CN110853307B - Laser monitoring method and monitoring device for power transmission channel external broken environment - Google Patents
Laser monitoring method and monitoring device for power transmission channel external broken environment Download PDFInfo
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- CN110853307B CN110853307B CN201910992326.XA CN201910992326A CN110853307B CN 110853307 B CN110853307 B CN 110853307B CN 201910992326 A CN201910992326 A CN 201910992326A CN 110853307 B CN110853307 B CN 110853307B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
Abstract
The application provides a laser monitoring method and a laser monitoring device for an external broken environment of a power transmission channel. When an ultrahigh vehicle or machine (target object) enters the warning surface formed by the plurality of warning points, the distance of the target object can be detected. Furthermore, the warning surface formed by the plurality of warning points can detect when an object enters, so that the monitoring visual field range is large, and the distance information of the target object can be obtained in time. Meanwhile, the image acquisition device judges whether to send out an early warning signal according to the acquired image information, the plurality of warning distances, the height of the power transmission line and the safety distance. And the image information acquired by the image acquisition device can avoid the situation of false alarm, and alarm is performed when the alarm is confirmed to be needed, so that the relevant personnel can take corresponding measures.
Description
Technical Field
The application relates to the field of power protection, in particular to a laser monitoring method and a laser monitoring device for an external broken environment of a power transmission channel.
Background
With the development of urban construction, the construction in the power transmission line channel is increased day by day, and the phenomenon that the power transmission line channel is crowded and occupied is more and more serious. Most people know little about power line protection knowledge, and power facilities have weak protection consciousness, and the problem of more and more severe external damage is caused by external damage and tripping accidents caused by construction in a channel of a power transmission line, so that huge pressure is brought to safe and stable operation of a power grid.
Especially in urban and rural combined areas where urban infrastructure is accelerated completely, the problem of external damage such as construction is very severe and prominent, and the safe and stable operation of a power grid is seriously influenced. Therefore, construction monitoring and management under the power transmission line channel are enhanced, various hidden dangers in the power transmission line channel are eliminated, and external force damage accidents are prevented from happening and cannot be delayed. However, the traditional laser monitoring method for the external broken environment of the power transmission channel has a small monitoring range, and various hidden dangers cannot be warned in time, so that the safe and stable operation of a power grid is influenced.
Disclosure of Invention
Therefore, it is necessary to provide a power transmission channel external broken environment laser monitoring method and a monitoring device which have a large monitoring visual field range and can timely warn various hidden dangers, aiming at the problem that the monitoring range of the traditional power transmission channel external broken environment laser monitoring method is small.
The application provides a laser monitoring method for a power transmission channel external broken environment, which comprises the following steps:
s10, providing a power transmission channel external broken environment laser monitoring device, wherein the power transmission channel external broken environment laser monitoring device comprises an image acquisition device and a laser ranging device, and is arranged on a first power transmission line iron tower;
s20, presetting the installation height, the height of the power transmission line and the safety distance of the power transmission channel external damage environment laser monitoring device;
s30, scanning the laser emitted by the laser ranging device from a second power transmission line iron tower to the first power transmission line iron tower by using a first basic displacement and a second basic displacement to form a plurality of warning points;
s40, the laser ranging device scans a target object according to the plurality of warning points, acquires a plurality of warning distances corresponding to the plurality of warning points, and transmits the plurality of warning distances to the image acquisition device;
s50, the image acquisition device acquires image information between the first power transmission line iron tower and the second power transmission line iron tower, and judges whether to send out an early warning signal according to the image information, the plurality of warning distances, the power transmission line height and the safety distance;
the second power transmission line iron tower and the first power transmission line iron tower are adjacent power transmission line iron towers, the first basic displacement is basic displacement of laser emitted by the laser ranging device moving along the Y direction, and the second basic displacement is basic displacement of laser emitted by the laser ranging device moving along the X direction.
In one embodiment, the power transmission channel external damage environment laser monitoring device comprises a stepping motor, and the image acquisition device and the laser ranging device are connected with the stepping motor;
the step S30 includes:
s310, the stepping motor drives the laser emitted by the laser ranging device to move on the second basis by a horizontal stepping angle, and the laser scans from the second power transmission line iron tower serving as a starting end to the first power transmission line iron tower;
and S320, the stepping motor drives the laser emitted by the laser ranging device to move on a first basis by a vertical stepping angle, and the laser scans from the second power transmission line iron tower serving as a starting end to the first power transmission line iron tower.
In one embodiment, the first base displacement and the second base are between 1 meter and 3 meters.
In one embodiment, in the step S30, the laser emitted by the laser ranging device moves n times the distance of the first basic displacement along the Y direction to form n warning points;
the laser emitted by the laser ranging device moves m times of the distance of the second basic displacement along the X direction to form m warning points;
wherein n and m are positive integers.
In one embodiment, the laser emitted by the laser ranging device scans in an S-shaped curve to form the plurality of warning points.
In one embodiment, the laser emitted by the laser ranging device scans in a Z-shaped curve to form the plurality of warning points.
In one embodiment, in the step S30, the laser ranging device scans according to a model of a warning surface to form the plurality of warning points;
the warning surface model is a warning point structure array formed by the vertical inclination angle and the horizontal inclination angle which are in one-to-one correspondence with the plurality of warning points and the warning distance.
In one embodiment, the image capturing apparatus includes a control module, an image capturing module, and an image analyzing module, and the step S50 includes:
s510, the control module controls the laser ranging device to scan according to the warning surface model;
s520, when the laser ranging device scans the target object, obtaining a target distance between the target object and the laser ranging device, and transmitting the target distance to the control module;
s530, the control module calculates and obtains the target height of the target object according to the target distance, and judges whether the difference between the target height and the height of the power transmission line is smaller than the safety distance;
and S540, when the difference between the target height and the height of the power transmission line is smaller than the safe distance, the control module controls the laser ranging device to continue scanning according to the warning surface model.
In one embodiment, the step S50 further includes:
s550, when the difference between the target height and the height of the power transmission line is larger than the safety distance, the control module acquires the image information and transmits the image information to the image analysis module;
s560, the image analysis module identifies the type and the number of the target objects according to the image information and transmits the type and the number of the target objects to the control module;
s570, when the target object is of a height adjustable type, the control module wirelessly transmits height reduction information to a driver so as to reduce the height of the target object and continue driving;
and S580, the control module controls the laser ranging device to continue scanning according to the warning surface model.
In one embodiment, the step S50 further includes:
and S590, when the target object is of a type with unadjustable height, the control module sends out an early warning signal.
In an embodiment, a laser monitoring device for a power transmission channel external broken environment is used for monitoring the power transmission channel external broken environment by using the laser monitoring method for the power transmission channel external broken environment as described in any one of the above.
The application provides a laser monitoring method and a laser monitoring device for the power transmission channel external broken environment. And the laser emitted by the laser ranging device scans between the first power transmission line iron tower and the second power transmission line iron tower according to a first basic displacement a and a second basic displacement b to establish a plurality of warning points. When the laser ranging sensor emits measuring laser pulses to irradiate the target object, part of scattered light reflected by the target object returns to the laser ranging sensor, and an optical signal is detected. The laser ranging sensor records and processes the time from the emission of the light pulse to the return of the light pulse, and the distance from the target object (where the laser hits the target object) to the laser ranging sensor can be determined. Such as ABCDEF in FIG. 2, and the distance OF point O, OA, OB, OC, OD, OE, OF. The image acquisition device can acquire the type and the number of the target objects by acquiring image information. At this time, the image acquisition device may determine whether the height of the target object may touch the power transmission line or not according to the type and number of the target objects and the plurality of guard distances, and whether the height is within an allowable safety distance.
When an ultrahigh vehicle or machine (target object) enters the warning surface formed by the plurality OF warning points, the distance (such as OA, OB, OC, OD, OE, OF in fig. 2) OF the target object can be detected. Furthermore, the warning surface formed by the plurality of warning points can detect when an object enters, so that the monitoring visual field range is large, and the distance information of the target object can be obtained in time. Meanwhile, the image acquisition device judges whether to send out an early warning signal according to the acquired image information, the plurality of warning distances, the height of the power transmission line and the safety distance. And the image information acquired by the image acquisition device can avoid the situation of false alarm, and alarm is performed when the alarm is confirmed to be needed, so that the relevant personnel can take corresponding measures.
Drawings
Fig. 1 is a schematic overall structure diagram of a power transmission channel external damage environment laser monitoring device provided in the present application;
fig. 2 is a schematic diagram of a warning point in the laser monitoring method for the power transmission channel external broken environment provided by the present application;
fig. 3 is a scanning schematic diagram of a laser monitoring method for a power transmission channel external damage environment according to an embodiment of the present disclosure;
fig. 4 is a scanning schematic diagram of a laser monitoring method for a power transmission channel external damage environment according to another embodiment of the present disclosure;
fig. 5 is a schematic front view of a first power transmission line iron tower, a second power transmission line iron tower and a power transmission line provided by the present application;
FIG. 6 is a schematic top view of the guard G, H, I, J, O provided herein;
FIG. 7 is a schematic view of a warning point G, H, I, J viewed from a perspective of point O as provided herein;
FIG. 8 is a schematic view of a vertical tilt angle provided herein;
fig. 9 is a schematic view of a horizontal tilt angle provided in the present application.
Description of the reference numerals
The device comprises a power transmission channel external damage environment laser monitoring device 100, an image acquisition device 10, a laser ranging device 20, a rotating mechanism 30, a vertical rotating mechanism 310, a horizontal rotating mechanism 320, a supporting arm 311, a mounting shell 312, a base 40, a shell 50, a control module 110, an image acquisition module 120, an image analysis module 130, a first power transmission line iron tower 60 and a second power transmission line iron tower 70.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below by way of embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, the present application provides a laser monitoring device 100 for an external broken environment of a power transmission channel, which includes an image collecting device 10, a laser ranging device 20, and a rotating mechanism 30. The image acquisition device 10 is used for acquiring image information of the surrounding environment of the power transmission line. The laser ranging device 20 is used for detecting the distance of a target object. The laser ranging device 20 and the image acquisition device 10 are arranged on the rotating mechanism 30, and are used for driving the laser ranging device 20 and the image acquisition device 10 to rotate in the horizontal direction and the vertical direction through the rotating mechanism 30.
The image acquisition device 10 can acquire high-definition videos of the surrounding environment of the power transmission line, so that objects passing through the periphery of the power transmission line can be monitored, and accidents caused by the fact that mechanical equipment is ultrahigh can be prevented. The laser ranging device 20 accurately measures the distance to the target object using laser light. The rotating mechanism 30 can rotate vertically by-90 to +90 degrees and horizontally by 360 degrees, so as to drive the laser ranging device 20 and the image acquisition device 10 to rotate in the horizontal direction and the vertical direction, thereby realizing accurate measurement of the distance of the target object. Therefore, when the power transmission channel external broken environment laser monitoring device 100 is installed on a power transmission line iron tower, the rotating mechanism 30 can drive the laser ranging device 20 and the image acquisition device 10 to rotate in the vertical direction of-90 degrees to +90 degrees and rotate in the horizontal direction of 360 degrees. At this moment, the monitoring range of the laser ranging device 20 capable of scanning and ranging is increased, the image view range of the surrounding environment of the power transmission line, which can be acquired by the image acquisition device 10, is increased, so that the target object can be monitored in time, various hidden dangers are pre-warned, and the safe and stable operation of the power grid is ensured.
In one embodiment, the rotation mechanism 30 includes a vertical rotation mechanism 310 and a horizontal rotation mechanism 320. The vertical rotation mechanism 310 is used for adjusting the angle between the laser ranging device 20 and the image acquisition device 10 in the vertical direction. The horizontal rotation mechanism 320 is used for adjusting the angle between the laser ranging device 20 and the image acquisition device 10 in the horizontal direction. The vertical rotating mechanism 310 is in shaft-movable connection with the horizontal rotating mechanism 320. The laser distance measuring device 20 and the image collecting device 10 are disposed on the vertical rotating mechanism 310.
The vertical rotation mechanism 310 includes two support arms 311 and a mounting housing 312. The two support arms 311 are axially mounted on two sides of the mounting housing 312. Laser rangefinder 20 with image acquisition device 10 set up in installation casing 312, through installation casing 312 install laser rangefinder 20 with image acquisition device 10, and right laser rangefinder 20 with image acquisition device 10 plays the guard action. When the vertical rotation mechanism 310 is driven to rotate in the vertical direction, the mounting housing 312 rotates between the two support arms 311 in the vertical direction, and further drives the laser ranging device 20 and the image capturing device 10 to rotate.
The horizontal rotation mechanism 320 is provided on the base 40. The horizontal rotation mechanism 320 may implement rotation in a horizontal direction. The horizontal rotation mechanism 320 is axially connected to the two support arms 311. When the horizontal rotation mechanism 320 is driven to rotate in the horizontal direction, the two support arms 311 can be driven to rotate, so as to drive the mounting housing 312 to rotate, thereby driving the laser ranging device 20 and the image acquisition device 10 to rotate in the horizontal direction.
In one embodiment, the power transmission channel external damage environment laser monitoring device 100 further includes a housing 50. The shell 50 surrounds to form an accommodating space, and a connecting shaft involved in shaft dynamic connection can be placed in the accommodating space formed by surrounding the shell 50, so that the protection effect is achieved, and the situations that the external environment corrodes the power transmission channel external broken environment laser monitoring device 100 and the like are avoided.
In one embodiment, the laser monitoring device 100 for external damage to environment of power transmission channel further includes a driving mechanism. The driving mechanism is connected with the rotating mechanism 30 and is used for driving the rotating mechanism 30 to drive the laser ranging device 20 and the image acquisition device 10 to rotate in the horizontal direction and the vertical direction.
The driving mechanism may be placed in a receiving space formed by the enclosure 50. The drive mechanism may be a stepper motor. The stepping motor is connected to the horizontal rotation mechanism 320 and the vertical rotation mechanism 310, respectively, so that the laser ranging device 20 and the image capturing device 10 can move in the horizontal direction and the vertical direction.
Meanwhile, the stepping motor can move step by step at a fixed angle, the laser ranging device 20 and the image acquisition device 10 can be controlled to move slightly at a fixed angle by setting a stepping angle, the target object is scanned according to a specific rule, and the distance measurement of the target object is realized more accurately.
In one embodiment, the laser monitoring device 100 for environment outside the power transmission channel further includes a base 40. The rotating mechanism 30 is disposed on the base 40. Through the base 40, the laser monitoring device 100 for the power transmission channel external broken environment can be installed on a power transmission line iron tower.
In one embodiment, the image capture device 10 includes a control module 110 and an image capture module 120. The image acquisition module 120 is configured to acquire an image of an environment around the power transmission line. The control module 110 is electrically connected to the image capturing module 120, and is configured to obtain image information captured by the image capturing module 120.
The image capturing device 10 further comprises an image analysis module 130. The image analysis module 130 and the control module 110 may be integrated into a Micro Controller Unit (MCU). The image capture module 120 may be a camera. The image acquisition module 120 acquires an image of an environment around the power transmission line, and transmits image information to the control module 110, and the control module 110 transmits the acquired image information to the image analysis module 130. The image analysis module 130 performs recognition analysis on the acquired image information based on the image recognition intelligent video analysis technology of deep learning. One or more target objects in the captured image information are identified and analyzed by the image analysis module 130. The target object can be a large vehicle such as a cement pump truck, an excavator, a dump truck, a crane and the like. At this time, the image analysis module 130 sends the analysis result after the recognition analysis to the control module 110. The analysis result may be a type of identifying the target object, for example, large vehicles such as a cement pump truck, an excavator, a dump truck, and a crane may be classified into a vehicle height adjustable type and a vehicle height non-adjustable type. The analysis result may be the number of target objects.
Meanwhile, the laser ranging device 20 is connected to the control module 110, and is configured to transmit distance information of a target object to the control module 110. The laser ranging device 20 may be a laser ranging sensor. The laser ranging sensor emits measuring laser pulses, and the distance can be accurately measured. When a target object is arranged between the iron towers of the power transmission line to exceed or block a laser monitoring line (measuring laser pulse), laser is scattered in all directions after being reflected by the target object, part of scattered light returns to the sensor receiver, is received by the optical system and then is imaged on the avalanche photodiode, extremely weak optical signals can be detected, the time from the sending of the optical pulse to the return of the optical pulse to the receiving can be recorded and processed, and the target distance can be measured. At this time, the laser ranging device 20 transmits the distance of the target object to the control module 110. The control module 110 determines whether an alarm is required according to the height of the power transmission line and the safety distance.
The control module 110 performs the determination according to the type of the target object and the distance of the target object. When the type of the target object is a height-adjustable type, the height of the vehicle can be reduced firstly, and whether the vehicle can pass the height-adjustable type or not can be judged according to the height of the power transmission line and the safety distance. When a vehicle or machine with a relatively high height enters the range of the power transmission line, the laser ranging device 20 can detect the distance of the target object and judge whether to alarm or not by combining the height of the power transmission line and the safety distance. Meanwhile, the control module 110 analyzes the image of the surrounding environment of the power transmission line acquired by the image acquisition module 120, and determines whether the height of the target object can be adjusted. When the height of the target object is adjustable, the information can be sent to on-site personnel for corresponding adjustment, and whether the target object can pass or not is judged. When the target object can not pass through, the control module 110 sends an alarm signal, sends the alarm signal to the sound-light alarm device for alarm prompt, and transmits the alarm signal to field operators and managers, and the managers can remotely call through the background to timely prevent accidents.
In one embodiment, the rotating mechanism 30 is connected to the control module 110, and is configured to control the rotating mechanism 30 to drive the laser distance measuring device 20 and the image capturing device 10 to rotate in the horizontal direction and the vertical direction through the control module 110.
The rotating mechanism 30 and the control module 110 may be connected by a stepping motor. The step driver receives the pulse signal sent by the control module 110, and drives the step motor to rotate by a fixed angle (i.e. a step angle) according to a set direction, so as to realize that the laser ranging device 20 and the image acquisition device 10 rotate in the horizontal direction and the vertical direction, and realize that the laser ranging device 20 performs scanning modeling.
The application provides a laser monitoring method for an external broken environment of a power transmission channel, which comprises the following steps:
s10, providing a power transmission channel external broken environment laser monitoring device 100, where the power transmission channel external broken environment laser monitoring device 100 includes an image acquisition device 10 and a laser ranging device 20, and the power transmission channel external broken environment laser monitoring device 100 is disposed on a first power transmission line iron tower 60;
s20, presetting the installation height h1, the height h2 and the safety distance d1 of the laser monitoring device for the environment outside the power transmission channel;
s30, the laser emitted by the laser ranging device 20 scans from the second transmission line iron tower 70 to the first transmission line iron tower 60 by using the first basic displacement a and the second basic displacement b as starting ends to form a plurality of warning points;
s40, the laser distance measuring device 20 scans the target object according to the plurality of guard points, obtains a plurality of guard distances corresponding to the plurality of guard points, and transmits the plurality of guard distances to the image capturing device 10;
s50, the image collecting device 10 collects image information between the first transmission line iron tower 60 and the second transmission line iron tower 70, and determines whether to send out an early warning signal according to the image information, the plurality of warning distances, the transmission line height, and the safety distance;
the second power transmission line iron tower 70 and the first power transmission line iron tower 60 are adjacent power transmission line iron towers, the first basic displacement is the basic displacement of the laser emitted by the laser ranging device 20 moving along the Y direction, and the second basic displacement is the basic displacement of the laser emitted by the laser ranging device 20 moving along the X direction.
In step S30, the rotating mechanism 30 in the laser monitoring device 100 for power transmission path external damage environment drives the laser distance measuring device 20 and the image capturing device 10 to rotate in the horizontal direction and the vertical direction. Thus, the laser emitted by the laser ranging device 20 scans between the first power transmission line iron tower 60 and the second power transmission line iron tower 70 by the first basic displacement a and the second basic displacement b to establish a plurality of warning points.
In the step S40, the laser distance measuring device 20 is a laser distance measuring sensor. When a measuring laser pulse is emitted by the laser ranging sensor to irradiate the target object, part of scattered light reflected by the target object returns to the laser ranging sensor to detect an optical signal, and the time from the emission of the optical pulse to the return of the optical pulse to be received is recorded and processed, so that the distance from the target object (a certain position of the target object struck by the laser) to the laser ranging sensor can be measured. Such as ABCDEF in FIG. 2, and the distance OF point O, OA, OB, OC, OD, OE, OF.
In step S50, the image capturing apparatus 10 may obtain the type and number of the target objects by capturing image information. At this time, the image capturing device 10 may determine whether the height of the target object may touch the power transmission line or not according to the type and number of the target objects and the plurality of warning distances, and whether the height is within an allowable safe distance. And the safe distance is an allowable distance between the height of the target object and the height of the power transmission line.
Therefore, when an ultrahigh vehicle or machine (target object) enters the warning surface formed by the plurality OF warning points, the laser ranging device 20 (laser ranging sensor) can detect the distance (such as OA, OB, OC, OD, OE, OF in fig. 2) OF the target object. Meanwhile, the image acquisition device 10 determines whether to send out an early warning signal according to the acquired image information, the plurality of warning distances, the height of the power transmission line and the safety distance. Moreover, the image information acquired by the image acquisition device 10 can also avoid the situation of false alarm, and alarm is performed when the alarm is confirmed to be needed, so that the relevant personnel can take countermeasures.
Referring to fig. 3-4, in one embodiment, the first base displacement a and the second base displacement b are 1 meter to 3 meters. In step S30, the laser emitted from the laser ranging device 20 moves n times the distance of the first basic displacement a along the Y direction to form n warning points. The laser emitted by the laser ranging device 20 moves m times the distance of the second basic displacement b along the X direction to form m warning points. Wherein n and m are positive integers.
N warning points are formed along the Y direction, m warning points are formed along the X direction, and the matrix is formed by n multiplied by m warning points. The number of the guard points can be set according to the region formed by the two power transmission lines, so that the projection area of a guard surface formed by n X m guard points in the horizontal direction (a plane formed by the X direction and the Y direction) is larger than the projection area formed by the two power transmission lines in the horizontal direction (a plane formed by the X direction and the Y direction). Furthermore, the warning surface formed by n multiplied by m warning points can be used for detecting in a wider range, and various hidden dangers can be warned in time.
Referring to fig. 3, in one embodiment, the laser emitted from the laser ranging device 20 scans in an S-shaped curve to form the plurality of warning points.
Referring to fig. 4, in one embodiment, the laser emitted from the laser ranging device 20 scans in a Z-shaped curve to form the plurality of warning points.
In one embodiment, the power transmission channel external damage environment laser monitoring device 100 includes a stepping motor, and the image acquisition device 10 and the laser ranging device 20 are connected to the stepping motor;
the step S30 includes:
s310, the step motor drives the laser emitted by the laser ranging device 20 by a horizontal step angle to move on the second basis, and scans from the second transmission line iron tower 70 as a starting end to the first transmission line iron tower 60;
and S320, the stepping motor drives the laser emitted by the laser ranging device 20 to move on a first basis by a vertical stepping angle, and the laser scans from the second power transmission line iron tower 70 serving as a starting end to the first power transmission line iron tower 60.
In the steps S310 and S320, the laser emitted from the laser ranging device 20 is driven to move in the X direction by setting the horizontal stepping angle of the stepping motor. The laser emitted by the laser ranging device 20 is driven to move along the Y direction by setting the vertical stepping angle of the stepping motor. By setting the horizontal step angle and the vertical step angle of the stepping motor, the laser emitted from the laser ranging device 20 can be precisely controlled to accurately scan the target object. Therefore, the laser monitoring method for the power transmission channel external broken environment can more accurately monitor whether potential safety hazards exist in the operation of the target object, and further can timely warn the occurrence of various potential hazards.
In one embodiment, the image capturing apparatus 10 includes a control module 110, an image capturing module 120, and an image analyzing module 130, and the step S50 includes:
s510, the control module 110 controls the laser distance measuring device 20 to scan according to the warning surface model;
s520, when the laser ranging device 20 scans a target object, obtaining a target distance between the target object and the laser ranging device 20, and transmitting the target distance to the control module 110;
s530, the control module 110 calculates a target height of the target object according to the target distance, and determines whether a difference between the target height and the height of the power transmission line is smaller than the safety distance;
s540, when the difference between the target height and the height of the power transmission line is smaller than the safety distance, the control module 110 controls the laser ranging device 20 to continue scanning according to the warning surface model.
In one embodiment, in the step S30, the laser ranging device 20 scans according to a model of a warning surface to form the plurality of warning points;
the warning surface model is a warning point structure array formed by the vertical inclination angle and the horizontal inclination angle which are in one-to-one correspondence with the plurality of warning points and the warning distance. The warning surface model is an n multiplied by m matrix formed by the plurality of warning points.
Referring to fig. 5-7, assuming that the distance between two towers (the first transmission line tower 60 and the second transmission line tower 70) is 200 meters, there is no height difference, the maximum sag is 20 meters, the safety distance is 5 meters, the distance between two transmission lines side by side at the left and right of the towers is 20 meters, trying to displace on the basis of 2 meters, and a three-dimensional warning surface is established between the two towers and 20 meters away from the tower.
The solid warning surface is a long curved surface and is shown in three views 5-7 in three directions. Wherein, the O point is the position of the laser ranging ball, and the G, H, I, J points are four corners of the solid warning surface respectively. And dividing the projection of the whole warning surface in the horizontal direction into standard equidistant grids by taking the basic displacement X as a standard sampling interval.
The specific modeling scan modeling mode is an S-type scan mode. Referring to fig. 7, a distance measuring laser line is sent from a point O to a corner point G, then a basic displacement X is used as an interval point, a horizontal scan is made to a point H, a basic displacement is moved from the point H in a longitudinal and oblique direction to a next horizontal line, and then the same number of basic displacement X interval points are horizontally and horizontally scanned to a next edge point. And so on until the corner J point is reached.
Referring to fig. 8, a vertical line is drawn vertically upward from point G, and a horizontal straight line is drawn from point O, such that the two straight lines intersect to form a vertical plane, thereby creating a right triangle OMG. At this time, the angle MOG ═ α ═ arctg (D1/D2), that is, the vertical downward tilt angle (vertical tilt angle). It can also be understood that the laser ranging device 20 is moved vertically downward by an angle when scanning the G point.
A solid warning surface is established between the two towers and is 20 meters away from the tower, and at this time, the distance between the G, H point and the second power transmission line iron tower 70 is D2-20-180 meters.
Because the G point is a point on the long curved surface (the three-dimensional warning surface), the shape of the long curved surface is similar to the curved surface formed by the power transmission line between the two iron towers. The point G is set under the power transmission line, and the distance from the power transmission line is 5 meters (safe distance), and at this time, D1 is the vertical distance from the point of the power transmission line corresponding to the point G vertically upward to the straight line OM +5 meters of safe distance. Since the distance between the two iron towers is known to be 200 meters, the height difference is avoided, the maximum sag is 20 meters, the height of any point on the power transmission line between the two iron towers can be calculated according to a sag calculation formula and a catenary equation formula, and the vertical distance from the point of the power transmission line corresponding to the G point in the vertical direction to the straight line OM can be further known. At this time, it can be seen that the vertical distance from the point of the corresponding power transmission line with the point D1 being vertically upward to the straight line OM + the safe distance 5 m is 7.2+5 m is 12.2 m.
At this time, the vertical inclination angle of the guard point G: α ═ angle MOG ═ arctg (D1/D2) ═ arctg (12.2/180) ═ 3.88 degrees;
referring to fig. 9, since the O point and the G point are not on the same horizontal plane, the O point is perpendicular to the G point, and the graph shown in fig. 9 is formed. Wherein, the point O is arranged on the first power transmission line iron tower 60. At this time, point O is perpendicular to point G (O' in FIG. 9). And, G point and H point are set up at the same height, so the distance of GH is 20 meters for two power transmission lines that are parallel to each other on the left and right sides of the iron tower. Thus, GN-20/2-10 meters.
The warning point G moves to the point H by a horizontal inclination angle of 2 β, GO' N, 2arctg (D3/D4), arctg (10/180), 6.36 degrees. At this time, the point G moves to the point H at the horizontal inclination angle, and it can be understood that the laser distance measuring device 20 scans the angle of horizontal movement required when the point G moves to the point H.
In the right triangle created in fig. 8, the distance from point O to point G, i.e., the guard distance y (G) ═ y (h) ═ OG 1/sin α ═ 12.2/sin3.88 ═ 180.3M.
Similarly, according to the above principle, the G point and the H point are disposed at the same height, and therefore, the G point and the H point are vertically inclined with respect to each other. Further, according to the above derivation principle, the vertical tilt angle and the horizontal tilt angle of the guard point I and J can be obtained. And the warning point I, the point J, the point G and the point H are arranged at the same height, and the distance from the warning point I to the first power transmission line iron tower 60 is 20 meters.
Vertical inclination angle of guard point I, J point: arctg (12.2/20) ═ 31.38 degrees.
Horizontal inclination angle of the moving of the guard point I to the J point: 2arctg (10/20) ═ 53.13 degrees.
The warning distance y (i) ═ y (j) ═ 12.2/sin31.38 ═ 23.4M.
By analogy, the warning distance, the vertical inclination angle and the horizontal inclination angle corresponding to each warning point can be obtained. Thereby constructing the plurality of alert points into an alert surface model.
The vertical inclination angle alpha (N), the horizontal inclination angle beta (N) and the warning distance Y (N) of each warning point can be calculated by substituting a trigonometric function, and a warning point structure array can be established:
struct { vertical inclination angle; a horizontal tilt angle; a warning distance; } guard point [800]
The projected area of the warning surface in the horizontal direction (the plane formed by the X direction and the Y direction) is 160 m × 20 m, which is 3200 m. Wherein, GH, 10 guard points in each row of the IJ direction, IG, 80 guard points in each row of the JH direction. A total of 800 guard points form a virtual guard surface, and an average of one guard point is in the range of every 4 square meters. And scanning the 800 warning points sequentially once by the laser outer-breaking-prevention ball machine in an S-shaped scanning mode, so that the three-dimensional modeling of the warning surface can be completed. In total, 800 warning points are provided, the laser ranging sensor moves in one second, the distance identification detection is carried out in one second, 2 seconds are required for each warning point on average, and about 1600 seconds, namely about 27 minutes, is required for the 800 points to complete one complete scanning modeling time.
In one embodiment, the step S50 further includes:
s550, when the difference between the target height and the height of the power transmission line is greater than the safety distance, the control module 110 obtains the image information and transmits the image information to the image analysis module 130;
s560, the image analysis module 130 identifies the type and number of the target objects according to the image information, and transmits the type and number of the target objects to the control module 110;
s570, when the target object is of a height adjustable type, the control module 110 wirelessly transmits height reduction information to the driver for reducing the height of the target object and continuing driving;
s580, the control module 110 controls the laser distance measuring device 20 to continue scanning according to the warning surface model.
In step S550, when the difference between the target height and the height of the power transmission line is greater than the safety distance, the target object cannot pass through. But when the target object is of a height adjustable type, the difference between the target height and the height of the power transmission line can be smaller than the safe distance by adjusting the height of the target object, so that the target object can pass through.
In the step S560, the image analysis module 130 may be integrated with the control module 110. The control module 110 is a micro control unit, a chip-level computer. The image analysis module 130 may identify the type and number of the target objects based on a deep learning algorithm.
In the step S570, when the target object is of a height adjustable type, the control module 110 wirelessly transmits the height reduction information to the driver, and the driver can reduce the height of the target object to continue traveling.
In one embodiment, the step S50 further includes:
s590, when the target object is of a type whose height is not adjustable, the control module 110 sends out an early warning signal.
In the step S590, when the target object is of a height-unadjustable type, the control module 110 sends an early warning signal to alarm, so that the relevant personnel can take measures.
Therefore, when an ultrahigh vehicle or machine (target object) enters the warning surface formed by the plurality OF warning points, the laser ranging device 20 (laser ranging sensor) can detect the distance (such as OA, OB, OC, OD, OE, OF in fig. 2) OF the target object. Meanwhile, the image acquisition device 10 determines whether to send out an early warning signal according to the acquired image information, the plurality of warning distances, the height of the power transmission line and the safety distance. Moreover, the image information acquired by the image acquisition device 10 can also avoid the situation of false alarm, and alarm is performed when the alarm is confirmed to be needed, so that the relevant personnel can take countermeasures.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. A laser monitoring method for a power transmission channel external broken environment is characterized by comprising the following steps:
s10, providing a power transmission channel external broken environment laser monitoring device (100), wherein the power transmission channel external broken environment laser monitoring device (100) comprises an image acquisition device (10) and a laser ranging device (20), the power transmission channel external broken environment laser monitoring device (100) is arranged on a first power transmission line iron tower (60), and the image acquisition device (10) comprises a control module (110), an image acquisition module (120) and an image analysis module (130);
s20, presetting the installation height, the height of the power transmission line and the safety distance of the power transmission channel external damage environment laser monitoring device;
s30, scanning the laser emitted by the laser ranging device (20) from a second power transmission line iron tower (70) to the first power transmission line iron tower (60) by using a first basic displacement and a second basic displacement as starting ends to form a plurality of warning points; the laser ranging device (20) scans according to a warning surface model to form a plurality of warning points, wherein the warning surface model is a warning point structure array formed by vertical inclination angles, horizontal inclination angles and warning distances corresponding to the warning points one by one;
s40, the laser ranging device (20) scans the target object according to the plurality of warning points, acquires a plurality of warning distances corresponding to the plurality of warning points, and transmits the plurality of warning distances to the image acquisition device (10);
s510, the control module (110) controls the laser ranging device (20) to scan according to the warning surface model, and the image acquisition device (10) acquires image information between the first power transmission line iron tower (60) and the second power transmission line iron tower (70);
s520, when the target object is scanned by the laser ranging device (20), obtaining a target distance between the target object and the laser ranging device (20), and transmitting the target distance to the control module (110);
s530, the control module (110) calculates and obtains a target height of the target object according to the target distance, and judges whether the difference between the target height and the height of the power transmission line is smaller than the safe distance, wherein the safe distance is an allowable distance between the height of the target object and the height of the power transmission line;
s540, when the difference between the target height and the height of the power transmission line is smaller than the safe distance, the control module (110) controls the laser ranging device (20) to continue scanning according to the warning surface model;
s550, when the difference between the target height and the height of the power transmission line is larger than the safe distance, the control module (110) acquires the image information and transmits the image information to the image analysis module (130);
s560, the image analysis module (130) identifies the type and the number of the target objects according to the image information, and transmits the type and the number of the target objects to the control module (110);
s570, when the target object is of a height adjustable type, the control module (110) wirelessly transmits height reduction information to a driver so as to reduce the height of the target object and continue driving;
s580, the control module (110) controls the laser ranging device (20) to continue scanning according to the warning surface model;
s590, when the target object is of a type that the height is not adjustable, the control module (110) sends out an early warning signal;
the second power transmission line iron tower (70) and the first power transmission line iron tower (60) are adjacent power transmission line iron towers, the first basic displacement is the basic displacement of the laser emitted by the laser ranging device (20) moving along the Y direction, and the second basic displacement is the basic displacement of the laser emitted by the laser ranging device (20) moving along the X direction.
2. The laser monitoring method for the power transmission channel external broken environment according to claim 1, wherein the laser monitoring device (100) for the power transmission channel external broken environment comprises a stepping motor, and the image acquisition device (10) and the laser ranging device (20) are connected with the stepping motor;
the step S30 includes:
s310, the stepping motor drives the laser emitted by the laser ranging device (20) to move on the second basis by a horizontal stepping angle, and the laser scans from the second transmission line iron tower (70) serving as a starting end to the first transmission line iron tower (60);
and S320, the stepping motor drives the laser emitted by the laser ranging device (20) to move on a first basis by a vertical stepping angle, and the laser scans from the second power transmission line iron tower (70) serving as a starting end to the first power transmission line iron tower (60).
3. The laser monitoring method for the power transmission channel external damage environment according to claim 1, wherein the first base displacement and the second base are 1-3 m.
4. The laser monitoring method for power transmission channel external damage environment according to claim 1, wherein in S30, the laser emitted by the laser ranging device (20) moves n times the distance of the first basic displacement along the Y direction to form n warning points;
the laser emitted by the laser ranging device (20) moves m times of the distance of the second basic displacement along the X direction to form m warning points;
wherein n and m are positive integers.
5. The laser monitoring method for the power transmission channel external broken environment according to claim 4, characterized in that the laser emitted by the laser ranging device (20) scans in an S-shaped curve to form the plurality of warning points.
6. The laser monitoring method for the power transmission channel external broken environment according to claim 4, characterized in that the laser emitted by the laser ranging device (20) scans in a Z-shaped curve to form the plurality of warning points.
7. A power transmission channel external broken environment laser monitoring device is characterized in that the power transmission channel external broken environment is monitored by the power transmission channel external broken environment laser monitoring method according to any one of claims 1 to 6.
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| CN113835094A (en) * | 2021-09-01 | 2021-12-24 | 国网山东省电力公司烟台市福山区供电公司 | Novel ultrasonic distance alarm device |
| CN113983966B (en) * | 2021-10-27 | 2023-07-21 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Chip flatness measuring method and device, electronic equipment and storage medium |
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