CN111583200A - Large-span power transmission line early warning system and method - Google Patents
Large-span power transmission line early warning system and method Download PDFInfo
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Abstract
The invention provides a large-span power transmission line early warning system and a method, wherein the system comprises a collection robot, an analysis module, a comparison module and an alarm module; the acquisition robot is suspended on a power transmission line to be monitored through a sliding component and moves according to a preset track, and is used for acquiring video image data in a preset direction through at least two image acquisition devices respectively; the analysis module is in communication connection with the acquisition robot and is used for acquiring at least two groups of video image data according to the acquisition of the acquisition robot and acquiring moving image data in the video image data through a binocular stereoscopic vision imaging technology; the comparison module is used for analyzing the moving image data through a feature comparison method to obtain target model information; and the alarm module is used for comparing the target model information with an alarm threshold value and generating alarm information according to a comparison result.
Description
Technical Field
The invention relates to the technical field of large-span power transmission line monitoring, in particular to a large-span power transmission line early warning system and method.
Background
The construction of high-voltage power transmission lines inevitably spans large rivers or strait estuaries. Since the span of the power transmission lines across a wide water surface is large, many rivers or straits have navigation requirements, and thus the power transmission lines need to be specially designed. Generally, a power transmission line with a span of more than 1000 meters and a straight line spanning a tower height of more than 100m has a navigation requirement, and needs to be specially designed is called a large-span power transmission line.
Generally, a large-span power transmission line is applied to an important power transmission return node due to the reasons of complex installation, high cost and the like, so that the operation stability of the large-span power transmission line becomes an important evaluation index; due to the requirements of the fairway mentioned by the reasons, the large-span power transmission line is not only guaranteed not to be scraped by passing ships in design, but also cannot be guaranteed to be supported by a related tower seat at a short distance as a conventional power transmission line due to the fact that the large-span power transmission line is long and the terrain of rivers and strait sections is also guaranteed; therefore, compared with a common power transmission line, the large-span power transmission line has poor stability, but due to the importance and geographical limitation, workers cannot be frequently arranged for maintenance, and after all, when the large-span power transmission line is maintained, the potential hazard that the workers climb to a high platform to hang and hang the large-span power transmission line is caused in the conventional method, so that the high-altitude maintenance is carried out, the risk is great, and the cost is high.
Moreover, due to the importance of the large-span power transmission line, if the power transmission line is repaired after being damaged, the power transmission line obviously causes great trouble to related downstream power utilization producers, and the power supply producers have insufficient time to make effective adjustment and arrangement; therefore, how to effectively finish the risk early warning of the large-span power transmission line on the basis of reducing the overhead maintenance of personnel becomes a technical problem to be solved urgently in the industry.
Disclosure of Invention
The invention aims to provide a large-span power transmission line early warning method and system, which can realize all-weather monitoring of the large-span power transmission line by replacing a manual maintenance mode, and remind a power supply manufacturer to arrange and process the large-span power transmission line in advance before the large-span power transmission line has a fault risk, so that unnecessary loss of a downstream power consumption manufacturer is reduced.
In order to achieve the purpose, the early warning system for the large-span power transmission line provided by the invention specifically comprises a collecting robot, an analysis module, a comparison module and an alarm module; the acquisition robot is suspended on a power transmission line to be monitored through a sliding component and moves according to a preset track, and is used for acquiring video image data in a preset direction through at least two image acquisition devices respectively; the analysis module is in communication connection with the acquisition robot and is used for acquiring at least two groups of video image data according to the acquisition of the acquisition robot and acquiring moving image data in the video image data through a binocular stereoscopic vision imaging technology; the comparison module is used for analyzing the moving image data through a feature comparison method to obtain target model information; and the alarm module is used for comparing the target model information with an alarm threshold value and generating alarm information according to a comparison result.
In the above early warning system for a long-span power transmission line, preferably, the system further includes a control module, the control module is respectively in communication connection with the acquisition robot and the analysis module, and is configured to control shooting parameters of an image acquisition device in the acquisition robot, so that the image acquisition device respectively acquires video image data of each wire on the power transmission line; and the analysis module obtains the representation image data of each lead in the video image data through a binocular stereoscopic vision imaging technology according to the video image data.
In the early warning system for the large-span power transmission line, preferably, the comparison module is further configured to compare the characterization image data with pre-stored faulty wire image data when the image data acquired by the acquisition robot is characterization image data, and generate warning information through the warning module when a wire characterization image with a similarity higher than a preset threshold with the pre-stored faulty wire image data exists in the characterization image data.
In the early warning system for the large-span power transmission line, preferably, the warning module includes a coordinate comparison unit, and the coordinate comparison unit is configured to calculate and obtain height information of a target model according to the target model information and the position information of the image acquisition device; comparing the height information with the vertical falling height of the power transmission line, and acquiring the position information of the target model when the height information and the vertical falling height are smaller than a preset threshold value; and comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range.
In the above early warning system for a long-span power transmission line, preferably, the warning module further includes a prediction unit, where the prediction unit is configured to calculate and obtain moving speed information of the target model according to the position information and the video image data acquisition interval period when the distance between the height information and the sag height is smaller than a predetermined threshold value and the target model does not enter a preset range; calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information; and generating alarm information according to the predicted time.
The invention also provides a large-span power transmission line early warning method, which comprises the following steps: respectively acquiring video image data in a preset direction through at least two image acquisition devices arranged on a large-span power transmission line; according to the video image data, moving image data in the video image data are obtained through a binocular stereoscopic vision imaging technology; analyzing the moving image data by a feature comparison method to obtain target model information; and comparing the target model information with an alarm threshold value, and generating alarm information according to a comparison result.
In the early warning method for the large-span power transmission line, preferably, the video image data includes video image data of a transportation area and video image data of each wire on the power transmission line.
In the above early warning method for a large-span power transmission line, preferably, obtaining moving image data in the video image data by a binocular stereo vision imaging technology according to the video image data further includes: according to the video image data of each wire on the power transmission line in the video image data, the representation image data of each wire in the video image data is obtained through a binocular stereoscopic vision imaging technology; and comparing the representation image data with pre-stored fault conductor image data, and generating alarm information when a conductor representation image with the similarity higher than a preset threshold value with the pre-stored fault conductor image data exists in the representation image data.
In the above early warning method for a large-span power transmission line, preferably, the step of comparing the target model information with a warning threshold, and the step of generating warning information according to the comparison result includes: calculating according to the target model information and the position information of the image acquisition device to obtain height information of the target model; comparing the height information with the vertical falling height of the power transmission line, and acquiring the position information of the target model when the height information and the vertical falling height are smaller than a preset threshold value; and comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range.
In the above early warning method for a large-span power transmission line, preferably, the step of comparing the target model information with a warning threshold, and the step of generating warning information according to the comparison result includes: when the height information and the vertical falling height are smaller than a preset threshold value and the target model does not enter a preset range, calculating to obtain the moving speed information of the target model according to the position information and the video image data acquisition interval period; calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information; and generating alarm information according to the predicted time.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method when executing the computer program.
The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.
The invention has the beneficial technical effects that: the early warning method and the early warning system for the large-span power transmission line provided by the invention can realize all-weather monitoring of the large-span power transmission line by replacing a manual maintenance mode, can effectively reduce the maintenance frequency of workers, and can be convenient for ships to know possible risks and avoid the risks in advance.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a large-span power transmission line early warning system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a large-span power transmission line early warning system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a large-span power transmission line early warning system according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a large-span power transmission line early warning method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of line detection according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of position detection according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an early warning system according to an embodiment of the present invention;
fig. 8 is a schematic flowchart of a binocular procedure according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
Referring to fig. 1, the early warning system for a long-span power transmission line provided by the present invention specifically includes an acquisition robot, an analysis module, a comparison module, and an alarm module; the acquisition robot is suspended on a power transmission line to be monitored through a sliding component and moves according to a preset track, and is used for acquiring video image data in a preset direction through at least two image acquisition devices respectively; the analysis module is in communication connection with the acquisition robot and is used for acquiring at least two groups of video image data according to the acquisition of the acquisition robot and acquiring moving image data in the video image data through a binocular stereoscopic vision imaging technology; the comparison module is used for analyzing the moving image data through a feature comparison method to obtain target model information; and the alarm module is used for comparing the target model information with an alarm threshold value and generating alarm information according to a comparison result. The preset direction can be a traffic key road on a river or a sea area, and aims to confirm whether the ships are over-high or not so as to early warn in advance; in actual work, the acquisition robot can acquire corresponding image data by presetting a panoramic high-definition camera at the lower end, the sliding component can be a common hanging type sliding wheel set or other existing technologies, and the acquisition robot is not further limited by the invention; the collection robot can move back and forth according to a preset track, for example, the collection robot is made to move back and forth on the base frames at the two ends, so that the collection robot can be charged on the base frames at the two ends to supplement the mobile electric energy; in actual work, the collection robot may also be charged in other manners, and the invention is not limited further herein.
It is worth mentioning that, in order to improve the accuracy of image acquisition, in the actual work, if a moving target such as a ship exists in a preset direction, the acquisition robot can be controlled to hover on the power transmission line to still acquire image data, so that the calculation work of subsequent image analysis is reduced; certainly, the movement is continuously kept, and the corresponding offset is set according to the movement speed of the acquisition robot during subsequent image analysis.
Referring to fig. 2, in an embodiment of the present invention, the system may further include a control module, where the control module is respectively connected to the acquisition robot and the analysis module in a communication manner, and is configured to control shooting parameters of an image acquisition device in the acquisition robot, so that the image acquisition device respectively acquires video image data of each wire on the power transmission line; and the analysis module obtains the representation image data of each lead in the video image data through a binocular stereoscopic vision imaging technology according to the video image data. In this embodiment, the control module mainly functions to control the shooting angle and the focal length of the image acquisition device on the acquisition robot, so that the original image acquisition device for shooting the ship is changed into shooting the power transmission line at the lower end; specifically, the current power transmission line mainly includes three groups of wires, wherein a wire with a higher top end is a node line and is usually higher than two alternating current power transmission lines with a lower end, for this reason, the acquisition robot can be hung on the node line, and the image data outside the alternating current power transmission line, that is, the representation image data, is acquired through the image acquisition device; therefore, whether the power transmission line has the conditions of skin breaking and electric leakage or winding of the power transmission line caused by strong wind or other weather reasons or not is further analyzed by the subsequent comparison module.
In the above embodiment, the comparison module is further configured to compare the characterization image data with pre-stored faulty wire image data when the image data acquired by the acquisition robot is the characterization image data, and generate alarm information through the alarm module when a wire characterization image with a similarity higher than a preset threshold with the pre-stored faulty wire image data exists in the characterization image data. Specifically, image data presented when the relevant power transmission line fails can be input into a preset database in actual work, and then a comparison module can confirm whether the current power transmission line has a fault through the existing image similarity comparison algorithm and give an alarm; of course, the existing machine learning algorithm and other modes can be adopted, the image data before the fault occurs is used as an input source for training in advance to obtain a fault prediction model, and then the collected representation image data is used for predicting whether the line has a fault risk or not, so that related workers are informed to achieve the purpose of early warning.
Referring to fig. 3, in an embodiment of the present invention, the alarm module may further include a coordinate comparison unit, where the coordinate comparison unit is configured to calculate and obtain height information of the target model according to the target model information and the position information of the image acquisition device; comparing the height information with the vertical falling height of the power transmission line, and acquiring the position information of the target model when the height information and the vertical falling height are smaller than a preset threshold value; and comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range. The coordinate comparison unit is used for accurately analyzing the height and the position of moving objects such as ships and the like, and because part of the ships do not necessarily pass through the power transmission line in actual work and return to the detection area after the operation is finished, the positions of the ships can be further confirmed by using the target model information obtained by the analysis in the embodiment, and whether the ships enter a dangerous area or not is judged and an alarm is given; the position calculation of the target model can be implemented by using the existing image analysis technology, and therefore, the invention is not described in detail herein.
Referring to fig. 3 again, based on the above embodiment, in another embodiment of the present invention, the alarm module may further include a prediction unit, where the prediction unit is configured to calculate and obtain moving speed information of the target model according to the position information and the video image data acquisition interval period when the distance between the height information and the vertical falling height is smaller than a predetermined threshold and the target model does not enter a preset range; calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information; and generating alarm information according to the predicted time. In the embodiment, the speed of the moving object can be analyzed and obtained mainly by using the image acquisition frame rate and the difference between the images, and then the time that the ship possibly enters the dangerous area is further judged by using the speed, and warning information is generated by taking the time as a reference to inform relevant personnel of preparing for danger elimination or warning the relevant ship and other moving objects. Of course, the usage mode of the alarm information in actual work is not specifically limited herein, and those skilled in the art can select and use the alarm information according to actual needs.
Referring to fig. 4, the present invention further provides a method for early warning of a long-span power transmission line, where the method includes: s401, respectively acquiring video image data in a preset direction through at least two image acquisition devices arranged on a large-span power transmission line; s402, according to the video image data, moving image data in the video image data are obtained through a binocular stereoscopic vision imaging technology; s403, analyzing the moving image data through a feature comparison method to obtain target model information; s404, comparing the target model information with an alarm threshold value, and generating alarm information according to the comparison result. The video image data may include video image data of a transportation area and video image data of each wire on the power line.
Referring to fig. 5, in an embodiment of the present invention, obtaining moving image data in the video image data by a binocular stereo vision imaging technology according to the video image data further includes: s501, according to video image data of each wire on a power transmission line in the video image data, obtaining representation image data of each wire in the video image data through a binocular stereoscopic vision imaging technology; s502, comparing the representation image data with pre-stored fault conductor image data, and generating alarm information when a conductor representation image with the similarity higher than a preset threshold value with the pre-stored fault conductor image data exists in the representation image data.
Referring to fig. 6, in an embodiment of the present invention, the step S404 of comparing the target model information with an alarm threshold, and generating alarm information according to the comparison result may further include: s601, calculating according to the target model information and the position information of the image acquisition device to obtain height information of the target model; s602, comparing the height information with the vertical falling height of the power transmission line, and when the height information and the vertical falling height are smaller than a preset threshold value, acquiring the position information of the target model; s603, comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range. Further, the method can also be applied to a prediction link in the actual comparison process, and the specific use process is as follows: when the height information and the vertical falling height are smaller than a preset threshold value and the target model does not enter a preset range, calculating to obtain the moving speed information of the target model according to the position information and the video image data acquisition interval period; calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information; and generating alarm information according to the predicted time.
For better understanding of the above-mentioned large-span transmission line early warning system and method provided by the present invention, the following takes practical working applications as examples to explain the above-mentioned method and system, and it should be understood by those skilled in the art that the examples are only for facilitating understanding of the large-span transmission line early warning system and method provided by the present invention, and do not limit the same at all.
Referring to fig. 7, the acquisition robot is equipped with a binocular stereoscopic vision acquisition device, which needs to have a function of acquiring more than two high-definition videos synchronously and support the requirements of long-time power supply and data storage and network transmission of the device, two cameras are installed on the same plane of the robot body, the angles, the focal lengths and the like need to be consistent, and have a certain inclination angle, and the monitored areas (including wires) need to be overlapped in the two cameras to ensure the integrity of the data and make the data easy to be post-processed; the robot can run on a ground wire between towers and is used for monitoring ships, and if collision risks exist, a horn can be used for outputting an alarm.
Referring to fig. 8 again, the procedure of the binocular stereo vision imaging technique is as follows:
(1) and calibrating the binocular camera. The basic task of a computer vision system is to acquire information about the position, shape, etc. of a three-dimensional object from images acquired by a camera and to identify the object based on this information. The brightness of each point on the image reflects the reflected light intensity of the corresponding point on the surface of the object in the space, the position of the point on the image is related to the geometric position of the corresponding point on the surface of the object in the space, the mutual relationship between the points and the positions depends on the imaging geometric model of the camera, the parameters of the imaging geometric model are called the parameters of the camera, and the parameters need to be obtained through calculation and experiments to finish the calibration of the camera.
(2) The exposure time is controlled using an exposure control algorithm. Because the large-span robot is erected in an open-air occasion, the light source of a field image is mainly sunlight, but the track of the sun is continuously changed, and the intensity of the sunlight is different at different time and different angles. In the whole image, the position of the ship image is an interested area, if the camera cannot realize reasonable exposure, the situation of underexposure or overexposure may occur, which brings great difficulty to the extraction of the later cable image, so that the exposure time needs to be manually intervened by adopting an exposure control algorithm.
(3) And preprocessing the shot ship image. The calibrated binocular camera is used for shooting binocular images of the same ship under different backgrounds, and the actually obtained images generally can be interfered to contain noise, so that the images need to be preprocessed to remove the noise.
(4) The method has the advantages that the characteristic matching is carried out on the shot ship image, so that the key of matching is to obtain an accurate parallax image under the condition that texture characteristics are not very obvious, the running speed of a matching algorithm is not greatly required, and the matching precision is mainly improved.
(5) The edge of the vessel is extracted. After the disparity map is obtained, ship images can be extracted according to the distance of a scene, and a ship is not a nearest image in the whole image, so that the disparity image of the area where the ship is located is processed, the background image is removed according to the distance of the scene, and the ship images are obtained, so that the ship three-dimensional information, namely the target model information is obtained.
And when the ultrahigh ship enters a preset monitoring range, the alarm system is started immediately, and the ultrahigh ship is warned to reduce the height or return through the LED display screen and the horn.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method when executing the computer program.
The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.
The invention has the beneficial technical effects that: the early warning method and the early warning system for the large-span power transmission line provided by the invention can realize all-weather monitoring of the large-span power transmission line by replacing a manual maintenance mode, can effectively reduce the maintenance frequency of workers, and can be convenient for ships to know possible risks and avoid the risks in advance.
As shown in fig. 9, the electronic device 600 provided by the present invention may further include: communication module 110, input unit 120, audio processing unit 130, display 160, power supply 170. It is noted that the electronic device 600 does not necessarily include all of the components shown in FIG. 9; furthermore, the electronic device 600 may also comprise components not shown in fig. 9, which may be referred to in the prior art.
As shown in fig. 9, the central processor 100, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, the central processor 100 receiving input and controlling the operation of the various components of the electronic device 600.
The memory 140 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 100 may execute the program stored in the memory 140 to realize information storage or processing, etc.
The input unit 120 provides input to the cpu 100. The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display an object to be displayed, such as an image or a character. The display may be, for example, an LCD display, but is not limited thereto.
The memory 140 may be a solid state memory such as Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 140 may also be some other type of device. Memory 140 includes buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application/function storage section 142, and the application/function storage section 142 is used to store application programs and function programs or a flow for executing the operation of the electronic device 600 by the central processing unit 100.
The memory 140 may also include a data store 143, the data store 143 for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by the electronic device. The driver storage portion 144 of the memory 140 may include various drivers of the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging application, address book application, etc.).
The communication module 110 is a transmitter/receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter/receiver) 110 is coupled to the central processor 100 to provide an input signal and receive an output signal, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132 to implement general telecommunications functions. Audio processor 130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, an audio processor 130 is also coupled to the central processor 100, so that recording on the local can be enabled through a microphone 132, and so that sound stored on the local can be played through a speaker 131.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. The large-span power transmission line early warning system is characterized by comprising a collecting robot, an analysis module, a comparison module and an alarm module;
the acquisition robot is suspended on a power transmission line to be monitored through a sliding component and moves according to a preset track, and is used for acquiring video image data in a preset direction through at least two image acquisition devices respectively;
the analysis module is in communication connection with the acquisition robot and is used for acquiring at least two groups of video image data according to the acquisition of the acquisition robot and acquiring moving image data in the video image data through a binocular stereoscopic vision imaging technology;
the comparison module is used for analyzing the moving image data through a feature comparison method to obtain target model information;
and the alarm module is used for comparing the target model information with an alarm threshold value and generating alarm information according to a comparison result.
2. The long-span power transmission line early warning system according to claim 1, further comprising a control module, wherein the control module is in communication connection with the acquisition robot and the analysis module, respectively, and is configured to control shooting parameters of an image acquisition device in the acquisition robot, so that the image acquisition device acquires video image data of each wire on the power transmission line, respectively; and the analysis module obtains the representation image data of each lead in the video image data through a binocular stereoscopic vision imaging technology according to the video image data.
3. The long-span power transmission line early warning system of claim 2, wherein the comparison module is further configured to compare the characterization image data with pre-stored faulty wire image data when the image data acquired by the acquisition robot is characterization image data, and generate warning information through the warning module when a wire characterization image with a similarity higher than a preset threshold with the pre-stored faulty wire image data exists in the characterization image data.
4. The long-span power transmission line early warning system according to claim 1, wherein the warning module comprises a coordinate comparison unit, and the coordinate comparison unit is used for calculating and obtaining height information of a target model according to the target model information and the position information of the image acquisition device; comparing the height information with the vertical falling height of the power transmission line, and acquiring the position information of the target model when the height information and the vertical falling height are smaller than a preset threshold value; and comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range.
5. The long-span power transmission line early warning system according to claim 4, wherein the warning module further comprises a prediction unit, and the prediction unit is configured to calculate and obtain moving speed information of the target model according to the position information and the video image data acquisition interval period when the distance between the height information and the sag height is smaller than a predetermined threshold value and the target model does not enter a preset range; calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information; and generating alarm information according to the predicted time.
6. A long-span power transmission line early warning method is characterized by comprising the following steps:
respectively acquiring video image data in a preset direction through at least two image acquisition devices arranged on a large-span power transmission line;
according to the video image data, moving image data in the video image data are obtained through a binocular stereoscopic vision imaging technology;
analyzing the moving image data by a feature comparison method to obtain target model information;
and comparing the target model information with an alarm threshold value, and generating alarm information according to a comparison result.
7. The early warning method for the long span power transmission line according to claim 6, wherein the video image data comprises video image data of a transportation area and video image data of each wire on the power transmission line.
8. The early warning method for the long span power transmission line according to claim 7, wherein the obtaining of the moving image data in the video image data by the binocular stereo vision imaging technology according to the video image data further comprises: according to the video image data of each wire on the power transmission line in the video image data, the representation image data of each wire in the video image data is obtained through a binocular stereoscopic vision imaging technology; and comparing the representation image data with pre-stored fault conductor image data, and generating alarm information when a conductor representation image with the similarity higher than a preset threshold value with the pre-stored fault conductor image data exists in the representation image data.
9. The long-span power transmission line early warning method of claim 6, wherein the step of comparing the target model information with an alarm threshold value and generating alarm information according to the comparison result comprises:
calculating according to the target model information and the position information of the image acquisition device to obtain height information of the target model;
comparing the height information with the vertical falling height of the power transmission line, and acquiring the position information of the target model when the height information and the vertical falling height are smaller than a preset threshold value;
and comparing the position information with a preset range, and generating alarm information when the target model information enters the preset range.
10. The early warning method for the long-span power transmission line according to claim 9, wherein the step of comparing the target model information with a warning threshold value and generating warning information according to the comparison result comprises:
when the height information and the vertical falling height are smaller than a preset threshold value and the target model does not enter a preset range, calculating to obtain the moving speed information of the target model according to the position information and the video image data acquisition interval period;
calculating and obtaining the predicted time for the target to reach a preset range according to the moving speed information;
and generating alarm information according to the predicted time.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 6 to 10 when executing the computer program.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 6 to 10.
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