CN112802004B - Portable intelligent video detection device for health of power transmission line and pole tower - Google Patents
Portable intelligent video detection device for health of power transmission line and pole tower Download PDFInfo
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- CN112802004B CN112802004B CN202110172076.2A CN202110172076A CN112802004B CN 112802004 B CN112802004 B CN 112802004B CN 202110172076 A CN202110172076 A CN 202110172076A CN 112802004 B CN112802004 B CN 112802004B
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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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- G—PHYSICS
- 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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- 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
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
Abstract
Portable transmission line and healthy intelligent video detection device of shaft tower belongs to electric power transmission line state detection field. The invention solves the problems of complex structure, difficult maintenance, poor portability and difficult measurement and calculation of the related information of the power transmission line and the tower in the existing system for monitoring the power transmission line and the tower. The video image acquisition module is used for acquiring videos or images of the power transmission line and the tower; the triaxial acceleration sensor is used for acquiring inclination angle information of the video image acquisition module; the data processing module corrects the inclination angle of the video or the image of the power transmission line and the tower, which are acquired by the video image acquisition module, according to the received inclination angle information, and performs image processing on the corrected image or the video to obtain sag and foreign matter conditions of the power transmission line, and inclination, defect and foreign matter conditions of the tower, and the sag and foreign matter conditions are displayed by the display module. The invention is mainly used for monitoring the power transmission line and the tower.
Description
Technical Field
The invention belongs to the field of power transmission line state detection.
Background
Electricity is definitely indispensable in modern life, and the electricity must be transmitted through a power grid, so that the power transmission line is often influenced by external environment in the operation process due to wide geographical distribution in China and complex and various geological conditions. The phenomena of slippage, inclination, sedimentation, cracking and the like often occur on the tower foundation, so that the deformation or inclination of the tower is caused; after a period of time, the wires have different degrees of sagging, when the sagging is overlarge, the wires can swing greatly under the action of electric force in strong wind or during faults, so that the wires are mixed to cause short circuit, and meanwhile, accidents occur due to insufficient distances between the lower cross road and the building; when sag is too small, the lead bears too large stress, and broken line accidents are easy to occur; when the bird nesting and foreign matter hanging on the line occur, if the bird nesting and foreign matter is not cleaned in time, the line may be tripped and power cut.
The accidents bring great economic loss to the country, so the maintenance of the power line is very important; the line inspection is an important foundation for maintaining the power line, and the development condition of the line inspection directly restricts the overall maintenance level of the power distribution line and even the power grid.
The inspection mode adopted at present is that a large helicopter or an unmanned plane inspects; compared with the traditional manual inspection method, the method has the advantages that the inspection efficiency is improved, the inspection difficulty is reduced, but because the aircraft is controlled by personnel, the aircraft has instability in flight, often an observation target passes through the field of view of a camera quickly, reliable data can not be comprehensively acquired, and the technical difficulty is increased; and another disadvantage of using a large helicopter or unmanned aerial vehicle for inspection is high cost and great limitation on the convenience of operation.
At present, electronic circuits are adopted to collect related information of a power transmission line and a pole tower on line, collected information is uploaded to a remote server through a communication network in real time, and the remote server is used for processing and analyzing the collected data; and because the single tower is provided with a plurality of device points, the installation and maintenance are inconvenient; and the power supply is limited by the use environment, and when the power supply is powered down, reliable alarm is difficult to ensure.
In addition, in the existing method for monitoring the inclination of the pole and the tower, a large number of sensors are installed on a line or the pole and the tower for detection, and the method has the defects that the complexity and the instability of the system are increased due to the excessive sensors, and meanwhile, the system is difficult to maintain and high in cost.
At present, the method for monitoring the sag of the transmission line on the overhead line mainly adopts the following methods: by theodolite goniometry, but with lower accuracy; the method is suitable for a midpoint height method with flat terrain, and is inconvenient to measure the distance by using a steel ruler; the method of unequal length sample strip, the method of measuring internal line height and the analytical method are all through some mathematical models, but under the condition of complex environment, the model parameters are not easy to measure. Therefore, the above problems need to be solved.
Disclosure of Invention
The invention aims to solve the problems of complex structure, difficult maintenance, poor portability and difficult measurement and calculation of related information of a power transmission line and a pole tower in the existing system for monitoring the power transmission line and the pole tower.
The portable intelligent video detection device for the health of the transmission line and the pole tower comprises a video image acquisition module 1, a triaxial 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 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 collecting temperature information of a detection point and uploading the temperature information to the data processing module 5;
the data processing module 5 corrects the inclination angles of the video or the 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, performs image processing on the corrected images or the corrected videos to obtain sag and foreign matter conditions of the power transmission line 10 and inclination, defect and foreign matter conditions of the tower 11, and displays the conditions through the display module 7;
the display module 7 is further used for displaying the video or the image of the power transmission line 10 and the tower 11 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 device is also used for storing sag, 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 further used for reading information from the storage module 6;
the power module 4 is used for supplying power to the video image acquisition module 1, the triaxial 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 point and uploading the position information to the data processing module 5;
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;
the power module 4 is further configured to supply power to the communication module 9.
Preferably, the data processing module 5 corrects the inclination angle 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 as follows:
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.
Preferably, the data processing module 5 performs image processing on the corrected image or video to obtain sag, foreign object situation of the power transmission line 10, and implementation modes of inclination, defect and foreign object situation of the tower 11 include:
s1, a data processing module 5 preprocesses a corrected image or video to obtain a preprocessed image;
s2, carrying out feature extraction on the preprocessed image by using a Hough transformation method to obtain a feature extraction diagram; in the feature extraction graph, a point set in a straight line is a point set after feature extraction of the tower 11, and a point set in a curve is a point set after feature extraction of the transmission line 10;
s3, performing curve fitting on the point set subjected to feature extraction on the power transmission line 10 to obtain a suspension curve feature function 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 of the power transmission line 10, calculating the number of the point sets of the line between the coordinates of the lowest point and the highest point coordinates at the two ends of the power transmission line 10 as 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 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 characteristic extraction of the power transmission line 10;
s4, comparing the obtained point set after feature extraction of the tower 11 with the obtained point set after feature extraction of the power transmission line 10, and the 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 implementation manner of calculating the number of the point sets of the line 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 respectively, and 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 the feature extraction of the power transmission line 10 to obtain the sag of the power transmission line 10 is as follows:
X1＝(N/L)*n1；
X2＝(N/L)*n2；
wherein, X1 and X2 are respectively the vertical distance between the highest points at the two ends of the power transmission line 10 and the lowest point of the power transmission line 10; when the heights of the highest points at the two ends of the power transmission line 10 are consistent, then x1=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 not consistent, the sag of the power transmission line 10 comprises a long sag and a short sag, and the value of the long sag as the power transmission line 10 with the large value in the X1 and the X2 and the value of the short sag as the power transmission line 10 with the small value are obtained.
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, carrying out graying treatment on the corrected image or video to obtain one or more gray images, and then sequentially carrying out Gaussian filtering, median filtering and edge extraction on the obtained gray images so as to obtain a preprocessed image.
Preferably, the video image acquisition module 1 is a digital video 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 if the sag threshold exceeds the preset sag threshold range, send an alarm message to the monitoring center server 12.
Preferably, the data processing module 5 is further configured to compare the obtained foreign object situation of the power transmission line 10 with the foreign object situation of the original power transmission line 10, and if it is determined that the current power transmission line 10 has a foreign object, send an alarm message to the monitoring center server 12.
The beneficial effects brought by the invention are as follows: the portable intelligent video detection device for the health of the power transmission line and the pole tower is convenient to carry, line inspection personnel can acquire video or image data of the power transmission line and the pole tower in a long distance, so that the inspection efficiency of personnel during inspection is greatly improved, and the line inspection personnel can acquire required information more quickly and intuitively; the analysis and calculation processing of the data is completed locally, so that line inspection personnel can obtain the health conditions of the power transmission line and the tower in time, and the inspection difficulty is reduced; the intelligent video detection device is simple in structure, a line patrol person detects a plurality of power transmission lines and towers through one device, a traditional method for detecting the towers by arranging a large number of sensors on the towers and a method for manually calculating and analyzing sag and foreign matters of the power transmission lines are replaced, the cost of the device is greatly reduced, maintenance is convenient and easy, and the sag and foreign matters of the power transmission lines are calculated and analyzed simply.
Drawings
FIG. 1 is a schematic diagram of a portable power transmission line and pole health intelligent video detection device according to the present invention;
fig. 2 shows the relative positional relationship between the portable intelligent video detection device for power transmission line and pole and tower health, and the power transmission line 10 and the pole and tower 11 according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
Referring to fig. 1 and fig. 2, the portable intelligent video detection device for power transmission line and tower health according to the present embodiment includes a video image acquisition module 1, a triaxial 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 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 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 collecting temperature information of a detection point and uploading the temperature information to the data processing module 5;
the data processing module 5 corrects the inclination angles of the video or the 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, performs image processing on the corrected images or the corrected videos to obtain sag and foreign matter conditions of the power transmission line 10 and inclination, defect and foreign matter conditions of the tower 11, and displays the conditions through the display module 7;
the display module 7 is further used for displaying the video or the image of the power transmission line 10 and the tower 11 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 device is also used for storing sag, 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 further used for reading information from the storage module 6;
the power module 4 is used for supplying power to the video image acquisition module 1, the triaxial 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 a working schematic diagram of the intelligent video detection device of the present invention, the intelligent video detection device of the present invention is located at a side of a power transmission line 10 and a tower 11 when working; preferably, the position of the invention when collecting the image or video information is preferably located on the vertical bisector of the two adjacent towers 11, which is beneficial to the processing of the collected image or video; when the image or video information of the power transmission line 10 and the tower 11 is acquired, the acquired image or video must be ensured to contain the power transmission line 10 and the tower 11 and be a whole;
for the video image acquisition module 1, the invention can adopt a high-precision digital camera with 1920 multiplied by 1080 resolution and zoom function, a line inspection person can select and set the focal length, shooting angle, contrast and the like of the camera before acquisition, and a long-focus lens can be optionally added according to different distances from an acquisition point to the power transmission line 10 and the tower 11; the shooting angle is most important to select, and if the selected angle is not suitable, the extraction of each power transmission line 10 and each tower 11 is difficult; the manual adjustment of the angle of the camera is mainly characterized in that 1, the whole of a transmission line 10 and a pole tower 11 which need to be detected is ensured to be in a lens; 2. the background is as single as possible; 3. the lens is prevented from facing the sun so as not to affect the contrast of the picture.
The portable intelligent video detection device for the health of the power transmission line and the pole tower is convenient to carry, line inspection personnel can acquire video or image data of the power transmission line and the pole tower in a long distance, so that the inspection efficiency of personnel during inspection is greatly improved, and the line inspection personnel can acquire required information more quickly and intuitively; the analysis and calculation processing of the data is completed locally, so that line inspection personnel can obtain the health conditions of the power transmission line and the tower in time, and the inspection difficulty is reduced; the intelligent video detection device is simple in structure, a line patrol person detects a plurality of power transmission lines and towers through one device, a traditional method for detecting the towers by arranging a large number of sensors on the towers and a method for manually calculating and analyzing sag and foreign matters of the power transmission lines are replaced, the cost of the device is greatly reduced, maintenance is convenient and easy, and the sag and foreign matters of the power transmission lines are calculated and analyzed simply.
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 point and uploading the position information to the data processing module 5;
the data processing module 5 displays the received position information of the detection point through the display module 7.
In the embodiment, the invention utilizes the GPS positioning module 8 to display the position on the display module 7 in combination with the electronic map for determining the position of the detection point in specific application; and when the detection is carried out for a plurality of times, the position is the same as the position detected last time; the GPS positioning module 8 is controlled by the line inspection personnel, when the first time of inspection is performed, the original geographic position data is firstly acquired, the geographic position is ensured to be consistent when the later measurement is performed for multiple times, the viewing angle of the acquired image or video data is ensured to be certain with the scale, and thus the data processing module 5 can compare the acquired data with the historical data.
Still further, referring specifically to fig. 1, the intelligent video detecting apparatus further includes a communication module 9;
the data processing module 5 exchanges data with the monitoring center server 12 through the communication module 9;
the power module 4 is further configured to supply power to the communication module 9.
Still further, referring specifically to fig. 1, the data processing module 5 performs inclination correction on the video or image of the power transmission line 10 and the tower 11 acquired by the video image acquisition module 1 according to the received inclination information as follows:
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.
Still 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, the foreign object situation of the power transmission line 10, and the inclination, the defect and the foreign object situation of the tower 11 includes:
s1, a data processing module 5 preprocesses a corrected image or video to obtain a preprocessed image;
s2, carrying out feature extraction on the preprocessed image by using a Hough transformation method to obtain a feature extraction diagram; in the feature extraction graph, a point set in a straight line is a point set after feature extraction of the tower 11, and a point set in a curve is a point set after feature extraction of the transmission line 10;
s3, performing curve fitting on the point set subjected to feature extraction on the power transmission line 10 to obtain a suspension curve feature function 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 of the power transmission line 10, calculating the number of the point sets of the line between the coordinates of the lowest point and the highest point coordinates at the two ends of the power transmission line 10 as 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 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 characteristic extraction of the power transmission line 10;
s4, comparing the obtained point set after feature extraction of the tower 11 with the obtained point set after feature extraction of the power transmission line 10, and the 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 number of the point sets of the line 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 N1 and N2 respectively, and 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 extracting the features of the power transmission line 10 to obtain the sag of the power transmission line 10 is as follows:
X1＝(N/L)*n1；
X2＝(N/L)*n2；
wherein, X1 and X2 are respectively the vertical distance between the highest points at the two ends of the power transmission line 10 and the lowest point of the power transmission line 10; when the heights of the highest points at the two ends of the power transmission line 10 are consistent, then x1=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 not consistent, the sag of the power transmission line 10 comprises a long sag and a short sag, and the value of the long sag as the power transmission line 10 with the large value in the X1 and the X2 and the value of the short sag as the power transmission line 10 with the small value are obtained.
Still further, referring specifically to fig. 1, 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, carrying out graying treatment on the corrected image or video to obtain one or more gray images, and then sequentially carrying out Gaussian filtering, median filtering and edge extraction on the obtained gray images so as to obtain a preprocessed image.
Still further, referring specifically to fig. 1, the video image acquisition module 1 is a digital video camera or a digital still camera with a zoom function.
Still 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 if the sag exceeds the preset sag threshold, send an alarm message to the monitoring center server 12.
Still further, referring to fig. 1 specifically, 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 if it is determined that the current power transmission line 10 has a foreign matter, send an alarm message to the monitoring center server 12.
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 the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (8)
1. The portable intelligent video detection device for the health of the transmission line and the pole tower is characterized by comprising a video image acquisition module (1), a triaxial 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 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 collecting temperature information of a detection point and uploading the temperature information to the data processing module (5);
the data processing module (5) corrects the inclination angles of the video or the 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, performs image processing on the corrected images or the corrected videos to obtain sag and foreign matter conditions of the power transmission line (10) and inclination, defect and foreign matter conditions of the tower (11), and displays the sag and foreign matter conditions through the display module (7);
the display module (7) is also used for displaying the video or the image of the power transmission line (10) and the tower (11) 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 also used for storing the video or image, the dip angle information, the position information of the detection point and the temperature information of the detection point which are 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) obtained by the data processing module (5);
the data processing module (5) is also used for reading the information of the storage module (6);
the power supply module (4) is used for supplying power to the video image acquisition module (1), the triaxial acceleration sensor (2), the temperature sensor (3), the data processing module (5), the storage module (6) and the display module (7);
the data processing module (5) performs image processing on the corrected image or video to obtain sag and foreign matter conditions of the power transmission line (10), and the implementation modes of inclination, defect and foreign matter conditions of the tower (11) comprise:
s1, a data processing module (5) preprocesses a corrected image or video to obtain a preprocessed image;
s2, carrying out feature extraction on the preprocessed image by using a Hough transformation method to obtain a feature extraction diagram; in the feature extraction diagram, a point set in a straight line is a point set after feature extraction of a pole tower (11), and a point set in a curve is a point set after feature extraction of a power transmission line (10);
s3, performing curve fitting on the point set after feature extraction of the power transmission line (10) to obtain a suspension curve feature function of the power transmission line (10);
according to the characteristic function of the suspension curve, finding out the coordinate of the lowest point in the point set after the characteristic extraction of the power transmission line (10), calculating the number of the point sets of the line between the coordinate of the lowest point and the point coordinates of the highest points at the two ends of the power transmission line (10) as 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 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 the characteristic extraction of the power transmission line (10);
s4, comparing the obtained point set after feature extraction of the tower (11) with the obtained point set after feature extraction of the power transmission line (10) respectively 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);
the realization mode of calculating the relation between the coordinates of the lowest point and the total number N of the point sets after feature extraction of the power transmission line (10) to obtain the sag of the power transmission line (10) by combining the vertical distance L between the coordinates of the highest points at the two ends of the power transmission line (10) with the numbers of the point sets of the line between the coordinates of the highest points at the two ends of the power transmission line (10) being respectively N1 and N2 is as follows:
X1=（N/L）*n1；
X2=（N/L）*n2；
wherein X1 and X2 are respectively 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); when the heights of the highest points at the two ends of the power transmission line (10) are consistent, then x1=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, and the value of the long sag which is the power transmission line (10) and is large in the values of X1 and X2 is the value of the short sag which is the power transmission line (10), and the value of the short sag which is the value of the short sag is small.
2. The portable transmission line and pole health intelligent video detection device according to 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 portable power transmission line and pole health intelligent video detection device according to 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);
the power supply module (4) is also used for supplying power to the communication module (9).
4. The portable intelligent video detection device for power transmission line and tower health according to claim 1, wherein the data processing module (5) performs inclination correction on the video or image of the power transmission line (10) and the tower (11) acquired by the video image acquisition module (1) according to the received inclination information, and the inclination correction is as follows:
the data processing module (5) corrects the acquired video or image by utilizing 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 portable intelligent video detection device for power transmission line and tower health according to claim 1, wherein 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, carrying out graying treatment on the corrected image or video to obtain one or more gray images, and then sequentially carrying out Gaussian filtering, median filtering and edge extraction on the obtained gray images so as to obtain a preprocessed image.
6. The portable power transmission line and pole health intelligent video detection device according to claim 1, wherein the video image acquisition module (1) is a digital video camera or a digital still camera with a zooming function.
7. The portable power transmission line and tower health intelligent video detection device according to claim 1, wherein the data processing module (5) is further configured to compare the sag of the obtained power transmission line (10) with a preset sag threshold, and if the sag threshold exceeds a preset sag threshold range, send an alarm message to the monitoring center server (12).
8. The portable power transmission line and pole health intelligent video detection device according to 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 if it is determined that the foreign matter exists in the current power transmission line (10), send alarm information to the monitoring center server (12).
Priority Applications (1)
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