CN113505679B - Monitoring method, device and system for transformer substation cable and computer storage medium - Google Patents
Monitoring method, device and system for transformer substation cable and computer storage medium Download PDFInfo
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Abstract
The invention discloses a monitoring method, a device and a system for a transformer substation cable and a computer storage medium. Wherein the method comprises the following steps: performing fine scanning and coarse scanning on the transformer substation in sequence to obtain a fine scanning model and a coarse scanning model respectively; identifying a target linear object in the fine scanning model and performing curve fitting on the target linear object to obtain a target cable; correcting the coarse scanning model according to the fine scanning model to obtain a corrected scanning model; replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model; and judging whether the target object is within the safe distance or not according to the real-time distance from the target object to the target cable and the safe distance in the final rough scanning model, and determining whether safety pre-warning is carried out or not according to the judging result. The invention solves the problems that the manual acquisition of the transformer substation cable is inaccurate, the real-time distance between the target object and the target cable cannot be accurately acquired, and the timely early warning of the target object before the safety problem occurs cannot be ensured in the prior art.
Description
Technical Field
The invention relates to the technical field of transformer substations, in particular to a monitoring method, a monitoring device, a monitoring system and a computer storage medium for a transformer substation cable.
Background
In the prior art, the accurate scanning is performed on the transformer substation to obtain an accurate scanning model, the target cable is directly and manually observed and obtained in the accurate scanning model, the target cable is artificially obtained to have unreliability, and the obtained results are different each time, so that the real-time distance between the target object in the transformer substation and the target cable cannot be accurately obtained, and further, the target object cannot be prevented from being timely warned and avoided before the safety problem occurs.
The method aims at solving the problems that in the prior art, the manual acquisition of the transformer substation cable is inaccurate, the real-time distance between a target object in a transformer substation and the target cable cannot be accurately acquired, and then the target object cannot be timely warned to avoid before the safety problem occurs, and an effective solution is not proposed at present.
Disclosure of Invention
The embodiment of the invention provides a monitoring method, a monitoring device, a monitoring system and a computer storage medium for a transformer substation cable, which are used for solving the problems that in the prior art, the real-time distance between a target object in a transformer substation and the target cable cannot be accurately acquired due to the fact that the transformer substation cable is manually acquired inaccurately, and then the target object cannot be timely warned to avoid before the safety problem occurs.
In order to achieve the above object, in one aspect, the present invention provides a method for monitoring a transformer substation cable, the method comprising: performing fine scanning and coarse scanning on the transformer substation sequentially to obtain a fine scanning model and a coarse scanning model respectively; identifying a target wire in the fine scanning model, and performing curve fitting on the target wire to obtain a target cable; correcting the coarse scanning model according to the fine scanning model to obtain a corrected scanning model; replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model; and judging whether the target object is within the safe distance or not according to the real-time distance and the safe distance from the target object to the target cable in the final rough scanning model, and determining whether safety pre-warning is carried out or not according to the judging result.
Optionally, the identifying the cable in the fine scan model includes: acquiring a first terminal and a second terminal of the cable in the fine scanning model; identifying in a preset area range between the first terminal of the cable and the second terminal of the cable to obtain a linear object; and when the width of the wire is judged to be smaller than a first preset threshold value and the continuous length of the wire is judged to be larger than a second preset threshold value, confirming that the wire is the target wire.
Optionally, the performing curve fitting on the target wire to obtain a target cable includes: performing quadratic function fitting on the target linear object to obtain a quasi-target cable; when the fitting error value of the quasi-target cable and the preset target cable is smaller than the preset fitting error value, determining that the quasi-target cable is the target cable; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
Optionally, after the obtaining the target cable, the method includes: judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable, which is not disconnected, as a circle center, increasing the length of the target cable by a preset distance to be a radius, drawing a circle, and carrying out safety early warning when a target object is in the circle.
Optionally, the following relationship exists between the safety distance Dn of a point n on the cable and the safety distance D0 of the cable end point: dn=d0+dx; where dx is the offset distance of point n in the radial direction, proportional to the distance of point n from the end point.
On the other hand, the invention provides a monitoring device for a transformer substation cable, comprising: the scanning unit is used for sequentially carrying out fine scanning and coarse scanning on the transformer substation to respectively obtain a fine scanning model and a coarse scanning model; the curve fitting unit is used for identifying the target linear object in the fine scanning model and performing curve fitting on the target linear object to obtain a target cable; the correction unit is used for correcting the coarse scanning model according to the fine scanning model to obtain a correction scanning model; the replacing unit is used for replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model; and the safety early warning unit is used for judging whether the target object is in the safety distance or not according to the real-time distance from the target object to the target cable in the final rough scanning model and the safety distance, and determining whether safety early warning is carried out or not according to the judgment.
Optionally, the curve fitting unit includes: the acquisition subunit is used for acquiring a first cable terminal and a second cable terminal in the fine scanning model; the identification subunit is used for identifying in a preset area range between the first cable terminal and the second cable terminal to obtain a linear object; and the first judging subunit is used for confirming that the thread is the target thread when judging that the width of the thread is smaller than a first preset threshold value and the continuous length of the thread is larger than a second preset threshold value.
Optionally, the curve fitting unit further includes: a curve fitting subunit, configured to perform quadratic function fitting on the target line object to obtain a quasi-target cable; a second judging subunit, configured to determine the quasi-target cable as a target cable when it is determined that the fitting error value of the quasi-target cable and a preset target cable is smaller than a preset fitting error value; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
Optionally, the safety precaution unit includes: and the safety early warning subunit is used for judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable which is not disconnected as a circle center, increasing the length of the target cable by a preset distance as a radius, drawing a circle, and carrying out safety early warning when the target object is in the circle.
On the other hand, the invention also provides a monitoring system of the transformer station cable, which comprises the monitoring device of the transformer station cable.
On the other hand, the invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the method for monitoring a transformer station cable.
The invention has the beneficial effects that:
the invention provides a monitoring method of a transformer substation cable, which comprises the steps of performing fine scanning on a transformer substation to obtain a fine scanning model; and identifying the target wire in the fine scanning model, and performing curve fitting on the target wire to obtain a target cable. Compared with the manual acquisition of the transformer substation cable, the real-time distance between the target object in the transformer substation and the target cable can be accurately acquired, and the timely early warning of the target object before the safety problem occurs is ensured to avoid; and the operation speed is improved.
Drawings
Fig. 1 is a flowchart of a monitoring method of a transformer substation cable according to an embodiment of the present invention;
FIG. 2 is a flow chart of identifying a target wire in a fine sweep model provided by an embodiment of the present invention;
FIG. 3 is a flow chart of a curve fitting a target wire to a target cable according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a monitoring device for a transformer substation cable according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first partial structure of a curve fitting unit according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a second partial structure of the curve fitting unit according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, 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.
In the prior art, the accurate scanning is performed on the transformer substation to obtain an accurate scanning model, the target cable is directly and manually observed and obtained in the accurate scanning model, the target cable is artificially obtained to have unreliability, and the obtained results are different each time, so that the real-time distance between the target object in the transformer substation and the target cable cannot be accurately obtained, and further, the target object cannot be prevented from being timely warned and avoided before the safety problem occurs.
Therefore, the present invention provides a method for monitoring a transformer substation cable, and fig. 1 is a flowchart of a method for monitoring a transformer substation cable provided in an embodiment of the present invention, as shown in fig. 1, where the method includes:
s101, performing fine scanning and coarse scanning on the transformer substation sequentially to obtain a fine scanning model and a coarse scanning model respectively;
in an optional embodiment, the precision of the fine scanning is 1mm, the precision of the coarse scanning is 3mm, the fine scanning is performed on the transformer substation scene by using fine scanning equipment with the scanning precision of 1mm to obtain a fine scanning model, and the coarse scanning is performed on the transformer substation scene by using coarse scanning equipment with the scanning precision of 3mm to obtain a coarse scanning model. The rough scanning model is affected by the scanning precision, and the scanned object can be subjected to breakpoint and coverage conditions.
S102, identifying a target linear object in the fine scanning model, and performing curve fitting on the target linear object to obtain a target cable;
in an alternative embodiment, the target wire is automatically identified in the fine sweep model, and in order to increase the operation speed, curve fitting is performed on the target wire to obtain the target cable.
S103, correcting the coarse scanning model according to the fine scanning model to obtain a corrected scanning model;
in an alternative embodiment, for a certain position of the substation, the position is selected from the fine scanning model and the coarse scanning model respectively, and is marked as a key point Ppn and a key point Pcn under the respective coordinates of the two; and selecting n key point pairs according to the model condition. And matching each pair of key points, namely correcting the rough scanning model through certain rotation, translation and scaling, so as to obtain a corrected scanning model.
S104, replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model;
in an alternative embodiment, after the correction scan model is obtained, the correction scan model is affected by the scan precision, and the cable therein may have break points and cover situations, so that part of the point cloud data at the target cable in the correction scan model is replaced by the target cable in the fine scan model, and a final coarse scan model is obtained for subsequent calculation.
S105, judging whether the target object is within the safety distance or not according to the real-time distance from the target object to the target cable in the final rough scanning model and the safety distance, and determining whether safety pre-warning is carried out or not according to the judgment.
In an alternative embodiment, the safe distance of the target object is obtained, the real-time distance of the target object is compared with the safe distance of the target object, and the early warning distance is obtained by adding 50% of the given safe distance. And sending an early warning alarm when the real-time distance of the target object reaches the early warning distance, and sending a violation alarm when the real-time distance of the target object is smaller than the safety distance.
The early warning mode comprises software platform information pushing and on-site audible and visual alarm. The violation alarm also stores a camera snapshot picture and a camera video on the platform as a license.
According to the invention, the target cable in the fine scanning model can be automatically identified and acquired, and compared with the manual acquisition of the transformer substation cable, the method is more accurate, so that the real-time distance between the target object in the transformer substation and the target cable can be accurately acquired, and the timely early warning of the target object before the safety problem occurs is ensured to avoid; and the operation speed is improved.
In an alternative implementation, fig. 2 is a flowchart of identifying a target wire in a fine scan model according to an embodiment of the present invention, as shown in fig. 2, where the step S102 includes:
s1021, acquiring a first terminal and a second terminal of the cable in the fine scanning model;
in an alternative embodiment, a knife in the fine-scan model is acquired, and the knife is connected with the first cable terminal and the second cable terminal; the cables are provided with a plurality of groups, each group of cables consists of a plurality of parallel cables, and the same knife switch controls one group of cables. S1022, identifying in a preset area range between the first terminal of the cable and the second terminal of the cable to obtain a linear object;
in an alternative embodiment, for a cable, a wire may be obtained by identifying within a predetermined area between a first cable end and a second cable end of the cable, the number of wires being plural, assuming 8 wires.
In particular, the cable may not be a smooth wire, but several wires in several directions are connected together. Assuming that the left side of the cable is a vertical line, the vertical line is connected with a horizontal line, and the middle of the horizontal line is connected with a vertical line. The identification of the cable may result in a plurality of wires, assuming 15 wires.
The number of the threads is only one example of the present embodiment, and the present embodiment is described only for better explanation, and therefore the present invention is not limited thereto.
S1023, when the width of the thread is judged to be smaller than a first preset threshold value and the continuous length of the thread is judged to be larger than a second preset threshold value, confirming that the thread is the target thread.
In an alternative embodiment, when it is determined that the widths of the 8 wires are smaller than the first preset threshold value and the continuous length of the 8 wires is larger than the second preset threshold value, the continuous 8 wires are confirmed as the target wire.
In particular, it is assumed that the left side of the cable is a vertical line, the vertical line is connected to a horizontal line, and a vertical line is further connected to the middle of the horizontal line. The cable is divided into three parts, the first part being a vertical line, assuming 3 wires; the second part is horizontal, assuming 8 wires; the third section is a vertical line in the middle of the horizontal line, assuming 4 wires. And when judging that the widths of the 15 wires are smaller than the first preset threshold value and the continuous length of the 8 wires of the horizontal line is larger than the second preset threshold value, confirming that the 15 wires are the target wires.
Specifically, the cables are subjected to European clustering (the distance between the point clouds in the European clustering, which is judged to be clustered, is smaller than a preset radius threshold, the preset radius threshold is set to be 20cm in the application), and the clustered point clouds are considered to form a part of cable Di.
In an alternative implementation, fig. 3 is a flowchart of performing curve fitting on a target wire to obtain a target cable according to an embodiment of the present invention, as shown in fig. 3, where S102 further includes:
s1024, performing quadratic function fitting on the target linear object to obtain a quasi-target cable;
in an alternative embodiment, the target cable is considered to be a quadratic function of y=ax≡2+bx+c, and thus the above-described 8 consecutive wires are subjected to quadratic function fitting to obtain the quasi-target cable.
In particular, for the wire of the three-part cable described above, quadratic function fitting is required for each part.
S1025, when the fitting error value of the quasi-target cable and a preset target cable is smaller than the preset fitting error value, determining the quasi-target cable as the target cable; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
If the fitting error value of the quasi-target cable and the preset target cable obtained after the quadratic function fitting is larger than the preset fitting error value, performing the cubic function fitting on the continuous 8 linear objects by using a cubic function to obtain the target cable; in particular, for the three-part cable, if the fitting error value of the quasi-target cable obtained after any part of quadratic function fitting and the preset target cable is larger than the preset fitting error value, performing cubic function fitting on any part of linear objects by using a cubic function to obtain the target cable; otherwise, the target cable is directly regarded as the target cable.
In particular, if the fitting error value obtained after the quadratic function fitting is greater than the preset fitting error value, it is considered that the above-mentioned forming part of the cable Di can still be segmented, for any point (xn, yn, zn) on Di, the corresponding (xm, ym, zm) on the curve when y=yn is calculated, and the distance between two points is calculated, and the Di is segmented at the position where the distance is maximum (i.e., y < yn and y > yn) to obtain Di1 and Di2. And stopping continuously dividing the Di when the number of the point clouds contained in the Di1 and the Di2 is smaller than a preset threshold value or the fitting error value of the Di1 and the Di2 is in an allowable range.
After the segmentation is finished, performing one-time manual verification and adjustment, including integrating line segments which are excessively segmented or incompletely segmented, and performing triple function fitting on the segmented Di1 and Di2 to obtain the target cable.
The quadratic function fitting and the cubic function fitting are both fitted by a least square method.
In an alternative embodiment, after said obtaining the target cable, it comprises: judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable, which is not disconnected, as a circle center, increasing the length of the target cable by a preset distance to be a radius, drawing a circle, and carrying out safety early warning when a target object is in the circle.
In an alternative embodiment, the field environment includes: windy weather, heavy rain weather, ice and snow weather, air temperature change, humid weather, etc.; the use cases of the target cable include: wear level, age, surface temperature, etc. of the target cable;
judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable; for example, in windy weather, the target cable is blown off by wind. If the target cable is disconnected, there is a safety hazard when the target object approaches the disconnected target cable. Therefore, an end point of the target cable which is not disconnected is taken as a circle center, the length of the target cable is increased by a preset distance to be a radius, a circle is drawn, and when a target object just enters the circle, safety early warning is carried out, so that the safety of the target object is ensured.
In an alternative embodiment, the safety distance Dn of a point n on the cable has the following relationship with the safety distance D0 of the cable end point: dn=d0+dx; where dx is the offset distance of point n in the radial direction, proportional to the distance of point n from the end point.
In an alternative embodiment, for the point n on the target cable further from the two end points, the greater the offset distance of the point in the radial direction is affected by external forces such as air temperature and wind force, the parameter dx is introduced to represent the change, dx is proportional to the distance from the point n to the end point, and the safety distance Dn of the point n has the following relationship with the safety distance D0 of the end point of the cable: dn=d0+dx, and the method ensures that the target object is prevented from being avoided in early warning in time before the safety problem occurs no matter how the target cable is influenced by external force.
Fig. 4 is a schematic structural diagram of a monitoring device for a transformer substation cable according to an embodiment of the present invention, as shown in fig. 4, the device includes:
the scanning unit 201 is configured to perform fine scanning and coarse scanning on the transformer substation sequentially, so as to obtain a fine scanning model and a coarse scanning model respectively;
in an optional embodiment, the precision of the fine scanning is 1mm, the precision of the coarse scanning is 3mm, the fine scanning is performed on the transformer substation scene by using fine scanning equipment with the scanning precision of 1mm to obtain a fine scanning model, and the coarse scanning is performed on the transformer substation scene by using coarse scanning equipment with the scanning precision of 3mm to obtain a coarse scanning model. The rough scanning model is affected by the scanning precision, and the scanned object can be subjected to breakpoint and coverage conditions.
A curve fitting unit 202, configured to identify a target wire in the fine-scan model, and perform curve fitting on the target wire to obtain a target cable;
in an alternative embodiment, the target wire is automatically identified in the fine sweep model, and in order to increase the operation speed, curve fitting is performed on the target wire to obtain the target cable.
A correction unit 203, configured to correct the coarse scanning model according to the fine scanning model, so as to obtain a corrected scanning model;
in an alternative embodiment, for a certain position of the substation, the position is selected from the fine scanning model and the coarse scanning model respectively, and is marked as a key point Ppn and a key point Pcn under the respective coordinates of the two; and selecting n key point pairs according to the model condition. And matching each pair of key points, namely correcting the rough scanning model through certain rotation, translation and scaling, so as to obtain a corrected scanning model.
A replacing unit 204, configured to replace a portion of the point cloud data corresponding to the target cable in the correction scan model with the target cable, so as to obtain a final rough scan model;
in an alternative embodiment, after the correction scan model is obtained, the correction scan model is affected by the scan precision, and the cable therein may have break points and cover situations, so that part of the point cloud data at the target cable in the correction scan model is replaced by the target cable in the fine scan model, and a final coarse scan model is obtained for subsequent calculation.
And the safety pre-warning unit 205 is configured to determine whether the target object is within the safety distance according to the real-time distance from the target object to the target cable in the final rough scanning model and the safety distance, and determine whether to perform safety pre-warning according to the determination.
In an alternative embodiment, the safe distance of the target object is obtained, the real-time distance of the target object is compared with the safe distance of the target object, and the early warning distance is obtained by adding 50% of the given safe distance. And sending an early warning alarm when the real-time distance of the target object reaches the early warning distance, and sending a violation alarm when the real-time distance of the target object is smaller than the safety distance.
The early warning mode comprises software platform information pushing and on-site audible and visual alarm. The violation alarm also stores a camera snapshot picture and a camera video on the platform as a license.
In an alternative implementation manner, fig. 5 is a schematic first partial structure diagram of a curve fitting unit provided by an embodiment of the present invention, as shown in fig. 5, where the curve fitting unit 202 includes:
an acquisition subunit 2021, configured to acquire a cable first terminal and a cable second terminal in the fine scan model;
in an alternative embodiment, a knife in the fine-scan model is acquired, and the knife is connected with the first cable terminal and the second cable terminal; the cables are provided with a plurality of groups, each group of cables consists of a plurality of parallel cables, and the same knife switch controls one group of cables.
An identifying subunit 2022, configured to identify within a preset area between the first cable end and the second cable end, so as to obtain a wire;
in an alternative embodiment, for a cable, a wire may be obtained by identifying within a predetermined area between a first cable end and a second cable end of the cable, the number of wires being plural, assuming 8 wires.
In particular, the cable may not be a smooth wire, but several wires in several directions are connected together. Assuming that the left side of the cable is a vertical line, the vertical line is connected with a horizontal line, and the middle of the horizontal line is connected with a vertical line. The identification of the cable may result in a plurality of wires, assuming 15 wires.
The number of the threads is only one example of the present embodiment, and the present embodiment is described only for better explanation, and therefore the present invention is not limited thereto.
A first judging subunit 2023 is configured to confirm that the wire is the target wire when it is determined that the width of the wire is less than a first preset threshold and the continuous length of the wire is greater than a second preset threshold.
In an alternative embodiment, when it is determined that the widths of the 8 wires are smaller than the first preset threshold value and the continuous length of the 8 wires is larger than the second preset threshold value, the continuous 8 wires are confirmed as the target wire.
In particular, it is assumed that the left side of the cable is a vertical line, the vertical line is connected to a horizontal line, and a vertical line is further connected to the middle of the horizontal line. The cable is divided into three parts, the first part being a vertical line, assuming 3 wires; the second part is horizontal, assuming 8 wires; the third section is a vertical line in the middle of the horizontal line, assuming 4 wires. And when judging that the widths of the 15 wires are smaller than the first preset threshold value and the continuous length of the 8 wires of the horizontal line is larger than the second preset threshold value, confirming that the 15 wires are the target wires.
In an alternative implementation, fig. 6 is a second partial schematic structural diagram of a curve fitting unit provided by an embodiment of the present invention, as shown in fig. 6, where the curve fitting unit 202 further includes:
a curve fitting subunit 2024, configured to perform quadratic function fitting on the target wire to obtain a quasi-target cable;
in an alternative embodiment, the target cable is considered to be a quadratic function of y=ax≡2+bx+c, and thus the above-described 8 consecutive wires are subjected to quadratic function fitting to obtain the quasi-target cable.
In particular, for the wire of the three-part cable described above, quadratic function fitting is required for each part.
A second judging subunit 2025, configured to determine the quasi-target cable as a target cable when it is determined that the fitting error value of the quasi-target cable and the preset target cable is smaller than the preset fitting error value; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
If the fitting error value of the quasi-target cable and the preset target cable obtained after the quadratic function fitting is larger than the preset fitting error value, performing the cubic function fitting on the continuous 8 linear objects by using a cubic function to obtain the target cable; in particular, for the three-part cable, if the fitting error value of the quasi-target cable obtained after any part of quadratic function fitting and the preset target cable is larger than the preset fitting error value, performing cubic function fitting on any part of linear objects by using a cubic function to obtain the target cable; otherwise, the target cable is directly regarded as the target cable.
In particular, if the fitting error value obtained after the quadratic function fitting is greater than the preset fitting error value, it is considered that the above-mentioned forming part of the cable Di can still be segmented, for any point (xn, yn, zn) on Di, the corresponding (xm, ym, zm) on the curve when y=yn is calculated, and the distance between two points is calculated, and the Di is segmented at the position where the distance is maximum (i.e., y < yn and y > yn) to obtain Di1 and Di2. And stopping continuously dividing the Di when the number of the point clouds contained in the Di1 and the Di2 is smaller than a preset threshold value or the fitting error value of the Di1 and the Di2 is in an allowable range.
After the segmentation is finished, performing one-time manual verification and adjustment, including integrating line segments which are excessively segmented or incompletely segmented, and performing triple function fitting on the segmented Di1 and Di2 to obtain the target cable.
The quadratic function fitting and the cubic function fitting are both fitted by a least square method.
In an alternative embodiment, the safety precaution unit includes: and the safety early warning subunit is used for judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable which is not disconnected as a circle center, increasing the length of the target cable by a preset distance as a radius, drawing a circle, and carrying out safety early warning when the target object is in the circle.
In an alternative embodiment, the field environment includes: windy weather, heavy rain weather, ice and snow weather, air temperature change, humid weather, etc.; the use cases of the target cable include: wear level, age, surface temperature, etc. of the target cable;
judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable; for example, in windy weather, the target cable is blown off by wind. If the target cable is disconnected, there is a safety hazard when the target object approaches the disconnected target cable. Therefore, an end point of the target cable which is not disconnected is taken as a circle center, the length of the target cable is increased by a preset distance to be a radius, a circle is drawn, and when a target object just enters the circle, safety early warning is carried out, so that the safety of the target object is ensured.
In an alternative embodiment, the safety distance Dn of a point n on the cable has the following relationship with the safety distance D0 of the cable end point: dn=d0+dx; where dx is the offset distance of point n in the radial direction, proportional to the distance of point n from the end point.
In an alternative embodiment, for the point n on the target cable further from the two end points, the greater the offset distance of the point in the radial direction is affected by external forces such as air temperature and wind force, the parameter dx is introduced to represent the change, dx is proportional to the distance from the point n to the end point, and the safety distance Dn of the point n has the following relationship with the safety distance D0 of the end point of the cable: dn=d0+dx, and the method ensures that the target object is prevented from being avoided in early warning in time before the safety problem occurs no matter how the target cable is influenced by external force.
The invention also provides a monitoring system of the transformer substation cable, which comprises the monitoring device of the transformer substation cable.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the above-mentioned monitoring method of the transformer substation cable.
The invention has the beneficial effects that:
the invention provides a monitoring method of a transformer substation cable, which comprises the steps of performing fine scanning on a transformer substation to obtain a fine scanning model; and identifying the target wire in the fine scanning model, and performing curve fitting on the target wire to obtain a target cable. Compared with the manual acquisition of the transformer substation cable, the real-time distance between the target object in the transformer substation and the target cable can be accurately acquired, and the timely early warning of the target object before the safety problem occurs is ensured to avoid; and the operation speed is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. The monitoring method of the transformer station cable is characterized by comprising the following steps of:
performing fine scanning and coarse scanning on the transformer substation sequentially to obtain a fine scanning model and a coarse scanning model respectively;
identifying a target wire in the fine scanning model, and performing curve fitting on the target wire to obtain a target cable;
correcting the coarse scanning model according to the fine scanning model to obtain a corrected scanning model;
replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model;
judging whether the target object is within the safety distance or not according to the real-time distance and the safety distance from the target object to the target cable in the final rough scanning model, and determining whether safety pre-warning is carried out or not according to the judging result;
correcting the coarse scanning model according to the fine scanning model to obtain a corrected scanning model, wherein the step of obtaining the corrected scanning model comprises the following steps of:
marking respective coordinate points at a certain position of the transformer substation in the fine scanning model and the coarse scanning model respectively, and marking the coordinate points as a pair of key points;
selecting N pairs of key points according to a plurality of positions of the transformer substation;
and matching each pair of key points so as to enable the rough scanning model to be corrected to obtain the correction scanning model.
2. The method of claim 1, wherein the identifying the target wire in the fine scan model comprises:
acquiring a first terminal and a second terminal of the cable in the fine scanning model;
identifying in a preset area range between the first terminal of the cable and the second terminal of the cable to obtain a linear object;
and when the width of the wire is judged to be smaller than a first preset threshold value and the continuous length of the wire is judged to be larger than a second preset threshold value, confirming that the wire is the target wire.
3. The method of claim 1, wherein curve fitting the target wire to obtain a target cable comprises:
performing quadratic function fitting on the target linear object to obtain a quasi-target cable;
when the fitting error value of the quasi-target cable and the preset target cable is smaller than the preset fitting error value, determining that the quasi-target cable is the target cable; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
4. The method of claim 1, comprising, after said obtaining the target cable:
judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable, which is not disconnected, as a circle center, increasing the length of the target cable by a preset distance to be a radius, drawing a circle, and carrying out safety early warning when a target object is in the circle.
5. The method according to claim 4, wherein:
the safety distance Dn of one point n on the cable and the safety distance D0 of the cable end point have the following relation:
Dn＝D0+dx；
where dx is the offset distance of point n in the radial direction, proportional to the distance of point n from the end point.
6. A monitoring device for a transformer substation cable, comprising:
the scanning unit is used for sequentially carrying out fine scanning and coarse scanning on the transformer substation to respectively obtain a fine scanning model and a coarse scanning model;
the curve fitting unit is used for identifying the target linear object in the fine scanning model and performing curve fitting on the target linear object to obtain a target cable;
the correction unit is used for correcting the coarse scanning model according to the fine scanning model to obtain a correction scanning model;
the replacing unit is used for replacing partial point cloud data corresponding to the target cable in the correction scanning model with the target cable to obtain a final rough scanning model;
the safety early warning unit is used for judging whether the target object is in the safety distance or not according to the real-time distance from the target object to the target cable in the final rough scanning model and the safety distance, and determining whether safety early warning is carried out or not according to the safety distance;
the correction unit includes:
the key point marking subunit is used for marking respective coordinate points at a certain position of the transformer substation in the fine scanning model and the coarse scanning model respectively and marking the coordinate points as a pair of key points;
the key point marking subunits are used for selecting N pairs of key points according to the positions of the transformer substation;
and the matching subunit is used for matching each pair of key points so as to enable the rough scanning model to be corrected to obtain the correction scanning model.
7. The apparatus of claim 6, wherein the curve fitting unit comprises:
the acquisition subunit is used for acquiring a first cable terminal and a second cable terminal in the fine scanning model;
the identification subunit is used for identifying in a preset area range between the first cable terminal and the second cable terminal to obtain a linear object;
and the first judging subunit is used for confirming that the thread is the target thread when judging that the width of the thread is smaller than a first preset threshold value and the continuous length of the thread is larger than a second preset threshold value.
8. The apparatus of claim 6, wherein the curve fitting unit further comprises:
a curve fitting subunit, configured to perform quadratic function fitting on the target line object to obtain a quasi-target cable;
a second judging subunit, configured to determine the quasi-target cable as a target cable when it is determined that the fitting error value of the quasi-target cable and a preset target cable is smaller than a preset fitting error value; and otherwise, performing cubic function fitting on the target wire to obtain the target cable.
9. The apparatus of claim 6, wherein the safety precaution unit comprises:
and the safety early warning subunit is used for judging whether the target cable has a disconnection risk according to the field environment and the service condition of the target cable, if so, taking an end point of the target cable which is not disconnected as a circle center, increasing the length of the target cable by a preset distance as a radius, drawing a circle, and carrying out safety early warning when the target object is in the circle.
10. A monitoring system for a transformer substation cable, comprising: a monitoring device for a transformer substation cable according to any one of claims 6-9.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of monitoring a power transformer station cable according to any one of claims 1 to 5.
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