CN111650578A - Power cable radar external damage prevention system and external damage prevention method thereof - Google Patents
Power cable radar external damage prevention system and external damage prevention method thereof Download PDFInfo
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- CN111650578A CN111650578A CN202010491067.5A CN202010491067A CN111650578A CN 111650578 A CN111650578 A CN 111650578A CN 202010491067 A CN202010491067 A CN 202010491067A CN 111650578 A CN111650578 A CN 111650578A
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention discloses an external damage prevention system and an external damage prevention method for a power cable radar, and belongs to the field of power system cable protection. This outer broken system of preventing of power cable radar includes: the monitoring system comprises a radar, a linkage video camera, an acousto-optic alarm unit, a monitoring host and a plurality of communication optical cables, wherein the radar, the acousto-optic alarm unit, the linkage video camera and the monitoring host are electrically connected through the communication optical cables, the radar, the linkage video camera and the acousto-optic alarm unit are arranged on the same vertical rod, and an image comparison program, a relative position calculation program, an automatic control program and a manual control program are stored in the monitoring host; the invention can reduce manpower, improve the efficiency of monitoring and preventing behaviors such as brutal construction, illegal digging and the like, warn in time to stop the illegal behaviors, monitor and record the behaviors and realize track following.
Description
This patent is the divisional application, and the information of former application is as follows, the name: a power cable radar external damage prevention system and an external damage prevention method thereof are disclosed in the application number: 2019106820115, filing date: 2019-7-26.
Technical Field
The invention belongs to the field of power system cable protection, and particularly relates to a power cable radar external damage prevention system and an external damage prevention method thereof.
Background
In the process of continuous and rapid development of urban construction, phenomena such as rough construction, illegal digging and the like often occur, and great threats are brought to safe and reliable operation of the power cable. And the cable line suffers external force damage to cause fault power failure, so that the rush repair time is long, the difficulty is high, and serious economic loss is caused.
The mode that traditional cable prevented outer broken adopts artifical shift investigation, and the fixed point is squatted and is kept watch on, is nursed, and not only waste time and energy, work efficiency is not high, can't in time effectually take precautions against the destruction of construction violating regulations to the cable moreover.
Therefore, it is desirable to provide an automatic monitoring system for monitoring a power cable, which can reduce manpower, improve the efficiency of monitoring and preventing illegal construction, illegal digging and other behaviors, timely warn to stop such illegal behaviors, monitor and record such behaviors, and track the behaviors.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a power cable radar prevents outer broken system and prevent outer broken method to solve the above-mentioned problem that prior art exists.
The technical scheme is as follows: a power cable radar anti-break-out system includes: the system comprises a radar, a linkage video camera, an acousto-optic alarm unit, a monitoring host and a plurality of communication optical cables, wherein the radar, the acousto-optic alarm unit, the linkage video camera and the monitoring host are electrically connected through the communication optical cables;
the radar, the linkage video camera and the sound-light alarm unit are arranged on the same vertical rod, and an image comparison program, a relative position calculation program, an automatic control program and a manual control program are stored in the monitoring host.
In a further embodiment, the linkage video camera is arranged above the radar, the sound and light alarm unit is arranged above the linkage video camera, because the electromagnetic wave emitted by the radar can penetrate through to monitor whether the object which is in accordance with the system monitoring appears or not, and the linkage video camera is influenced by the terrain, therefore, the linkage video camera is arranged above the radar, and the sound and light alarm unit achieves the purpose of warning by giving out warning sound and dazzling light, it needs to be installed at a high-elevation point to be protected from being hidden by the terrain, for the purpose of warning, and at the same time, because the shooting function of the linkage video camera can be influenced by the dazzling light emitted by the sound-light alarm unit, and the linkage video camera works obliquely downwards when executing the shooting function, therefore, the sound and light alarm unit is arranged above the linkage video camera to prevent the sound and light alarm unit from influencing the operation of the linkage video camera.
In a further embodiment, the radar and the linkage video camera are rotatably connected with the upright rod through a power device, wherein the monitoring directions of the radar and the linkage video camera are consistent, the radar and the linkage video camera can rotate on the upright rod through the power device, the radar and the linkage video camera can monitor two sides of the upright rod, and the monitoring range is doubled.
In a further embodiment, the power plant comprises: be umbelliform and install the solar panel on stand top, the battery of being connected with the solar panel electricity, first motor and the second motor of being connected with the battery electricity to and rotate first speed reducer and the second speed reducer of being connected with first motor and second motor respectively, wherein, first motor, second motor, first speed reducer and second speed reducer fixed mounting are in the pole setting, first motor and second motor rotate with the input of first speed reducer and second speed reducer respectively and are connected, radar and linkage video camera rotate with the output of first speed reducer and second speed reducer respectively and are connected.
The solar panel arranged on the top end of the upright post in an umbrella shape can shield the storage battery, the sound and light alarm unit, the radar and the linkage video camera from wind and rain and can charge the storage battery.
The storage battery can provide energy for the rotation of the first motor and the second motor, the rotation of the radar and the linkage video camera can be realized through the first motor, the second motor, the first speed reducer and the second speed reducer, and the monitoring range of the radar and the linkage video camera is enlarged.
In a further embodiment, still be equipped with a plurality of limiting plates in the pole setting, the limiting plate respectively fixed mounting with radar and linkage video camera's top can restrict radar and linkage video camera's rotation direction through the limiting plate, make radar and linkage video camera's rotation at working range.
The interval of pole setting is big than the monitoring radius of radar and linkage video camera, and is less than the radial twice of monitoring, can improve monitoring range, reduction in production cost under the condition of guaranteeing monitoring quality through the cooperation that sets up interval and power device.
Acousto-optic warning unit, radar and linkage video camera all are connected with the battery electricity, first motor and second motor still are connected with the monitoring host computer electricity, can provide the electric energy for acousto-optic warning unit, radar and linkage video camera's work through the battery, wherein, the radar has the function of detection range rate of change, relies on the purpose that the function of the detection range rate of change of radar self can accomplish the calculation target movement track, and the early warning guarantees monitoring quality in advance.
An anti-outbreaking method of an anti-outbreaking system of a power cable radar comprises the following steps: firstly, a radar transmits electromagnetic waves and receives echoes of the electromagnetic waves;
secondly, the radar sends the echo of the electromagnetic wave to the monitoring host, an image comparison program is executed in the monitoring host, whether the image meets the condition that the ground and the excavator are in the same image or not is searched, if the image does not meet the condition, the echo is continuously received, the image comparison program is executed, and if the image meets the condition, the next step is executed;
thirdly, simultaneously executing the relative position calculation program and the function of detecting the distance change rate of the radar, starting the camera to send a camera image to the monitoring host if the starting condition of any program is met, and further judging whether to further stop the action by staff;
after the ground and the excavator are compared in the same image, the relative position calculation program analyzes whether the relative position between the ground and the excavator is overlapped or not and the depth of the overlapping of the ground of the excavator through the relative position program;
and fourthly, after the staff judges to perform further stopping actions, starting the sound and light alarm unit firstly, and starting manual intervention after the sound and light alarm unit cannot stop further damage, so as to inform the staff at the first line nearby to stop.
In a further embodiment, the radar and the linkage video camera rotate 90 degrees from the original station to the ground direction every 5 to 10 minutes, then rotate 90 degrees from the ground direction to the opposite direction of the original station every 3 to 5 minutes, then rotate 90 degrees from the opposite direction of the original station to the ground direction every 5 to 10 minutes, and then rotate 90 degrees from the ground direction to the original station every 3 to 5 minutes until returning to the original station.
Because power cable's pre-buried degree of depth is greater than two meters, so unless use large-scale excavator, ordinary excavator and manpower can't cause the influence to power cable in 30 minutes, and large-scale excavator's velocity of motion is slow, so radar and linkage video camera rotate every interval 10 to 30 minutes can be when reaching monitoring effect, can make monitoring range maximize again, and the bottom that radar and linkage video camera can both monitor the pole setting at every turn can also monitor the cable near the pole setting, can reach the effect of eliminating the monitoring blind area.
And when monitoring is carried out towards the ground direction, the radar is closest to the cable, so that 3-5 minutes are enough to receive the echo of the electromagnetic wave, and when monitoring is carried out on the original station and the reverse direction of the original station, the cable is located obliquely below the radar and is far away from the radar, and the cable image of the farthest monitoring range can be received within 5 minutes through tests, so that the operation requirement can be met by rotating every 5-10 minutes.
In a further embodiment, the image comparison program is realized based on an NCC algorithm, and the specific steps are that an image of the ground is monitored in advance by using a radar, the image of the excavator is monitored and is respectively uploaded to a monitoring host, the image is converted into a gray level image and is used as a template image of the NCC algorithm, the image monitored by the radar in use is converted into the gray level image and is used as an excavator image comparison in a target image and the template image, after an image matched with the image of the excavator in the template image exists in the target image, whether the ground and the excavator are in the same image or not is further searched, and the distance between the ground and the excavator in the image is analyzed and calculated;
wherein the NCC algorithm has a mathematical function of
Wherein the content of the first and second substances,
where m × n represents the window size,
is the image of the template and is,
in order to be the target image,
are the pixels of the template image that are,
is a pixel point of the target image, wherein all the pixel points（x，y），
And
∈m×n。
in a further embodiment, the ground and the excavator in the image obtained after the target image conforming to the template image is obtained through the NCC algorithm are marked in the image, whether the ground and the excavator have the superposed image or not is detected according to the NCC algorithm, the superposed image is used as a basis for judging the relative distance between the ground and the excavator, if the superposed image exists, an alarm is sent out, and if the superposed image does not exist, the monitoring is continued.
In a further embodiment, after the target image which meets the ground and the excavator in the same image at the same time is determined to exist, the radar locks and tracks the excavator, the distance change rate from the excavator to the ground is detected, the distance change rate is used as the basis of the movement track of the excavator, if the distance value from the excavator to the ground is repeatedly increased and decreased, the possibility of damage to a cable is determined, and the linkage video camera is started to send a camera shooting picture to the monitoring host.
Has the advantages that: the invention discloses a radar external damage prevention system and method for a power cable, wherein electromagnetic waves are transmitted and received by a radar to obtain a monitored image, so that the interference of obstacles such as terrain and the like is avoided, and the monitoring efficiency is improved; monitoring and recording the executors of behaviors such as rough construction, illegal digging and the like by linking the video cameras to realize traceablility; the behaviors of rough construction, illegal digging and the like are warned through the audible and visual alarm unit, so that the purpose of warning and stopping in time is achieved; by storing an image comparison program, a relative position calculation program, an automatic control program and a manual control program in the monitoring host and having the function of detecting the distance change rate of the radar, the automatic monitoring can be achieved, the manpower is reduced, the efficiency of monitoring and preventing behaviors such as rough construction, illegal digging and the like is improved, and the purpose of timely warning and stopping is achieved.
Drawings
Fig. 1 is a schematic view of an embodiment of the present invention.
Figure 2 is a schematic diagram of the operation of the present invention.
Fig. 3 is a flow chart of the operation of the present invention.
Fig. 4 is a radar monitoring diagram of the present invention.
Fig. 5 is a partial assembly schematic of the present invention.
Fig. 6 is an enlarged schematic view of fig. 4 according to the present invention.
The reference numerals shown in fig. 1 to 6 are: the monitoring system comprises a radar 1, a linkage video camera 2, an acousto-optic alarm unit 3, a monitoring host 4, a communication optical cable 5, an excavator 6, a motion track 7, a ground 8, a cable 9, a monitoring radius 10, a vertical rod 11, a first motor 101, a first speed reducer 102, a second motor 201, a second speed reducer 202, a solar panel 111, a limiting plate 112 and a storage battery 113.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Through research and analysis of the applicant, the reason that behaviors such as rough construction, illegal digging and the like are forbidden frequently lies in that a traditional cable anti-breaking mode adopts a mode of manual shift investigation, fixed-point squatting guard and nursing, and the supervision mode not only wastes time and labor and has low working efficiency, but also cannot timely and effectively prevent the damage of illegal construction to the cable.
In the process of research of the applicant, the inventor finds that because the power cable is usually pre-buried under the ground of the road side, the road side is usually greened by using vegetation, and the commonly used monitoring equipment camera is singly used under the condition of being full of obstacles, and the real-time monitoring effect cannot be achieved due to the fact that an excavating tool is shielded by the vegetation, so that the applicant adopts a radar which is a detection medium capable of penetrating the terrain through electromagnetic waves under the working condition with the obstacles to monitor, the manpower is reduced by using the radar and the camera in a matching way, the efficiency of monitoring and preventing behaviors such as wild construction, illegal digging and the like is improved, and an acousto-optic alarm unit is also arranged on the monitoring equipment, so that illegal behaviors can be timely warned and prevented, and the radar and the camera are connected with a monitoring host through communication optical cables to monitor and record the illegal behaviors, the trace circulation is realized.
A power cable radar anti-break-out system includes: the system comprises a radar 1, a linkage video camera 2, an acousto-optic alarm unit 3, a monitoring host 4 and a communication optical cable 5.
In order to form images of a monitored target without being affected by an obstacle, the radar 1 adopted by the invention is an ultra-bandwidth radar with strong anti-interference capability, high resolution and good target identification capability.
In order to record the video shot by the camera and timely inform the staff, the camera adopts the linkage video camera 2, and the camera can upload the shot video to the monitoring host 4 in real time.
In order to ensure the stability of the audible and visual alarm unit 3 because the occasions where the audible and visual alarm unit is used are outdoor, the SG10 type stainless steel explosion-proof audible and visual alarm device has the advantages of stable work, long service life, eight ultra-high brightness LED light-emitting diodes which are turned on, clear visibility in multiple angles, bulletproof glass LED lamp shades, stainless steel explosion-proof shells, convenience in installation, firmness and durability, water resistance, shock resistance, corrosion resistance and the like.
In order to ensure the detection quality and the execution stability of the invention, the invention adopts a plurality of communication optical cables 5 to connect the radar 1, the linkage video camera 2 and the acousto-optic alarm unit 3 with the monitoring host 4.
The monitoring host 4 is also internally stored with an image comparison program, a relative position calculation program, an automatic control program and a manual control program, wherein the image comparison program and the relative position calculation program play a role of detecting a monitored target, the automatic control program and the manual control program play a role of controlling the radar 1, the linkage video camera 2 and the acousto-optic alarm unit 3, the automatic control program is a normally running program, the manual control program is executed under the condition that the automatic control program cannot be processed or the accident is urgent, the manual control program executes a process that the monitoring host 4 sends pictures monitored by the radar 1 and the linkage video camera 2 to a worker, and then the worker judges the subsequent work flow, the automatic control program runs normally in the process, and the anti-external damage system works normally, until the worker gives an instruction.
The upright post 11 is supported by two parallel steel pipes, and in order to prevent the upright post from rusting and prolong the service life of the upright post, the surface of the upright post is painted.
The assembling process comprises the following steps: firstly, the acousto-optic alarm unit 3, the linkage video camera 2 and the radar 1 are arranged between two steel pipes of the upright rod 11 according to the sequence that the acousto-optic alarm unit 3 is arranged at the top, the linkage video camera 2 is arranged below the acousto-optic alarm unit 3, and the radar 1 is arranged below the linkage video camera 2.
Then, the communication optical cable 5 is buried at one side of the cable 9, the assembled upright post 11 is installed above the cable 9, and the radar 1, the linkage video camera 2 and the acousto-optic alarm unit 3 on the upright post 11 are connected with the monitoring host 4 through the communication optical cable 5.
The working principle is as follows: first, the radar 1 transmits an electromagnetic wave and receives an echo of the electromagnetic wave. Then the radar 1 sends the echo of the electromagnetic wave into the monitoring host 4, executes an image comparison program in the monitoring host 4, searches whether the image simultaneously satisfies that the ground 8 and the excavator 6 are in the same image, if not, continues to receive the echo and execute the image comparison program, and if so, executes the next step.
Then, a relative position calculation program and a function of detecting the distance change rate of the radar 1 are executed simultaneously, if the starting condition of any program is met, a camera is started to send a camera image to the monitoring host, and a worker further judges whether to perform further stopping action, wherein under any condition, the camera is started to send the camera image to the monitoring host as long as the former is met, and the worker immediately starts an alarm unit on the basis of further judging whether to perform further stopping action; after the relative position calculation program compares that the ground 8 and the excavator 6 are in the same image, whether the relative positions of the ground 8 and the excavator 6 are overlapped or not and the depth of the ground 8 of the excavator 6 which is overlapped are analyzed through the relative position program.
And finally, after the staff is judged to perform further stopping action, the acousto-optic alarm unit 3 is started firstly, and after the acousto-optic alarm unit 3 is started, manual intervention is started to inform the staff at the first line nearby to stop the further damage.
In a further embodiment, since the electromagnetic wave emitted by the radar 1 can be used to monitor whether there is an object conforming to the system monitoring without being influenced by the terrain, while the linked video camera 2 is influenced by the terrain, therefore, the linkage video camera 2 is arranged above the radar 1, the sound and light alarm unit 3 achieves the purpose of warning by giving out warning sound and dazzling light, it needs to be installed at a high-elevation point to be protected from being hidden by the terrain, for the purpose of warning, and at the same time, since the glaring light emitted by the audible and visual alarm unit 3 affects the camera function of the linkage video camera 2, and the linkage video camera 2 works obliquely downward when performing the camera function, therefore, the sound and light alarm unit 3 is installed above the linkage video camera 2 to prevent the sound and light alarm unit 3 from influencing the operation of the linkage video camera 2.
In a further embodiment, in order to expand the monitoring range and reduce the production cost, the radar 1 and the linkage video camera 2 are rotatably connected with the upright rod 11 through a power device, wherein the monitoring directions of the radar 1 and the linkage video camera 2 are consistent, the radar 1 and the linkage video camera 2 can rotate on the upright rod 11 through the power device, the radar 1 and the linkage video camera 2 can monitor two sides of the upright rod 11, and the monitoring range is doubled.
Wherein, power device includes: the solar panel 111 who is the umbelliform installation at the stand top, the battery 113 of being connected with solar panel 111 electricity, first motor 101 and second motor 201 with battery 113 electricity is connected to and rotate first speed reducer 102 and the second speed reducer 202 of being connected with first motor 101 and second motor 201 respectively, wherein, first motor 101, second motor 201, first speed reducer 102 and second speed reducer 202 fixed mounting are on pole setting 11, first motor 101 and second motor 201 rotate with the input of first speed reducer 102 and second speed reducer 202 respectively and are connected, radar 1 rotates with the output of first speed reducer 102 and second speed reducer 202 with linkage video camera 2 respectively and is connected.
The solar panel 111 arranged at the top end of the upright post in an umbrella shape can shield the storage battery 113, the sound-light alarm unit 3, the radar 1 and the linkage video camera 2 from wind and rain and can charge the storage battery 113.
The storage battery 113 can provide energy for the rotation of the first motor 101 and the second motor 201, and the first motor 101, the second motor 201, the first speed reducer 102 and the second speed reducer 202 can realize the rotation of the radar 1 and the linkage video camera 2, so that the monitoring range of the radar 1 and the linkage video camera 2 is enlarged, wherein the first motor 101, the second motor 201, the first speed reducer 102 and the second speed reducer 202 in the embodiment are two sets of power elements with the model number of RV040-18-WZ-56B5, and the first motor 101 and the second motor 201 rotate intermittently, so that the purpose of rotating work can be achieved, and the electricity consumption can be reduced.
Wherein, radar 1 and linkage video are made a video recording and are rotated with pole setting 11 through the pivot and be connected, and acousto-optic warning unit 3 passes through screw fixed mounting in solar panel 111's below. In order to guarantee the normal work and the life of battery 113, so bury battery 113 underground and pole setting 11 fixed connection, not only can protect battery 113 like this, can increase the pre-buried weight of pole setting 11 self again to increase the anti-wind ability of pole setting 11.
In a further embodiment, in order to restrict the rotation of radar 1 and linkage video camera 2 in working range, so still be equipped with a plurality of limiting plates 112 on the pole setting 11, limiting plate 112 respectively fixed mounting with radar 1 and linkage video camera 2's top, can restrict radar 1 and linkage video camera 2's rotation direction through limiting plate 112, limiting plate 112 is greater than radar 1 and linkage video camera 2 simultaneously, can shelter from the wind and rain for radar 1 and linkage video camera 2 provides the protection.
In order to improve the monitoring range and reduce the production cost under the condition of ensuring the monitoring quality, the distance between the upright rods 11 is larger than the monitoring radius 10 of the radar 1 and the linkage video camera 2 and is smaller than the two times of the monitoring radius 10, and then the monitoring range is improved and the production cost is reduced under the condition of ensuring the monitoring quality by the cooperation of the distance and the power device.
In order to save production cost and facilitate installation, the sound-light alarm unit 3, the radar 1 and the linkage video camera 2 are electrically connected with the storage battery 113, and electric energy can be provided for the work of the sound-light alarm unit 3, the radar 1 and the linkage video camera 2 through the storage battery 113.
In order to ensure accuracy and real-time performance in controlling the first motor 101 and the second motor 201, a communication cable 5 is provided to electrically connect the first motor 101 and the second motor 201 also with the monitoring host.
In order to further ensure the monitoring quality, the motion trail 7 of the target is calculated by the function of detecting the distance change rate of the radar 1, and early warning is carried out in advance to ensure the monitoring quality.
In a further embodiment, since the embedded depth of the power cable 9 is more than two meters, unless the large excavator 6 is used, the ordinary excavator 6 and manpower cannot affect the power cable 9 within 30 minutes, but the movement speed of the large excavator 6 is slow, so in practical use, the radar 1 and the linkage video camera 2 rotate 90 ° from the original station to the direction of the ground 8 every 5 to 10 minutes, then rotate 90 ° from the direction of the ground 8 to the opposite direction of the original station every 3 to 5 minutes, then rotate 90 ° from the opposite direction of the original station to the direction of the ground 8 every 5 to 10 minutes, then rotate 90 ° from the direction of the ground 8 to the original station every 3 to 5 minutes until returning to the original station, so that the monitoring range can be maximized, and the radar 1 and the linkage video camera 2 can monitor that the bottom of the upright 11 can monitor the cable 9 near the upright 11 every time, the effect of eliminating the monitoring blind area is achieved.
And when monitoring is carried out towards the direction of the ground 8, the radar 1 is closest to the cable 9, so that the echo of the electromagnetic wave can be received within 3-5 minutes, and because the cable 9 is positioned obliquely below the radar 1 and is far away from the radar 1 when monitoring is carried out on the original station and the opposite direction of the original station, the image of the cable 9 monitoring the farthest monitoring range can be received within 5 minutes through experiments, so that the work requirement can be met by rotating every 5-10 minutes.
In a further embodiment, the image comparison program is implemented based on an NCC algorithm, and the specific steps are that the radar 1 is used for monitoring an image of the ground 8 in advance, monitoring an image of the excavator 6 and uploading the image to the monitoring host 4 respectively, converting the image into a gray image, then using the gray image as a template image of the NCC algorithm, converting the image monitored by the radar 1 in use into a gray image, comparing the gray image with the excavator 6 image in the template image, finding that an image matched with the image of the excavator 6 in the template image exists in the target image, further searching whether the image simultaneously satisfies that the ground 8 and the excavator 6 are in the same image, and analyzing and calculating the distance between the ground 8 and the excavator 6 in the image;
wherein the NCC algorithm has a mathematical function of
Wherein the content of the first and second substances,
where m × n represents the window size,
is the image of the template and is,
in order to be the target image,
are the pixels of the template image and are,
are target image pixels, wherein all pixels (x, y),
and
∈m×n。
in a further embodiment, the ground 8 and the excavator 6 in the image obtained after the target image conforming to the template image is obtained through the NCC algorithm are marked in the image, whether the ground 8 and the excavator 6 have the superposed image or not is detected according to the NCC algorithm, the superposed image is used as a basis for judging the relative distance between the ground 8 and the excavator 6, if the superposed image exists, an alarm is sent out, and if the superposed image does not exist, the monitoring is continued.
In a further embodiment, after determining that a target image which satisfies the ground 8 and the excavator 6 in the same image simultaneously exists, the radar 1 performs lock tracking on the excavator 6, detects the distance change rate from the excavator 6 to the ground 8, takes the distance change rate as the basis of the movement track 7 of the excavator 6, determines that the cable 9 is likely to be damaged if the distance value from the excavator 6 to the ground 8 repeatedly increases and decreases, and starts the linkage video camera 2 to transmit a camera image to the monitoring host.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (6)
1. An anti-external-damage method of an anti-external-damage system of a power cable radar is characterized by comprising the following steps: the power cable radar external-damage prevention system comprises a radar (1), a linkage video camera (2), an acousto-optic alarm unit (3), a monitoring host (4) and a plurality of communication optical cables (5), wherein the radar (1), the acousto-optic alarm unit (3), the linkage video camera (2) and the monitoring host (4) are electrically connected through the communication optical cables (5);
the radar (1), the linkage video camera (2) and the sound-light alarm unit (3) are mounted on the same upright post (11), and an image comparison program, a relative position calculation program, an automatic control program and a manual control program are stored in the monitoring host (4);
the linkage video camera (2) is arranged above the radar (1), and the acousto-optic alarm unit (3) is arranged above the linkage video camera (2);
the radar (1) and the linkage video camera (2) are rotationally connected with the upright rod (11) through a power device, wherein the monitoring directions of the radar (1) and the linkage video camera (2) are consistent;
the external damage prevention method based on the power cable radar external damage prevention system comprises the following steps: firstly, a radar (1) transmits electromagnetic waves and receives echoes of the electromagnetic waves;
secondly, the radar (1) sends the echo of the electromagnetic wave into the monitoring host (4), executes an image comparison program in the monitoring host (4), searches whether the image meets the condition that the ground (8) and the excavator (6) are in the same image, continues to receive the echo and execute the image comparison program if the image does not meet the condition, and executes the next step if the image meets the condition;
thirdly, when the monitoring host (4) searches that the ground (8) and the excavator (6) are in the same image, further detecting whether the depth of the excavating tool inserted into the soil layer in the image reaches a preset value through a relative position calculation program;
the distance change rate of the excavator (6) to the ground (8) is detected through the function of detecting the distance change rate through the radar (1), whether the excavator (6) does repeated linear motion relative to the ground or not is judged by taking the distance change rate as the basis of the motion track (7) of the excavator (6), namely whether the distance value between the excavator (6) and the ground (8) is repeatedly increased and decreased or not, and whether the excavator (6) has the possibility of damaging a cable (9) or not is judged;
if the depth of the excavating tool inserted into the soil layer reaches a preset value or the excavating machine (6) is judged to do repeated linear motion relative to the ground, starting a camera to send a camera image to the monitoring host, and further judging whether to perform further stopping action by staff;
and fourthly, after the staff judges to perform further stopping action, the acousto-optic alarm unit (3) is started firstly, and after the acousto-optic alarm unit (3) is started, manual intervention is started to inform the staff at the front line nearby to stop the further damage.
2. The anti-rip method of a power cable radar anti-rip system according to claim 1, wherein the power plant comprises: the solar energy panel (111) that is umbelliform and installs at the stand top, battery (113) of being connected with solar energy panel (111) electricity, first motor (101) and second motor (201) of being connected with battery (113) electricity to and respectively with first motor (101) and second motor (201) first speed reducer (102) and second speed reducer (202) of rotating the connection, wherein, first motor (101), second motor (201), first speed reducer (102) and second speed reducer (202) fixed mounting are on pole setting (11), first motor (101) and second motor (201) rotate with the input of first speed reducer (102) and second speed reducer (202) respectively and are connected, radar (1) and linkage video camera (2) rotate with the output of first speed reducer (102) and second speed reducer (202) respectively and are connected.
3. The outward breaking prevention method of the power cable radar outward breaking prevention system according to claim 1, wherein a plurality of limiting plates (112) are further arranged on the upright rod (11), and the limiting plates (112) are respectively and fixedly installed above the radar (1) and the linkage video camera (2);
the distance between the upright rods (11) is larger than the monitoring radius (10) of the radar (1) and the linkage video camera (2), and is smaller than twice of the monitoring radius (10);
the sound and light alarm unit (3), the radar (1) and the linkage video camera (2) are electrically connected with the storage battery (113), the first motor (101) and the second motor (201) are further electrically connected with the monitoring host, and the radar (1) has the function of detecting the distance change rate.
4. The outward-breaking prevention method of the power cable radar outward-breaking prevention system as claimed in claim 2, wherein the radar (1) and the linkage video camera (2) rotate 90 degrees from an original station to the ground (8) every 5 to 10 minutes, then rotate 90 degrees from the ground (8) to the opposite direction of the original station every 3 to 5 minutes, then rotate 90 degrees from the opposite direction of the original station to the ground (8) every 5 to 10 minutes, and then rotate 90 degrees from the ground (8) to the original station every 3 to 5 minutes until the radar returns to the original station.
5. A method for preventing outages of a power cable radar outages prevention system according to claim 1, characterized in that the image comparison program is implemented on the basis of the NCC algorithm, and comprises the specific steps of monitoring images of the ground (8) in advance by using a radar (1), and monitoring the images of the excavator (6), respectively uploading the images to the monitoring host (4), and converting the images into gray level images, then used as a template image of an NCC algorithm, then the image monitored by the radar (1) in use is converted into a gray image, and the target image is compared with the excavator (6) image in the template image, after the target image is found to have the image matched with the excavator (6) image in the template image, further searching whether the ground (8) and the excavator (6) are in the same image or not, analyzing and calculating the distance between the ground (8) and the excavator (6) in the picture;
wherein the NCC algorithm has a mathematical function of
Wherein the content of the first and second substances,
where m × n represents the window size,
is the image of the template and is,
in order to be the target image,
are the pixels of the template image that are,
is a pixel point of the target image, wherein all pixel points (x, y), and
∈m×n。
6. the outward-breaking prevention method of the power cable radar outward-breaking prevention system according to claim 5, characterized in that after a target image which accords with a template image is obtained through an NCC algorithm, the ground (8) and the excavator (6) in the obtained image are marked in the image, whether a superposed image exists between the ground (8) and the excavator (6) is detected according to the NCC algorithm, the superposed image is used as a basis for judging the relative distance between the ground (8) and the excavator, if the superposed image exists, an alarm is given out, and if the superposed image does not exist, monitoring is continued.
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| CN112712682A (en) * | 2020-12-30 | 2021-04-27 | 国网青海省电力公司黄化供电公司 | Active early warning inspection monitoring method based on power transmission and distribution line |
| CN112837484A (en) * | 2020-12-30 | 2021-05-25 | 国网青海省电力公司黄化供电公司 | Early-warning type external damage prevention management and control method for power transmission and distribution line |
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| CN112180353A (en) * | 2020-09-17 | 2021-01-05 | 北京中兵智航软件技术有限公司 | Target object confirmation method and system and storage medium |
| CN112837486A (en) * | 2021-01-20 | 2021-05-25 | 广东电网有限责任公司 | Cable damage prevention monitoring method and cable damage prevention monitoring device |
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| US6735888B2 (en) * | 2001-05-18 | 2004-05-18 | Witten Technologies Inc. | Virtual camera on the bucket of an excavator displaying 3D images of buried pipes |
| CN205385269U (en) * | 2016-02-19 | 2016-07-13 | 国网山东省电力公司滨州供电公司 | A cable stake for $monitoring ground buries cable |
| CN108710128A (en) * | 2018-05-25 | 2018-10-26 | 国网山西省电力公司电力科学研究院 | Transmission line of electricity external force damage monitoring system based on radar and method |
| CN108573588A (en) * | 2018-06-06 | 2018-09-25 | 广州供电局有限公司 | High voltage power cable external force damage prevention monitoring device |
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| CN112712682A (en) * | 2020-12-30 | 2021-04-27 | 国网青海省电力公司黄化供电公司 | Active early warning inspection monitoring method based on power transmission and distribution line |
| CN112837484A (en) * | 2020-12-30 | 2021-05-25 | 国网青海省电力公司黄化供电公司 | Early-warning type external damage prevention management and control method for power transmission and distribution line |
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