CN112802004A - Portable intelligent video detection device for health of transmission line and tower - Google Patents
Portable intelligent video detection device for health of transmission line and tower Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/60—Rotation of a whole image or part thereof
- G06T3/608—Skewing or deskewing, e.g. by two-pass or three-pass rotation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
Abstract
Portable intelligent video detection device that transmission line and shaft tower are healthy belongs to electric power transmission line state detection field. The invention solves the problems that the existing system for monitoring the transmission line and the tower has complex structure, difficult maintenance, poor portability and difficult measurement and calculation of the related information of the transmission line and the tower. The video image acquisition module is used for carrying out video or image acquisition on the power transmission line and the tower; the three-axis acceleration sensor is used for acquiring the inclination angle information of the video image acquisition module; and the data processing module is used for correcting the inclination angle of the video or the image of the power transmission line and the tower collected by the video image collecting module according to the received inclination angle information, and processing the corrected image or the corrected video to obtain the sag and foreign matter conditions of the power transmission line and the inclination, defect and foreign matter conditions of the tower and display the sag, foreign matter conditions and foreign matter conditions through the display module. The invention is mainly used for monitoring the transmission line and the tower.
Description
Technical Field
The invention belongs to the field of state detection of power transmission lines.
Background
Electricity is indispensable in modern life undoubtedly, and electric power must be transmitted through the electric wire netting, because china's geographical distribution is extensive, and the geological conditions is complicated various, and transmission line is in the operation in-process, often can receive external environment's influence. The tower foundation often has the phenomena of slippage, inclination, settlement, cracking and the like, so that the tower is deformed or inclined; when the sag is too large, the wires can swing greatly under the action of electric power in strong wind or fault to cause short circuit due to wire mixing, and accidents occur due to insufficient distance between a lower cross road and a building; when the sag is too small, the wire bears too large stress, and the wire breakage accident is easy to happen; when birds nest and foreign bodies are hung on the line, if the bird nest and the foreign bodies are not cleaned in time, the line is tripped and has power failure.
The accidents all bring great economic loss to the country, so the maintenance of the power line is very important; the line inspection is an important basis for power line maintenance, and the development condition of the line inspection directly restricts the overall maintenance level of a power transmission and distribution line and even a power grid.
The current inspection mode is large helicopter or unmanned aerial vehicle inspection; although the method improves the inspection efficiency and reduces the inspection difficulty compared with the traditional manual inspection mode, the flight is unstable due to the control of personnel, the observation target often passes through the visual field of the camera quickly, reliable data cannot be acquired comprehensively, and the technical difficulty is increased; and another drawback of using large helicopters or unmanned aerial vehicles for routing inspection is that the cost is high, and great restrictions are provided on the convenience of operation.
At present, electronic circuits are also adopted in China to carry out online acquisition on related information of a power transmission line and a tower, the acquired information is uploaded to a remote server through a communication network in real time, and the acquired data is processed and analyzed by the remote server; moreover, the single-rod tower is provided with a plurality of devices, so that the installation and the maintenance are inconvenient; and the alarm is also limited by a power supply of a use environment, and when the power supply is powered off, reliable alarm is difficult to guarantee.
In addition, the existing method for monitoring the inclination of the tower mostly adopts a large number of sensors installed on a line or the tower for detection, and the method has the defects that the complexity and the instability of a system are increased due to the excessive sensors, and meanwhile, the system is difficult to maintain and high in cost.
At present, the following methods are mostly adopted for monitoring the sag of a transmission line on an overhead line: the method is based on the theodolite angle measurement method, but the precision is low; the method is suitable for a midpoint height method of terrain flatness, and a steel ruler is used for measuring the distance inconveniently; the method comprises an unequal length sample plate strip method, a document measuring internal line height method, an analytical method and the like, wherein the methods are based on some mathematical models, but model parameters are not easy to measure under the condition of complex environment. Therefore, the above problems need to be solved.
Disclosure of Invention
The invention aims to solve the problems that an existing system for monitoring a power transmission line and a tower is complex in structure, difficult to maintain and poor in portability, and related information of the power transmission line and the tower is difficult to measure and calculate.
The portable intelligent video detection device for the health of the transmission line and the tower comprises a video image acquisition module 1, a three-axis acceleration sensor 2, a temperature sensor 3, a power module 4, a data processing module 5, a storage module 6 and a display module 7;
the video image acquisition module 1 is used for carrying out video or image acquisition on the power transmission line 10 and the tower 11 and uploading the video or image acquisition to the data processing module 5;
the triaxial acceleration sensor 2 is used for acquiring the inclination angle information of the video image acquisition module 1 and uploading the inclination angle information to the data processing module 5;
the temperature sensor 3 is used for acquiring temperature information of a detection point and uploading the temperature information to the data processing module 5;
the data processing module 5 is used for correcting the inclination angles of the videos or images of the power transmission line 10 and the tower 11 acquired by the video image acquisition module 1 according to the received inclination angle information, processing the corrected images or videos to obtain the sag and foreign matter conditions of the power transmission line 10 and the inclination, defect and foreign matter conditions of the tower 11, and displaying the sag and foreign matter conditions and the foreign matter conditions through the display module 7;
the display module 7 is further used for displaying the videos or images of the power transmission line 10 and the tower 11, which are acquired by the video image acquisition module 1, the inclination angle information acquired by the triaxial acceleration sensor 2 and the detection point temperature information acquired by the temperature sensor 3 through the data processing module 5;
the storage module 6 is further used for storing the video or image, the inclination angle information, the position information of the detection point and the temperature information of the detection point received by the data processing module 5; the data processing module 5 is also used for storing sag and foreign matter conditions of the power transmission line 10 and inclination, defect and foreign matter conditions of the tower 11, which are obtained by the data processing module 5;
the data processing module 5 is also used for reading information from the storage module 6;
and the power supply module 4 is used for supplying power to the video image acquisition module 1, the three-axis acceleration sensor 2, the temperature sensor 3, the data processing module 5, the storage module 6 and the display module 7.
Preferably, the intelligent video detection device further comprises a GPS positioning module 8;
the GPS positioning module 8 is used for measuring the position information of the detection points and uploading the position information to the data processing module 5;
and the data processing module 5 displays the received position information of the detection point through the display module 7.
Preferably, the intelligent video detection device further comprises a communication module 9;
the data processing module 5 exchanges data with the monitoring center server 12 through the communication module 9;
and the power supply module 4 is also used for supplying power to the communication module 9.
Preferably, the data processing module 5, according to the received tilt angle information, performs tilt angle correction on the videos or images of the power transmission line 10 and the tower 11 acquired by the video image acquisition module 1, with the following targets:
the data processing module 5 corrects the acquired video or image by using the received tilt angle information, so that the horizontal and vertical reference directions of the image or video are respectively matched with the actual horizontal and vertical directions.
Preferably, the data processing module 5 performs image processing on the corrected image or video to obtain the sag and foreign matter condition of the power transmission line 10 and the inclination, defect and foreign matter condition of the tower 11, and the implementation manner of the image processing module includes:
s1, the data processing module 5 preprocesses the corrected image or video to obtain a preprocessed image;
s2, extracting the features of the preprocessed image by using a Hough transform method to obtain a feature extraction image; in the feature extraction diagram, a point set in the shape of a straight line is a point set obtained by performing feature extraction on the tower 11, and a point set in the shape of a curve is a point set obtained by performing feature extraction on the power transmission line 10;
s3, performing curve fitting on the point set subjected to the feature extraction of the power transmission line 10 to obtain a characteristic function of the suspension curve of the power transmission line 10;
according to the characteristic function of the suspension curve, finding a lowest point coordinate in a point set after characteristic extraction is carried out on the power transmission line 10, calculating the number of point sets of lines between the lowest point coordinate and the highest point coordinates at two ends of the power transmission line 10 to be N1 and N2 respectively, and obtaining the sag of the power transmission line 10 by combining the relation between the vertical distance L between the highest point coordinates at two ends of the power transmission line 10 and the total number N of the point sets after characteristic extraction is carried out on the power transmission line 10;
and S4, comparing each point in the obtained point set after the characteristic extraction is carried out on the tower 11 and each point in the obtained point set after the characteristic extraction is carried out on the power transmission line 10 with corresponding historical data, so as to obtain the foreign matter condition of the power transmission line 10 and the inclination, defect and foreign matter condition of the tower 11.
Preferably, the calculation of the numbers of point sets of the line located between the coordinates of the lowest point and the coordinates of the highest points at the two ends of the power transmission line 10 are N1 and N2, respectively, and the implementation manner of obtaining the sag of the power transmission line 10 by combining the relationship between the vertical distance L between the coordinates of the highest points at the two ends of the power transmission line 10 and the total number N of the point sets after feature extraction of the power transmission line 10 is as follows:
X1＝(N/L)*n1；
X2＝(N/L)*n2；
wherein, X1 and X2 are the vertical distances between the highest points at the two ends of the power transmission line 10 and the lowest points of the power transmission line 10 respectively; when the heights of the highest points at the two ends of the power transmission line 10 are consistent, X1 is X2, the sag of the power transmission line 10 is unique, and the sag value of the power transmission line 10 is X1 or X2;
when the heights of the highest points at the two ends of the power transmission line 10 are inconsistent, the sag of the power transmission line 10 comprises a long sag and a short sag, the large value of the X1 and the X2 is used as the long sag value of the power transmission line 10, and the small value is used as the short sag value of the power transmission line 10.
Preferably, in S1, the data processing module 5 performs preprocessing on the corrected image or video, and the implementation manner of obtaining the preprocessed image is as follows:
firstly, graying the corrected image or video to obtain one or more grayscale images, and then sequentially performing Gaussian filtering, median filtering and edge extraction on the obtained grayscale images to obtain the preprocessed image.
Preferably, the video image capturing module 1 is a digital camera or a digital still camera with a zoom function.
Preferably, the data processing module 5 is further configured to compare the obtained sag of the power transmission line 10 with a preset sag threshold, and send alarm information to the monitoring center server 12 if the obtained sag exceeds the preset sag threshold.
Preferably, the data processing module 5 is further configured to compare the obtained foreign object condition of the power transmission line 10 with the foreign object condition of the original power transmission line 10, and send an alarm message to the monitoring center server 12 if it is determined that a foreign object exists in the current power transmission line 10.
The invention has the following beneficial effects: the portable intelligent video detection device for the health of the transmission line and the tower is convenient to carry, and line patrol personnel can remotely acquire video or image data of the transmission line and the tower, so that the patrol efficiency of the personnel during patrol is greatly improved, and the line patrol personnel can more quickly and intuitively obtain required information; the analysis, calculation and processing of the data are completed locally, so that the health conditions of the power transmission line and the tower can be obtained by line patrol personnel in time, and the inspection difficulty is reduced; the intelligent video detection device has a simple structure, line patrol personnel can detect a plurality of transmission lines and towers through one device, and the traditional method for detecting the towers by arranging a large number of sensors on the towers and the method for calculating and analyzing sag and foreign matters of the transmission lines by manpower are replaced, so that the cost of the device is greatly reduced, the maintenance is convenient and easy, and the calculation and analysis processes of the sag and the foreign matters of the transmission lines are simple.
Drawings
FIG. 1 is a schematic structural diagram of a portable intelligent video detection device for health of a transmission line and a tower according to the invention;
fig. 2 shows a relative position relationship between the portable intelligent video detection device for health of the transmission line and the tower, and the transmission line 10 and the tower 11.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1 and fig. 2, the embodiment is described, and the portable intelligent video detection device for health of a power transmission line and a tower in the embodiment includes a video image acquisition module 1, a three-axis acceleration sensor 2, a temperature sensor 3, a power module 4, a data processing module 5, a storage module 6, and a display module 7;
the video image acquisition module 1 is used for carrying out video or image acquisition on the power transmission line 10 and the tower 11 and uploading the video or image acquisition to the data processing module 5;
the triaxial acceleration sensor 2 is used for acquiring the inclination angle information of the video image acquisition module 1 and uploading the inclination angle information to the data processing module 5;
the temperature sensor 3 is used for acquiring temperature information of a detection point and uploading the temperature information to the data processing module 5;
the data processing module 5 is used for correcting the inclination angles of the videos or images of the power transmission line 10 and the tower 11 acquired by the video image acquisition module 1 according to the received inclination angle information, processing the corrected images or videos to obtain the sag and foreign matter conditions of the power transmission line 10 and the inclination, defect and foreign matter conditions of the tower 11, and displaying the sag and foreign matter conditions and the foreign matter conditions through the display module 7;
the display module 7 is further used for displaying the videos or images of the power transmission line 10 and the tower 11, which are acquired by the video image acquisition module 1, the inclination angle information acquired by the triaxial acceleration sensor 2 and the detection point temperature information acquired by the temperature sensor 3 through the data processing module 5;
the storage module 6 is further used for storing the video or image, the inclination angle information, the position information of the detection point and the temperature information of the detection point received by the data processing module 5; the data processing module 5 is also used for storing sag and foreign matter conditions of the power transmission line 10 and inclination, defect and foreign matter conditions of the tower 11, which are obtained by the data processing module 5;
the data processing module 5 is also used for reading information from the storage module 6;
and the power supply module 4 is used for supplying power to the video image acquisition module 1, the three-axis acceleration sensor 2, the temperature sensor 3, the data processing module 5, the storage module 6 and the display module 7.
As shown in fig. 2, in the working schematic diagram of the intelligent video detection device of the present invention, the intelligent video detection device of the present invention is located on the side of the power transmission line 10 and the tower 11 when working; preferably, the position where the image or video information is acquired by the invention is preferably located on the vertical bisector of two adjacent towers 11, which is beneficial to processing the acquired image or video; when the image or video information of the power transmission line 10 and the tower 11 is acquired, it is necessary to ensure that the acquired image or video comprises the power transmission line 10 and the tower 11 and is an integral body;
for the video image acquisition module 1, the invention can adopt a high-precision digital camera with a zoom function and a resolution of 1920 x 1080, and the line patrol personnel selects and sets the focal length, the shooting angle, the contrast ratio and the like of the camera before acquisition, and optionally can add a telephoto lens according to different distances from an acquisition point to the power transmission line 10 and the tower 11; the selection of the shooting angle is most important, and if the selected angle is not suitable, the later extraction of each power transmission line 10 and each tower 11 is difficult; the method mainly comprises the following steps that 1, the transmission line 10 and the tower 11 which need to be detected are ensured to be integrated in a lens; 2. the background is as single as possible; 3. the lens avoids facing the sun so as not to affect the contrast of the picture.
The portable intelligent video detection device for the health of the transmission line and the tower is convenient to carry, and line patrol personnel can remotely acquire video or image data of the transmission line and the tower, so that the patrol efficiency of the personnel during patrol is greatly improved, and the line patrol personnel can more quickly and intuitively obtain required information; the analysis, calculation and processing of the data are completed locally, so that the health conditions of the power transmission line and the tower can be obtained by line patrol personnel in time, and the inspection difficulty is reduced; the intelligent video detection device has a simple structure, line patrol personnel can detect a plurality of transmission lines and towers through one device, and the traditional method for detecting the towers by arranging a large number of sensors on the towers and the method for calculating and analyzing sag and foreign matters of the transmission lines by manpower are replaced, so that the cost of the device is greatly reduced, the maintenance is convenient and easy, and the calculation and analysis processes of the sag and the foreign matters of the transmission lines are simple.
Further, referring specifically to fig. 1, the intelligent video detection device further includes a GPS positioning module 8;
the GPS positioning module 8 is used for measuring the position information of the detection points and uploading the position information to the data processing module 5;
and the data processing module 5 displays the received position information of the detection point through the display module 7.
In the embodiment, in a specific application, the invention utilizes the GPS positioning module 8 to determine the position of the detection point by combining with the position displayed on the display module 7 by the electronic map; when the detection is carried out for multiple times, the position is the same as the position detected last time; the GPS positioning module 8 is controlled by a patrol worker, when the survey is carried out for the first time, the original geographic position data acquisition is carried out firstly, the geographic position is ensured to be consistent when the survey is carried out for a plurality of times later, the fixed visual angle and the fixed scale of the acquired image or video data are also ensured, and the data processing module 5 can compare the acquired data with the historical data.
Further, referring specifically to fig. 1, the intelligent video detection device further includes a communication module 9;
the data processing module 5 exchanges data with the monitoring center server 12 through the communication module 9;
and the power supply module 4 is also used for supplying power to the communication module 9.
Further, referring to fig. 1 specifically, the data processing module 5 performs the inclination correction on the videos or images of the power transmission line 10 and the tower 11 acquired by the video image acquisition module 1 according to the received inclination information, with the following targets:
the data processing module 5 corrects the acquired video or image by using the received tilt angle information, so that the horizontal and vertical reference directions of the image or video are respectively matched with the actual horizontal and vertical directions.
Further, referring specifically to fig. 1, the implementation manner of the data processing module 5 performing image processing on the corrected image or video to obtain the sag and the foreign object condition of the power transmission line 10 and the inclination, the defect, and the foreign object condition of the tower 11 includes:
s1, the data processing module 5 preprocesses the corrected image or video to obtain a preprocessed image;
s2, extracting the features of the preprocessed image by using a Hough transform method to obtain a feature extraction image; in the feature extraction diagram, a point set in the shape of a straight line is a point set obtained by performing feature extraction on the tower 11, and a point set in the shape of a curve is a point set obtained by performing feature extraction on the power transmission line 10;
s3, performing curve fitting on the point set subjected to the feature extraction of the power transmission line 10 to obtain a characteristic function of the suspension curve of the power transmission line 10;
according to the characteristic function of the suspension curve, finding a lowest point coordinate in a point set after characteristic extraction is carried out on the power transmission line 10, calculating the number of point sets of lines between the lowest point coordinate and the highest point coordinates at two ends of the power transmission line 10 to be N1 and N2 respectively, and obtaining the sag of the power transmission line 10 by combining the relation between the vertical distance L between the highest point coordinates at two ends of the power transmission line 10 and the total number N of the point sets after characteristic extraction is carried out on the power transmission line 10;
and S4, comparing each point in the obtained point set after the characteristic extraction is carried out on the tower 11 and each point in the obtained point set after the characteristic extraction is carried out on the power transmission line 10 with corresponding historical data, so as to obtain the foreign matter condition of the power transmission line 10 and the inclination, defect and foreign matter condition of the tower 11.
Further, referring to fig. 1 specifically, the implementation manner of calculating the numbers of point sets of the lines between the coordinates of the lowest point and the coordinates of the highest points at the two ends of the power transmission line 10 as N1 and N2, and obtaining the sag of the power transmission line 10 by combining the relationship between the vertical distance L between the coordinates of the highest points at the two ends of the power transmission line 10 and the total number N of the point sets after feature extraction is performed on the power transmission line 10 is as follows:
X1＝(N/L)*n1；
X2＝(N/L)*n2；
wherein, X1 and X2 are the vertical distances between the highest points at the two ends of the power transmission line 10 and the lowest points of the power transmission line 10 respectively; when the heights of the highest points at the two ends of the power transmission line 10 are consistent, X1 is X2, the sag of the power transmission line 10 is unique, and the sag value of the power transmission line 10 is X1 or X2;
when the heights of the highest points at the two ends of the power transmission line 10 are inconsistent, the sag of the power transmission line 10 comprises a long sag and a short sag, the large value of the X1 and the X2 is used as the long sag value of the power transmission line 10, and the small value is used as the short sag value of the power transmission line 10.
Further, referring to fig. 1 specifically, in S1, the data processing module 5 performs preprocessing on the corrected image or video, and the implementation manner of obtaining the preprocessed image is as follows:
firstly, graying the corrected image or video to obtain one or more grayscale images, and then sequentially performing Gaussian filtering, median filtering and edge extraction on the obtained grayscale images to obtain the preprocessed image.
Further, referring specifically to fig. 1, the video image capturing module 1 is a digital camera or a digital still camera with a zoom function.
Further, referring to fig. 1 specifically, the data processing module 5 is further configured to compare the obtained sag of the power transmission line 10 with a preset sag threshold, and send an alarm message to the monitoring center server 12 if the obtained sag of the power transmission line exceeds the preset sag threshold.
Further, referring to fig. 1 specifically, the data processing module 5 is further configured to compare the obtained foreign object condition of the power transmission line 10 with the foreign object condition of the original power transmission line 10, and send an alarm message to the monitoring center server 12 if it is determined that the foreign object exists in the current power transmission line 10.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. The portable intelligent video detection device for the health of the transmission line and the tower is characterized by comprising a video image acquisition module (1), a three-axis acceleration sensor (2), a temperature sensor (3), a power supply module (4), a data processing module (5), a storage module (6) and a display module (7);
the video image acquisition module (1) is used for acquiring videos or images of the power transmission line (10) and the tower (11) and uploading the videos or images to the data processing module (5);
the three-axis acceleration sensor (2) is used for acquiring the inclination angle information of the video image acquisition module (1) and uploading the inclination angle information to the data processing module (5);
the temperature sensor (3) is used for collecting temperature information of the detection point and uploading the temperature information to the data processing module (5);
the data processing module (5) is used for correcting the inclination angles of the videos or images of the power transmission line (10) and the tower (11) acquired by the video image acquisition module (1) according to the received inclination angle information, processing the corrected images or videos to obtain the sag and foreign matter conditions of the power transmission line (10) and the inclination, defect and foreign matter conditions of the tower (11), and displaying the sag, defect and foreign matter conditions through the display module (7);
the display module (7) is also used for displaying videos or images of the power transmission line (10) and the tower (11) acquired by the video image acquisition module (1), inclination angle information acquired by the three-axis acceleration sensor (2) and detection point temperature information acquired by the temperature sensor (3) through the data processing module (5);
the storage module (6) is also used for storing the video or image, the inclination angle information, the position information of the detection point and the temperature information of the detection point received by the data processing module (5); the device is also used for storing sag and foreign matter conditions of the power transmission line (10) and inclination, defect and foreign matter conditions of the tower (11) which are obtained by the data processing module (5);
the data processing module (5) is also used for reading information from the storage module (6);
the power supply module (4) is used for supplying power to the video image acquisition module (1), the three-axis acceleration sensor (2), the temperature sensor (3), the data processing module (5), the storage module (6) and the display module (7).
2. The intelligent video detection device for the health of the power transmission line and the tower as claimed in claim 1, further comprising a GPS positioning module (8);
the GPS positioning module (8) is used for measuring the position information of the detection point and uploading the position information to the data processing module (5);
and the data processing module (5) displays the received position information of the detection point through the display module (7).
3. The intelligent video detection device for the health of the power transmission line and the tower as claimed in claim 1, further comprising a communication module (9);
the data processing module (5) exchanges data with the monitoring center server (12) through the communication module (9);
and the power supply module (4) is also used for supplying power to the communication module (9).
4. The intelligent video detection device for health of the portable power transmission line and the tower according to claim 1, wherein the data processing module (5) corrects the inclination angles of the video or the image of the power transmission line (10) and the tower (11) acquired by the video image acquisition module (1) according to the received inclination angle information, and has the following targets:
the data processing module (5) corrects the acquired video or image by using the received inclination angle information, so that the horizontal and vertical reference directions of the image or video are respectively matched with the actual horizontal and vertical directions.
5. The intelligent video detection device for the health of the portable power transmission line and the tower according to claim 1, wherein the data processing module (5) performs image processing on the corrected image or video to obtain the sag and foreign matter conditions of the power transmission line (10) and the inclination, defect and foreign matter conditions of the tower (11) in an implementation manner comprising:
s1, the data processing module (5) preprocesses the corrected image or video to obtain a preprocessed image;
s2, extracting the features of the preprocessed image by using a Hough transform method to obtain a feature extraction image; in the characteristic extraction diagram, a point set in the shape of a straight line is a point set obtained after characteristic extraction is carried out on the tower (11), and a point set in the shape of a curve is a point set obtained after characteristic extraction is carried out on the power transmission line (10);
s3, performing curve fitting on the point set subjected to the feature extraction on the power transmission line (10) to obtain a suspension curve feature function of the power transmission line (10);
according to a characteristic function of an overhang curve, finding a lowest point coordinate in a point set subjected to characteristic extraction on the power transmission line (10), calculating the number of point sets of a line between the lowest point coordinate and the highest point coordinates at two ends of the power transmission line (10) to be N1 and N2 respectively, and obtaining the sag of the power transmission line (10) by combining the relation between the vertical distance L between the highest point coordinates at two ends of the power transmission line (10) and the total number N of the point sets subjected to characteristic extraction on the power transmission line (10);
s4, comparing each point in the obtained point set after the characteristic extraction is carried out on the tower (11) and each point in the obtained point set after the characteristic extraction is carried out on the power transmission line (10) with corresponding historical data, and thus obtaining the foreign matter condition of the power transmission line (10) and the inclination, defect and foreign matter condition of the tower (11).
6. The intelligent video detection device for health of the portable power transmission line and tower according to claim 5, wherein the number of point sets of lines located between the coordinates of the lowest point and the coordinates of the highest points at the two ends of the power transmission line (10) is calculated to be N1 and N2, respectively, and the sag of the power transmission line (10) is obtained by combining the relationship between the vertical distance L between the coordinates of the highest points at the two ends of the power transmission line (10) and the total number N of the point sets after feature extraction of the power transmission line (10) in the following manner:
X1＝(N/L)*n1；
X2＝(N/L)*n2；
wherein X1 and X2 are respectively vertical distances between the highest points at two ends of the power transmission line (10) and the lowest points of the power transmission line (10); when the heights of the highest points of the two ends of the power transmission line (10) are consistent, X1 is X2, the sag of the power transmission line (10) is only one, and the sag value of the power transmission line (10) is X1 or X2;
when the heights of the highest points at the two ends of the power transmission line (10) are inconsistent, the sag of the power transmission line (10) comprises a long sag and a short sag, the large value of the X1 and the X2 is used as the value of the long sag of the power transmission line (10), and the small value of the X1 and the X2 is used as the value of the short sag of the power transmission line (10).
7. The intelligent video detection device for health of the portable power transmission line and tower according to claim 5, wherein in S1, the data processing module (5) preprocesses the corrected image or video, and the implementation manner of obtaining the preprocessed image is as follows:
firstly, graying the corrected image or video to obtain one or more grayscale images, and then sequentially performing Gaussian filtering, median filtering and edge extraction on the obtained grayscale images to obtain the preprocessed image.
8. The intelligent video detection device for health of the power transmission line and the tower as claimed in claim 1, wherein the video image acquisition module (1) is a digital camera or a digital camera with a zooming function.
9. The portable intelligent video detection device for the health of the power transmission line and the tower as claimed in claim 1, wherein the data processing module (5) is further configured to compare the obtained sag of the power transmission line (10) with a preset sag threshold, and send alarm information to the monitoring center server (12) if the obtained sag of the power transmission line exceeds the preset sag threshold.
10. The portable intelligent video detection device for the health of the power transmission line and the tower as claimed in claim 1, wherein the data processing module (5) is further configured to compare the obtained foreign matter condition of the power transmission line (10) with the foreign matter condition of the original power transmission line (10), and send alarm information to the monitoring center server (12) if it is determined that the foreign matter exists in the current power transmission line (10).
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