cosα1sinβ1
S5: the patrol robot continues to perform step S2, and obtains the coordinates (Xxn, Yxn, Zxn) of n fault points a through step S3 and step S4, wherein xn represents that the patrol robot patrols along the X axis for the nth time;
s6: as shown in fig. 2, the inspection robot starts from an origin O and flies along a Y-axis, and when the infrared thermal imaging identifies a fault point a, the inspection robot shoots the fault point a;
s7: the position of the inspection robot is a shooting point D at the moment, the distance OD between the shooting point D and the original point O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 2 and the steering angle beta 2 are recorded; the inspection robot flies a known distance M along the Y axis to reach a shooting point D1, the elevation angle alpha 22 at the moment is recorded, and the distance c2 from the shooting point D to a fault point A is obtained by utilizing the sine theorem;
wherein alpha 2 is an included angle between a connecting line between the fault point A and the shooting point D and the XY plane, alpha 22 is an included angle between a connecting line between the fault point A and the shooting point D1 and the XY plane, and beta 2 is an included angle between a projection line of the connecting line between the fault point A and the shooting point D on the XY plane and the X axis; it should be noted that the shooting point D, the shooting point D1, and the fault point a form a plane DD1A, and during the movement of the patrol robot from the shooting point D to the shooting point D1, a connection line between any one shooting point and the fault point a is always located on the plane DD 1A.
S8: let the coordinates of the fault point A be (Xy1, Yy1, Zy1), where the subscript Y1 indicates that the patrol robot patrol along the Y axis for the 1 st time, using the data in step S7, there are
Zy1＝c2sinα2
Xy1＝c2cosα2cosβ2+OD
Yy1＝c2cosα2sinβ2
S9: the patrol robot continues to execute step S6, and through step S7 and step S8, obtains a plurality of sets of coordinates (Xyn, Yyn, Zyn) of the fault point a, where yn represents that the patrol robot performs a patrol along the Y axis for the nth time;
s10: obtaining 2n coordinates (Xx1, Yx1, Zx1), (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and (Xy1, Yy1, Zy1), (Xy2, Yy2, Zy2) to (Xyn, Yyn, Zyn) of the fault point a;
s11: carrying out data statistics on 2n points by using c language, carrying out statistics on Xx1.. Xxn and Xy1... Xyn, and counting out a number a with the highest position of an X coordinate and the largest occurrence frequency1Sequentially counting to a single digit a2nAnd let the X-axis reference xj be the most significant value for each digit as follows:
xj＝a1·102n-1+.....+a2n·10°
s12: confirming the basic coordinate value of the y-axis and the z-axis by the same method, and determining a reference fault point Aj(xj，yj，zj) (ii) a Calculating difference values of the reference fault points and A (Xx1, Yx1, Zx1), A (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and A (Xy1, Yy1, Zy1), A (Xy2, Yy2, Zy2) · A (Xyn, Yyn, Zyn), keeping the point A if the difference values are less than 5%, deleting the point A if the difference values exceed the error values, and recording the error of each point; after the comparison and deletion are finished, the retained points A are averaged to obtain a mean value Ap＝(xp，yp，zp) Using mean point ApAnd determining the position of the fault point.
S13: after the fault point is determined, the point A with the minimum error rate is determined as the best observation point, and subsequent tracking inspection is facilitated.
In step S3, according to α 1, α 11, the distance L between the shooting point B and the shooting point B1, and the sine theorem, there are:
In step S7, according to α 2, α 22, the distance M between the shooting point D and the shooting point D1, and the sine theorem:
In this embodiment, due to the field technical reasons of shooting position, obstruction and image recognition, it is not accurate to determine the three-dimensional coordinates of the fault point a with only one point, so the inspection robot needs to shoot the fault point a at multiple points in the X-axis direction. Meanwhile, in order to ensure accurate positioning, after multipoint shooting is completed in the X-axis direction, multipoint shooting needs to be performed in the Y-axis direction.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (1)
1. An infrared thermal image fault positioning method based on three-dimensional graphics is characterized by comprising the following steps:
s1: taking the intersection of any plurality of patrol lines or the starting point of one patrol line as the origin O of the three-dimensional coordinates;
s2, starting from the origin O and flying along the X axis, and shooting the fault point A by the inspection robot when the fault point A is identified by infrared thermal imaging;
s3: the position of the inspection robot is a shooting point B at the moment, the distance OB between the shooting point B and the origin O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 1 and the steering angle beta 1 are recorded; the inspection robot flies a known distance L along the X axis to reach a shooting point B1, the elevation angle alpha 11 and the steering angle beta 11 at the moment are recorded, and the distance c1 from the shooting point B to a fault point A is obtained by utilizing a sine theorem;
wherein alpha 1 is an included angle between a connecting line between the fault point A and the shooting point B and the XY plane; alpha 11 is an included angle between a connecting line between the fault point A and the shooting point B1 and the XY plane; beta 1 is an included angle between a projection line of a connecting line between the fault point A and the shooting point B on the XY plane and the X axis; beta 11 is an included angle between a projection line of a connecting line between the fault point A and the shooting point B1 on the XY plane and the X axis;
s4: let the coordinates of the fault point a be (Xx1, Yx1, Zx1), where the subscript X1 indicates that the patrol robot patrol along the X axis for the 1 st time, using the data in step S3, there are
Zx1＝c1sinα1
Xx1＝c1cosα1cosβ1+OB
Yx1＝c1cosα1sinβ1
S5: the patrol robot continues to perform step S2, and obtains the coordinates (Xxn, Yxn, Zxn) of n fault points a through step S3 and step S4, wherein xn represents that the patrol robot patrols along the X axis for the nth time;
s6: the inspection robot starts from an original point O and flies along a Y axis, and when the infrared thermal imaging identifies a fault point A, the inspection robot shoots the fault point A;
s7: the position of the inspection robot is a shooting point D at the moment, the distance OD between the shooting point D and the original point O at the moment is recorded through a flight sensor, and meanwhile, the shooting elevation angle alpha 2 and the steering angle beta 2 are recorded; the inspection robot flies a known distance M along the Y axis to reach a shooting point D1, the elevation angle alpha 22 and the steering angle beta 22 at the moment are recorded, and the distance c2 from the shooting point D to a fault point A is calculated by utilizing a sine theorem;
wherein alpha 2 is an included angle between a connecting line between the fault point A and the shooting point D and the XY plane, alpha 22 is an included angle between a connecting line between the fault point A and the shooting point D1 and the XY plane, and beta 2 is an included angle between a projection line of the connecting line between the fault point A and the shooting point D on the XY plane and the X axis; beta 22 is an included angle between a projection line of a connecting line between the fault point A and the shooting point D1 on the XY plane and the X axis;
s8: let the coordinates of the fault point A be (Xy1, Yy1, Zy1), where the subscript Y1 indicates that the patrol robot patrol along the Y axis for the 1 st time, using the data in step S7, there are
Zy1＝c2sinα2
Xy1＝c2cosα2cosβ2+OD
Yy1＝c2cosα2sinβ2
S9: the patrol robot continues to execute step S6, and through step S7 and step S8, obtains a plurality of sets of coordinates (Xyn, Yyn, Zyn) of the fault point a, where yn represents that the patrol robot performs a patrol along the Y axis for the nth time;
s10: obtaining 2n coordinates (Xx1, Yx1, Zx1), (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and (Xy1, Yy1, Zy1), (Xy2, Yy2, Zy2) to (Xyn, Yyn, Zyn) of the fault point a;
s11: carrying out data statistics on 2n points by using c language, carrying out statistics on Xx1.. Xxn and Xy1... Xyn, and counting out a number a with the highest position of an X coordinate and the largest occurrence frequency1Sequentially counting to a single digit a2nAnd let X axis reference value XjThe most numerical composition occurs for each digit as follows:
s12: confirming the basic coordinate value of the y-axis and the z-axis by the same method, and determining a reference fault point Aj(xj，yj，zj) (ii) a Calculating difference values of the reference fault points and A (Xx1, Yx1, Zx1), A (Xx2, Yx2, Zx2), (Xxn, Yxn, Zxn) and A (Xy1, Yy1, Zy1), A (Xy2, Yy2, Zy2) · A (Xyn, Yyn, Zyn), keeping the point A if the difference values are less than 5%, deleting the point A if the difference values exceed the error values, and recording the error of each point; after the comparison and deletion are finished, the retained points A are averaged to obtain a mean value Ap＝(xp，yp，zp) Using mean point ApDetermining the position of a fault point;
s13: after the fault point is determined, the point A with the minimum error rate is determined as the best observation point, and subsequent tracking inspection is facilitated.
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