CN113358318B - Cable collision detection method, device, equipment and storage medium - Google Patents
Cable collision detection method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN113358318B CN113358318B CN202110752815.5A CN202110752815A CN113358318B CN 113358318 B CN113358318 B CN 113358318B CN 202110752815 A CN202110752815 A CN 202110752815A CN 113358318 B CN113358318 B CN 113358318B
- Authority
- CN
- China
- Prior art keywords
- cable
- detected
- rigid body
- windage yaw
- wind tunnel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/02—Wind tunnels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
- G01M9/06—Measuring arrangements specially adapted for aerodynamic testing
Abstract
The application discloses a cable collision detection method, a device, equipment and a storage medium, comprising the following steps: carrying an optical motion capture system for detecting the collision condition between a cable to be detected and a strain tower in a wind tunnel experiment scene according to target requirements; setting a first mark point on a cable to be detected for a wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point; and acquiring the windage yaw angle and windage yaw displacement of the first rigid body in the experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower. This application establishes corresponding first rigid body through setting up first mark point on waiting to detect the cable, then adopts the high accuracy optics motion capture system who carries on in advance to acquire the windage yaw angle and the windage yaw displacement of first rigid body in the experimentation to this detects waiting to detect the collision condition between cable and the strain tower, has improved the detection precision and the detection efficiency of cable collision.
Description
Technical Field
The invention relates to the technical field of wind tunnel tests, in particular to a cable collision detection method, a device, equipment and a storage medium.
Background
Cable refers to the generic term for flexible wires or cables used in electromechanical products to connect electrical devices or control devices. In the power transmission process, the collision detection and response processing of the cable are very important, but the real-time performance and accuracy of the detection are difficult to meet the requirements due to the complexity of the cable. In order to verify the possibility of an accident caused by the power cables, it is necessary to simulate the fault phenomena in the wind tunnel under various wind speeds, wind directions and different cable bending conditions. However, the accuracy of the cable collision verification test and the real-time performance of the detection in the prior art are to be improved, and therefore, how to provide a high-accuracy and real-time cable collision detection method is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a cable collision detection method, apparatus, device and storage medium, which can improve the detection accuracy and detection efficiency of cable collision. The specific scheme is as follows:
a first aspect of the present application provides a cable collision detection method, including:
carrying an optical motion capture system for detecting the collision condition between a cable to be detected and a strain tower in a wind tunnel experiment scene according to target requirements;
arranging a first mark point on the cable to be detected for the wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point;
and acquiring the windage yaw angle and the windage yaw displacement of the first rigid body in the experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower.
Optionally, the optical motion capture system comprises: the device comprises a plurality of infrared cameras arranged in a wind tunnel experiment scene, a T-shaped calibration rod for calibrating the infrared cameras, and an L-shaped right-angle calibration scale for establishing a measurement coordinate system.
Optionally, the plurality of infrared cameras are Prime41 motion capture cameras with an image processing module and an image transmission module.
Optionally, the plurality of infrared cameras are arranged at a 45-degree corner cut at the top end of the wind tunnel.
Optionally, the obtaining, by using the optical motion capture system, a windage yaw angle and a windage yaw displacement of the first rigid body in an experimental process to determine whether a collision occurs between the cable to be detected and the strain tower includes:
acquiring a moving image of the cable to be detected corresponding to the first rigid body by using the infrared camera in the optical motion capture system;
extracting three-dimensional space coordinates of the cable to be detected at different moments in a wind tunnel experiment from the moving image, and determining a windage yaw angle and a windage yaw displacement of the cable to be detected in the wind tunnel experiment according to the three-dimensional space coordinates so as to judge whether the cable to be detected collides with the strain tower.
Optionally, the cable collision detection method further includes:
setting a second mark point on the strain tower for the wind tunnel experiment so as to construct a second rigid body corresponding to the strain tower through the second mark point;
correspondingly, whether collision happens between the cable to be detected and the strain tower is judged, and the method comprises the following steps:
and judging whether the cable to be detected collides with the strain tower or not based on the windage yaw angle and the windage yaw displacement corresponding to the first rigid body and the second rigid body.
Optionally, the first marker point arranged on the cable to be detected and the second marker point arranged on the strain tower are a plurality of equal-width reflective strips with an interval smaller than 300 mm.
A second aspect of the present application provides a cable collision detection apparatus, including:
the system carrying module is used for carrying an optical motion capture system for detecting the collision condition between the cable to be detected and the strain tower in a wind tunnel experiment scene according to the target requirement;
the first mark point setting module is used for setting a first mark point on the cable to be detected for the wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point;
and the collision detection module is used for acquiring the windage yaw angle and the windage yaw displacement of the first rigid body in the experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower.
A third aspect of the application provides an electronic device comprising a processor and a memory; wherein the memory is configured to store a computer program that is loaded and executed by the processor to implement the aforementioned cable collision detection method.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon computer-executable instructions that, when loaded and executed by a processor, implement the aforementioned cable collision detection method.
In the application, at first, carry according to the target demand in wind tunnel experiment scene and be used for waiting to detect the optical motion capture system that the collision condition between cable and the strain tower detected, then be used for the wind tunnel experiment wait to set up first mark point on the cable, with pass through first mark point establish with wait to detect the first rigid body that the cable corresponds, utilize at last optical motion capture system acquires first rigid body windage yaw angle and windage yaw displacement in the experimentation, in order to confirm wait to detect the cable with whether bump takes place between the strain tower. This application is through being used for wind-tunnel experiment wait to set up first mark point on the cable and establish and wait to detect the first rigid body that the cable corresponds, then adopt the high accuracy optics motion capture system who carries on in advance to acquire the windage yaw angle and the windage yaw displacement of first rigid body in the experimentation to this detects the collision condition of waiting to detect between cable and the strain tower, has improved the detection precision and the detection efficiency of cable collision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a cable collision detection method provided in the present application;
FIG. 2 is a diagram of an OptiTrack network port system sub-connection structure provided in the present application;
FIG. 3 is a schematic view of a 500mm standard calibration rod provided herein;
FIG. 4 is a schematic diagram illustrating a position curve of a collision between a first rigid body and a second rigid body according to the present disclosure;
FIG. 5 is a schematic diagram of an actual wind deflection angle and a wind deflection displacement curve of a first rigid body according to the present application;
FIG. 6 is a schematic structural view of a cable collision detection apparatus provided in the present application;
fig. 7 is a block diagram of a cable collision detection electronic device according to the present disclosure.
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.
In the power transmission process, the collision detection and response processing of the cable are very important, but the real-time performance and accuracy of the detection are difficult to meet the requirements due to the complexity of the cable. In order to verify the possibility of an accident caused by the power cables, it is necessary to simulate the fault phenomena in the wind tunnel under various wind speeds, wind directions and different cable bending conditions. The precision and the detection real-time performance of the cable collision verification test in the prior art are to be improved. To above-mentioned technical characteristic, this application provides a cable collision detection scheme, constructs corresponding first rigid body through set up first mark point on waiting to detect the cable, then adopts the high accuracy optics motion capture system who carries on in advance to acquire the windage yaw angle and the windage yaw displacement of first rigid body in the experimentation to this detects the collision condition between waiting to detect cable and the strain tower, has improved the detection precision and the detection efficiency of cable collision.
Fig. 1 is a flowchart of a cable collision detection method according to an embodiment of the present application. Referring to fig. 1, the cable collision detection method includes:
s11: and carrying an optical motion capture system for detecting the collision condition between the cable to be detected and the strain tower in a wind tunnel experiment scene according to the target requirement.
In this embodiment, before cable collision detection, an optical motion capture system for detecting a collision condition between a cable to be detected and a strain tower needs to be carried in a wind tunnel experiment scene according to a target requirement. The optical motion capture system, namely an OptiTrack system, is a motion capture system produced by Natual Point in the United states, and is high-precision optical capture equipment. The optical motion capture system is a high-technology device for accurately measuring the motion condition of a moving object in a three-dimensional space. Based on the computer graphics principle, the motion state of a moving object (tracker) is recorded in the form of images by a plurality of video capture devices distributed in space, and then the image data is processed by a computer to obtain the space coordinates (X, Y, Z) of different objects (trackers) on different time measurement units. In this embodiment, the optical motion capture system includes, but is not limited to, a plurality of infrared cameras disposed in a wind tunnel experiment scene, a T-shaped calibration rod for calibrating the plurality of infrared cameras, and an L-shaped rectangular calibration scale for establishing a measurement coordinate system. The infrared cameras are Prime41 motion capture cameras with image processing modules and image transmission modules, and are arranged at the 45-degree corner cut position of the top end of the wind tunnel. The optical motion capture system is configured as shown in fig. 2, and may further include a control computer, a light reflection marker point, an OptiTrack cable, and measurement software (motion software).
The OptiTrack completes the task of motion capture by monitoring and tracking a specific reflection point on a target, and theoretically, for any point in space, as long as the point can be seen by two cameras at the same time, the spatial position of the point at the moment can be determined according to images shot by the two cameras and camera parameters at the same moment. When the camera is continuously shooting at a sufficiently high rate, the motion trajectory of the point can be obtained from the image sequence. The OptiTrack is only sensitive to infrared light of 850nm, and can effectively improve the image processing speed. In addition, motion is professional object-oriented six-degree-of-freedom tracking and high-precision motion tracking software developed by OptiTrack, supports real-time data processing and offline data processing, and is standard optical tracking software customized for engineering, scientific research and other applications. Under the motion control, a plurality of cameras are set to the same group, and the shutter and the exposure are started simultaneously, so that the cameras in the same group are ensured to be completely synchronized.
In this embodiment, the wind tunnel experiment scenario is to verify the wind yaw angle and the wind deflection displacement of the drainage wire of the 10kV insulated cable under the condition of being subjected to different wind forces and whether the drainage wire touches the telegraph pole (strain tower). The model requires that the distance between the poles is 3m, and the included angle between the cable and the pole is 90 degrees and 45 degrees. According to the situation, the lens is placed on the top of the wind tunnel at a 45-degree cutting angle, and the positions of the telegraph pole and the drainage wire in the tunnel can be completely seen at the position. And the position of the drainage wire is completely captured by using an 8-lens so as to ensure that the windage yaw angle and the windage yaw displacement of the drainage wire are measured.
In the wind tunnel test scene, the optical motion capture system can be used only when being calibrated. During calibration, the system calculates the position, angle, and distortion of each camera from the captured images. Through calibration, the optical motion capture system constructs a uniform spatial coordinate, and the coordinate is translated to keep the coordinate uniform with the wind tunnel coordinate. In the embodiment, a PRIME41 motion capture camera is selected as a calibrated lens, a PRIME41 motion capture camera has resolution of 2048 × 2048, has a high-precision professional camera with 420 ten thousand pixels, and has functions of a global shutter, intelligent image graphic processing, real-time image data transmission and the like. Specifically, the frame rate is 80-250Hz, the shutter time is 1 ms-20 us, the delay is 10ms, and the precision is sub-millimeter. After the system calibration is completed, the calibrated system needs to be subjected to precision measurement, and a standard calibration rod (shown in fig. 3) of 500mm is selected for the measurement for detection. The calibration rod is placed in the calibration area, two marking points at two ends of the calibration rod are selected in the motion 3D capturing space, the standard distance between the two marking points is 500mm, the distance between the two fixing points is measured to be 499.79 mm-500.32 mm after the system is calibrated, and the precision completely meets the requirement of cable collision detection.
S12: and arranging a first mark point on the cable to be detected for the wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point.
In the present embodiment, in the optical motion capture system, the base for the positioning of the rigid body is the marker point, and proper marker point setting has a great influence on the tracking quality and the reliability of captured data. The number and gauge (size, roundness, reflectivity) of marker point installations can also affect tracking quality. Firstly, a first mark point is arranged on the cable to be detected for wind tunnel experiment, so that a first rigid body corresponding to the cable to be detected is constructed through the first mark point. On the basis, in order to more accurately find out the touch condition, a second mark point can be further arranged on the tension tower for the wind tunnel experiment, so that a second rigid body corresponding to the tension tower is constructed through the second mark point. On one hand, the first mark points are attached to the cable at intervals to establish a first rigid body of the whole cable, and the wind outlet swing angle and the wind deflection displacement are mainly obtained; and on the other hand, a second mark point is attached to the strain tower to establish a second rigid body, and whether the main first rigid body and the second rigid body touch each other in the experimental process or not is judged.
In this embodiment, the first marker point disposed on the cable to be detected and the second marker point disposed on the strain tower are a plurality of equal-width reflective strips with an interval smaller than 300 mm. For rigid body tracking, all the mark points must be firmly fixed on the surface of the captured object, no deformation can be caused, and the number of the mark points cannot be less than 3. Because in the state of blowing, the cable torsional pendulum angle and cable deflection are unknown, conventional circular reflection of light marking point can not be caught under some state. In order to solve the problem, a light reflecting strip with the equal width of 20mm is stably attached to the cable in a ring mode, and therefore the light reflecting point on the cable is guaranteed to be kept in a rectangular shape at any angle.
The rigid body in motion is created from a landmark point mounted on the measured object, and the position (X, Y, Z) and posture (Pitch, Yaw, Roll) can be obtained in the rigid body. The rigid body in motion usually consists of more than 3 mark points, and the relative position relationship of the mark points does not change, i.e. the spatial position relationship between the installed mark points remains unchanged, and the distance between the mark points does not exceed the offset tolerance range set under the corresponding rigid body, otherwise the rigid body may not be reconstructed. It should be noted that the reason why the rigid body can be kept in motion is that the rigid body is formed by the mark points attached to the target object, and the target object moves during the test, so that the mark points on the target object also move, and the rigid body reconstruction is to make the rigid body formed by the original mark points continue to form the rigid body at the mark points after the target object moves.
In addition, the mark points are not in the same plane, so that a three-dimensional shape is formed. For multiple rigid bodies, each rigid body is guaranteed to be unique. The key idea of creating a unique rigid body is to avoid geometric consistency of multiple rigid bodies within a motion. Because the relative position relation of the mark points of the rigid body is not changed, the cable to be detected is arranged between the rigid body and the elastic body in the embodiment, and the rigid body is greatly influenced by the factors. Through repeated tests, the distance between the mark points on the cable to be detected is shortened, the hardness between the mark points is enhanced or the short-distance mark points are adopted to establish the multi-rigid-body. The space interval of each mark point is controlled within 300mm by combining the cable hardness, and the method can improve the condition that the rigid body is lost in motion due to the deformation of the rigid body caused by elasticity.
S13: and acquiring the windage yaw angle and the windage yaw displacement of the first rigid body in the experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower.
In this embodiment, under having different contained angles and different wind speed and wind direction angle between cable and the strain tower to be detected, rigid body windage yaw angle and displacement are measured. In each specific scene, firstly, the infrared camera in the optical motion capture system is used for acquiring a moving image of the cable to be detected corresponding to the first rigid body. And then extracting three-dimensional space coordinates of the cable to be detected at different moments in a wind tunnel experiment from the moving image, and determining a windage yaw angle and a windage yaw displacement of the cable to be detected in the wind tunnel experiment according to the three-dimensional space coordinates so as to judge whether the cable to be detected collides with the strain tower.
Fig. 4 and fig. 5 respectively show the detection result curves of this embodiment, according to the measurement results, when the wind speed reaches 25m and the included angle between the cable and the utility pole reaches 40 °, the cable obviously touches the strain tower. That is, fig. 4 is an angle, fig. 5 is a displacement, and the coordinates of the existing mark points between the two rigid bodies coincide with each other on the displacement, which means that the existing mark points between the two rigid bodies have a repeated path on a certain coordinate axis. And then the touched point can be obtained according to the trigonometric function according to the wind swing angle. The conclusion obtained by the cable collision detection method of the embodiment of the application plays an important role in optimizing and improving the construction design of the 10kV line.
It can be seen that, according to the embodiment of the application, firstly, an optical motion capture system for detecting the collision condition between a cable to be detected and a strain tower is carried in a wind tunnel experiment scene according to a target requirement, then, a first mark point is arranged on the cable to be detected for a wind tunnel experiment, so that a first rigid body corresponding to the cable to be detected is constructed through the first mark point, and finally, the optical motion capture system is used for obtaining the windage yaw angle and windage yaw displacement of the first rigid body in the experiment process, so as to determine whether the cable to be detected and the strain tower collide. The embodiment of the application is used for the wind tunnel experiment to set up a first mark point on the cable to be detected to construct and detect the first rigid body corresponding to the cable, and then adopts the high-precision optical motion capture system who carries on in advance to obtain the windage yaw angle and windage yaw displacement of the first rigid body in the experimental process to this detects the collision condition between the cable to be detected and the strain tower, has improved the detection precision and the detection efficiency of cable collision.
Referring to fig. 6, the embodiment of the present application also correspondingly discloses a cable collision detection device, including:
the system carrying module 11 is used for carrying an optical motion capturing system for detecting the collision condition between the cable to be detected and the strain tower in a wind tunnel experiment scene according to target requirements;
the first mark point setting module 12 is configured to set a first mark point on the cable to be detected for the wind tunnel experiment, so as to construct a first rigid body corresponding to the cable to be detected through the first mark point;
and the collision detection module 13 is configured to acquire a windage yaw angle and a windage yaw displacement of the first rigid body in an experimental process by using the optical motion capture system, so as to determine whether a collision occurs between the cable to be detected and the strain tower.
It can be seen that, according to the embodiment of the application, firstly, an optical motion capture system for detecting the collision condition between a cable to be detected and a strain tower is carried in a wind tunnel experiment scene according to a target requirement, then, a first mark point is arranged on the cable to be detected for a wind tunnel experiment, so that a first rigid body corresponding to the cable to be detected is constructed through the first mark point, and finally, the optical motion capture system is used for obtaining the windage yaw angle and windage yaw displacement of the first rigid body in the experiment process, so as to determine whether the cable to be detected and the strain tower collide. The embodiment of the application is used for the wind tunnel experiment to set up a first mark point on the cable to be detected to construct and detect the first rigid body corresponding to the cable, and then adopts the high-precision optical motion capture system who carries on in advance to obtain the windage yaw angle and windage yaw displacement of the first rigid body in the experimental process to this detects the collision condition between the cable to be detected and the strain tower, has improved the detection precision and the detection efficiency of cable collision.
In some embodiments, the first marker point setting module 12 is specifically configured to set the first marker point on the cable to be detected and the second marker point on the tension tower as a plurality of equal-width reflective strips spaced less than 300mm apart.
In some specific embodiments, the collision detection module 13 specifically includes:
an image acquisition unit, configured to acquire, by using the infrared camera in the optical motion capture system, a moving image of the cable to be detected corresponding to the first rigid body;
and the coordinate extraction unit is used for extracting three-dimensional space coordinates of the cable to be detected at different moments in a wind tunnel experiment from the moving image, and determining a windage yaw angle and a windage yaw displacement of the cable to be detected in the wind tunnel experiment according to the three-dimensional space coordinates so as to judge whether the cable to be detected collides with the strain tower.
In some embodiments, the cable collision detection apparatus further includes:
the second mark point setting module is used for setting a second mark point on the strain tower for the wind tunnel experiment so as to construct a second rigid body corresponding to the strain tower through the second mark point;
correspondingly, the collision detection module 13 is specifically configured to determine whether a collision occurs between the cable to be detected and the strain tower based on the windage yaw angle and the windage yaw displacement corresponding to the first rigid body and the second rigid body.
Further, the embodiment of the application also provides electronic equipment. FIG. 7 is a block diagram illustrating an electronic device 20 according to an exemplary embodiment, and the contents of the diagram should not be construed as limiting the scope of use of the present application in any way.
Fig. 7 is a schematic structural diagram of an electronic device 20 according to an embodiment of the present disclosure. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input output interface 25, and a communication bus 26. Wherein the memory 22 is configured to store a computer program, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the cable collision detection method disclosed in any of the foregoing embodiments.
In this embodiment, the power supply 23 is configured to provide a working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and an external device, and a communication protocol followed by the communication interface is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited herein; the input/output interface 25 is configured to obtain external input data or output data to the outside, and a specific interface type thereof may be selected according to specific application requirements, which is not specifically limited herein.
In addition, the storage 22 is used as a carrier for resource storage, and may be a read-only memory, a random access memory, a magnetic disk or an optical disk, etc., and the resources stored thereon may include an operating system 221, a computer program 222, data 223, etc., and the storage may be a transient storage or a permanent storage.
The operating system 221 is used for managing and controlling each hardware device and the computer program 222 on the electronic device 20, so as to realize the operation and processing of the processor 21 on the mass 223 in the memory 22, and may be Windows Server, Netware, Unix, Linux, and the like. The computer program 222 may further include a computer program that can be used to perform other specific tasks in addition to the computer program that can be used to perform the cable collision detection method performed by the electronic device 20 disclosed in any of the foregoing embodiments. Data 223 may include image data collected by electronic device 20.
Further, an embodiment of the present application further discloses a storage medium, in which a computer program is stored, and when the computer program is loaded and executed by a processor, the steps of the cable collision detection method disclosed in any of the foregoing embodiments are implemented.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method, the device, the equipment and the storage medium for detecting cable collision provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A cable impact detection method, comprising:
carrying an optical motion capture system for detecting the collision condition between a cable to be detected and a strain tower in a wind tunnel experiment scene according to target requirements;
the optical motion capture system comprises: the system comprises a plurality of infrared cameras arranged in a wind tunnel experiment scene, a T-shaped calibration rod for calibrating the infrared cameras, and an L-shaped right-angle calibration scale for establishing a measurement coordinate system;
arranging a first mark point on the cable to be detected for the wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point;
acquiring a windage yaw angle and a windage yaw displacement of the first rigid body in an experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower;
the acquiring, by the optical motion capture system, the windage yaw angle and the windage yaw displacement of the first rigid body in the experimental process to determine whether the cable to be detected collides with the strain tower includes:
acquiring a moving image of the cable to be detected corresponding to the first rigid body by using the infrared camera in the optical motion capture system;
extracting three-dimensional space coordinates of the cable to be detected at different moments in a wind tunnel experiment from the moving image, and determining a windage yaw angle and a windage yaw displacement of the cable to be detected in the wind tunnel experiment according to the three-dimensional space coordinates so as to judge whether the cable to be detected collides with the strain tower.
2. The cable collision detection method according to claim 1, wherein the plurality of infrared cameras are Prime41 motion capture cameras having an image processing module and an image transmission module.
3. The cable collision detection method according to claim 1, wherein a plurality of the infrared cameras are provided at a 45-degree chamfer angle of the top end of the wind tunnel.
4. The cable collision detection method according to claim 1, further comprising:
setting a second mark point on the strain tower for the wind tunnel experiment so as to construct a second rigid body corresponding to the strain tower through the second mark point;
correspondingly, whether collision happens between the cable to be detected and the strain tower is judged, and the method comprises the following steps:
and judging whether the cable to be detected collides with the strain tower or not based on the windage yaw angle and the windage yaw displacement corresponding to the first rigid body and the second rigid body.
5. The cable collision detection method according to any one of claims 1 to 4, wherein the first marker point provided on the cable to be detected and the second marker point provided on the strain tower are a plurality of equal-width reflective stripes spaced less than 300mm apart.
6. A cable collision detecting device, comprising:
the system carrying module is used for carrying an optical motion capture system for detecting the collision condition between the cable to be detected and the strain tower in a wind tunnel experiment scene according to the target requirement; the optical motion capture system comprises: the system comprises a plurality of infrared cameras arranged in a wind tunnel experiment scene, a T-shaped calibration rod for calibrating the infrared cameras, and an L-shaped right-angle calibration scale for establishing a measurement coordinate system;
the first mark point setting module is used for setting a first mark point on the cable to be detected for the wind tunnel experiment so as to construct a first rigid body corresponding to the cable to be detected through the first mark point;
the collision detection module is used for acquiring a windage yaw angle and a windage yaw displacement of the first rigid body in an experimental process by using the optical motion capture system so as to determine whether the cable to be detected collides with the strain tower; the acquiring, by the optical motion capture system, the windage yaw angle and the windage yaw displacement of the first rigid body in the experimental process to determine whether the cable to be detected collides with the strain tower includes: acquiring a moving image of the cable to be detected corresponding to the first rigid body by using the infrared camera in the optical motion capture system; extracting three-dimensional space coordinates of the cable to be detected at different moments in a wind tunnel experiment from the moving image, and determining a windage yaw angle and a windage yaw displacement of the cable to be detected in the wind tunnel experiment according to the three-dimensional space coordinates so as to judge whether the cable to be detected collides with the strain tower.
7. An electronic device, wherein the electronic device comprises a processor and a memory; wherein the memory is for storing a computer program that is loaded and executed by the processor to implement the cable collision detection method according to any of claims 1 to 5.
8. A computer-readable storage medium storing computer-executable instructions that, when loaded and executed by a processor, carry out a cable collision detection method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110752815.5A CN113358318B (en) | 2021-07-02 | 2021-07-02 | Cable collision detection method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110752815.5A CN113358318B (en) | 2021-07-02 | 2021-07-02 | Cable collision detection method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113358318A CN113358318A (en) | 2021-09-07 |
| CN113358318B true CN113358318B (en) | 2022-05-17 |
Family
ID=77538067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110752815.5A Active CN113358318B (en) | 2021-07-02 | 2021-07-02 | Cable collision detection method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113358318B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09175353A (en) * | 1995-12-26 | 1997-07-08 | Suzuki Motor Corp | Double collision preventing device for vehicle |
| CN103795002A (en) * | 2014-02-12 | 2014-05-14 | 国家电网公司 | Automatic device for crossing high-voltage transmission line lightning conductor quakeproof hammer and crossing method of automatic device |
| CN109186549A (en) * | 2018-10-26 | 2019-01-11 | 国网黑龙江省电力有限公司电力科学研究院 | A kind of Iron tower incline angle measurement method of view-based access control model |
| CN111982446A (en) * | 2020-06-30 | 2020-11-24 | 国网浙江省电力有限公司湖州供电公司 | Device and method for testing accessory foundation of power transmission line impacted by rolling stones |
Family Cites Families (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102008047341A1 (en) * | 2008-09-15 | 2010-04-15 | Daubner & Stommel GbR Bau-Werk-Planung (vertretungsberechtigter Gesellschafter: Matthias Stommel, 27777 Ganderkesee) | Method for lifting components of wind turbines |
| KR101154299B1 (en) * | 2010-09-28 | 2012-06-13 | 현대자동차주식회사 | Active hood latch system for vehicle |
| CN104303008A (en) * | 2012-05-01 | 2015-01-21 | F.T.创新公司 | Collision position detection device, wind power generation device and wind power generation system |
| CN103778476B (en) * | 2013-07-03 | 2017-03-22 | 国家电网公司 | Method for monitoring and predicting galloping of a transmission line in real time based on video analysis |
| EP2918537B1 (en) * | 2014-03-10 | 2017-09-27 | Combustion and Energy S.r.l. | Apparatus for transporting a device along a tower |
| CN103900782A (en) * | 2014-04-17 | 2014-07-02 | 安徽工业大学 | Typical flexible member multi-collision test table |
| CN104964807A (en) * | 2015-04-22 | 2015-10-07 | 中国航天空气动力技术研究院 | Model pose continuous change collision detection method used for wind tunnel test |
| ES2682966B1 (en) * | 2016-02-18 | 2019-07-03 | Nabrawind Tech Sl | TEST DEVICE FOR TOWERS AND WIND FOUNDATIONS |
| CN106568482A (en) * | 2016-11-16 | 2017-04-19 | 合肥普望电子有限责任公司 | Distribution network transmission line centralized monitoring method |
| CN106600627A (en) * | 2016-12-07 | 2017-04-26 | 成都通甲优博科技有限责任公司 | Rigid body motion capturing method and system based on mark point |
| CN108240860A (en) * | 2016-12-26 | 2018-07-03 | 中国空气动力研究与发展中心超高速空气动力研究所 | A kind of low-power consumption point of impingement information measurement apparatus |
| CN107121250B (en) * | 2017-04-27 | 2019-04-09 | 武汉大学 | A kind of power transmission tower and power transmission line mode Analysis of Internal Resonance system and method |
| CN107843285B (en) * | 2017-10-20 | 2023-12-29 | 国网浙江省电力公司经济技术研究院 | Wind-driven force effect remote monitoring system of power transmission tower line and application |
| CN208861438U (en) * | 2018-10-23 | 2019-05-14 | 国网四川省电力公司南充供电公司 | Power overhead network touch-proof device |
| CN110284437B (en) * | 2019-06-04 | 2021-04-02 | 三峡大学 | Tower anti-collision alarm device and method based on infrared detection technology |
| CN111089699A (en) * | 2019-11-06 | 2020-05-01 | 国网浙江省电力有限公司 | Wind tunnel test testing device for wind deflection response of jumper system |
| CN112886515B (en) * | 2021-01-25 | 2021-09-17 | 浙江大学 | Transmission line anti-galloping test device and anti-galloping effect detection system |
-
2021
- 2021-07-02 CN CN202110752815.5A patent/CN113358318B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09175353A (en) * | 1995-12-26 | 1997-07-08 | Suzuki Motor Corp | Double collision preventing device for vehicle |
| CN103795002A (en) * | 2014-02-12 | 2014-05-14 | 国家电网公司 | Automatic device for crossing high-voltage transmission line lightning conductor quakeproof hammer and crossing method of automatic device |
| CN109186549A (en) * | 2018-10-26 | 2019-01-11 | 国网黑龙江省电力有限公司电力科学研究院 | A kind of Iron tower incline angle measurement method of view-based access control model |
| CN111982446A (en) * | 2020-06-30 | 2020-11-24 | 国网浙江省电力有限公司湖州供电公司 | Device and method for testing accessory foundation of power transmission line impacted by rolling stones |
Non-Patent Citations (3)
| Title |
|---|
| Integral Calculation of a Cable-stayed Bridge with Single Pylon;Chen Yaqin, Li Jingwen;《2018 International Conference on Virtual Reality and Intelligent Systems》;20181231;第183-186页 * |
| 考虑气动阻尼效应的覆冰四分裂导线舞动特性研究;蔡萌琦，周林抒，刘宇，刘静，郑鸣宇，杜洋，黄汉杰;《四川建筑科学研究》;20200430;第46卷(第2期);第43-49页 * |
| 风雨致输电塔线体系动力反应及倒塌分析;付兴;《大连理工大学》;20171231;第31-34页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113358318A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11004235B2 (en) | Method and apparatus for determining position and orientation of bucket of excavator | |
| CN111435162B (en) | Laser radar and camera synchronization method, device, equipment and storage medium | |
| CN109737913B (en) | Laser tracking attitude angle measurement system and method | |
| CN110084785B (en) | Power transmission line vertical arc measuring method and system based on aerial images | |
| CN106092059B (en) | A kind of works Horizontal Displacement Monitoring Method based on multi-point fitting | |
| CN106197292B (en) | A kind of building displacement monitoring method | |
| CN107101623B (en) | Measurement method, system and device | |
| CN107356244B (en) | Calibration method and device for road side unit antenna | |
| CN111947578A (en) | Structure displacement measuring system and measuring method thereof | |
| CN105865349B (en) | A kind of building displacement monitoring method | |
| CN104463833A (en) | Method and system for calibrating camera parameters of one-dimensional area array camera set | |
| CN103795935A (en) | Camera shooting type multi-target locating method and device based on image rectification | |
| CN110737798A (en) | Indoor inspection method and related product | |
| CN113358318B (en) | Cable collision detection method, device, equipment and storage medium | |
| CN214199982U (en) | Structure displacement measuring system | |
| CN109489658B (en) | Moving target positioning method and device and terminal equipment | |
| CN114754695B (en) | Multi-view-field bridge deflection measuring device and method and storage medium | |
| CN110675445B (en) | Visual positioning method, device and storage medium | |
| CN116952273A (en) | Time calibration method, electronic equipment and computer readable storage medium | |
| CN113065572B (en) | Multi-sensor fusion data processing method, positioning device and virtual reality equipment | |
| CN108650465B (en) | Method and device for calculating augmented reality label of camera picture and electronic equipment | |
| CN108253931B (en) | Binocular stereo vision ranging method and ranging device thereof | |
| CN115839667B (en) | Height measurement method, device, equipment and storage medium | |
| CN113763457A (en) | Method and device for calibrating drop terrain, electronic equipment and storage medium | |
| CN114399558B (en) | Calibration method, device, equipment and storage medium of ball machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |