CN113701890A - Sensing monitoring method and system for tracking cable hot spot and damage - Google Patents
Sensing monitoring method and system for tracking cable hot spot and damage Download PDFInfo
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- CN113701890A CN113701890A CN202110906673.3A CN202110906673A CN113701890A CN 113701890 A CN113701890 A CN 113701890A CN 202110906673 A CN202110906673 A CN 202110906673A CN 113701890 A CN113701890 A CN 113701890A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000002159 abnormal effect Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000005375 photometry Methods 0.000 claims description 5
- 230000003321 amplification Effects 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 238000009529 body temperature measurement Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0066—Radiation pyrometry, e.g. infrared or optical thermometry for hot spots detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
Abstract
The invention relates to a sensing monitoring method and a system for tracking cable hot spots and damages, wherein the system comprises an infrared sensor, a visible light camera, a mechanical arm and a processor, the infrared sensor and the visible light camera are both arranged on the mechanical arm, and the data processing process of the processor comprises the following steps: acquiring infrared sensing data of the cable through an infrared sensor, judging temperature abnormal points and marking coordinate positions; acquiring visible light data of the cable through a visible light camera, determining a damaged area of the cable, and marking a coordinate position; driving the mechanical arm to rotate to obtain the coordinate positions of the temperature abnormal point and the cable damage area; and according to the target with the highest temperature or the largest damage range, driving the mechanical arm to adjust the position, so that the target with the highest temperature or the largest damage range is positioned in the monitoring range. Compared with the prior art, the invention has the autonomous detection capability, reduces the manual operation and can realize the real-time tracking of the monitored target.
Description
Technical Field
The invention relates to the technical field of cable monitoring, in particular to a sensing monitoring method and a sensing monitoring system for tracking hot spots and damages of cables.
Background
Currently, common safety monitoring equipment (infrared temperature measurement and camera) can be divided into:
1. and the monitoring of a fixed place is small in monitoring range, the angle cannot be changed, and the flexibility is low.
2. In the monitoring system with the holder, the camera can rotate left and right or up and down, but the degree of automation is low, real-time online operation is required, and the existing common monitoring equipment cannot be well utilized due to the large monitoring range.
The fault monitoring of the cable is also mostly realized by adopting a monitoring scheme of a fixed place, for example, the invention with the publication number of CN111707902A discloses an underground cable fault detection device and method based on infrared images. The device comprises at least one detection node arranged at a downhole cable, wherein the at least one detection node is in data interaction with an upper computer and comprises a current parameter detection module, an environmental data detection module, a main control module, an infrared image acquisition module, a motor driving module and a power supply module; the method is realized based on the device.
The scheme still carries out environmental monitoring through the detection node set at a fixed point, the monitoring range is limited, and the automation degree is lower.
Disclosure of Invention
The invention aims to overcome the defects of limited monitoring range and low automation degree of the cable in the prior art, and provides a sensing monitoring method and a sensing monitoring system for tracking hot spots and breakage of the cable.
The purpose of the invention can be realized by the following technical scheme:
a sensing and monitoring method for cable hotspot and breakage tracking, comprising the steps of:
hot spot detection: acquiring infrared sensing data of a cable, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
a cable monitoring step: and respectively carrying out temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain coordinate positions of temperature abnormal points and a cable damage area, and determining a monitoring angle of the cable according to a target with the highest temperature or the largest damage range so that the target with the highest temperature or the largest damage range is positioned in the monitoring range.
Further, the determination of the cable breakage area is specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
Further, the acquiring of the infrared image specifically comprises: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
The invention also provides a sensing monitoring system for tracking the hot spot and the damage of the cable, which comprises an infrared sensor, a visible light camera, a mechanical arm and a processor, wherein the infrared sensor and the visible light camera are both arranged on the mechanical arm and driven by the mechanical arm, the processor is respectively connected with the infrared sensor, the visible light camera and the mechanical arm, and the data processing process of the processor comprises the following steps:
hot spot detection: acquiring infrared sensing data of the cable through the infrared sensor, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable through the visible light camera, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
cable monitoring presetting step: driving the mechanical arm to rotate according to a preset rotation mode, and respectively performing temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain a temperature abnormal point and a coordinate position of a cable damage area;
a cable monitoring step: and determining a monitoring angle of the cable according to the target with the highest temperature or the largest damage range, so as to drive the mechanical arm to adjust the position, and enable the target with the highest temperature or the largest damage range to be positioned within the monitoring range of the infrared sensor and the visible light camera.
Further, the cable monitoring step further comprises: and after determining the target with the highest temperature or the largest damage range, focusing and photometry are carried out on the target.
Further, the determination of the cable breakage area is specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
Further, the acquiring of the infrared image specifically comprises: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
Further, the coordinate position of the temperature abnormal point is the relative position of the temperature abnormal point relative to the infrared sensor; the coordinate position of the cable damage area is the relative position of the cable damage area relative to the visible light camera.
Further, the cable monitoring step further comprises: and displaying the collected infrared image and the visible light image in real time, and identifying the temperature abnormal point and the cable damage area through the square frame so that the square frame identification area is not lost.
Further, the cable monitoring step further comprises: and if the target with the highest temperature or the largest damage range is lost in the real-time monitoring process, the cable monitoring presetting step and the cable monitoring step are executed again in sequence.
Compared with the prior art, the invention has the following advantages:
(1) according to the invention, the monitoring angle of the cable is determined by judging the cable hot spot and the damaged position of the monitoring data acquired in real time, so that the target with the highest temperature or the largest damaged range is positioned within the monitoring range, and therefore, the cable monitoring device has the autonomous detection capability, reduces manual operation and can realize real-time tracking on the monitored target.
(2) According to the invention, the infrared sensor and the visible light camera are arranged on the mechanical arm, the position of the target is automatically identified through image identification, the mechanical arm is actively controlled to drive the infrared sensor and the visible light camera to enable the monitored target to be within a monitoring range, and dynamic and reliable monitoring is realized; and meanwhile, automatic focusing and photometry are carried out on the target, so that the definition of pictures and videos is improved.
(3) Compared with the traditional fixed camera mounting mode, the invention reduces the mounting quantity of the sensing devices, can realize large-scale automatic monitoring by one sensing monitoring system, and reduces the operation of monitoring personnel.
Drawings
Fig. 1 is a schematic control flow diagram of a sensing monitoring system for tracking a cable hot spot and a cable breakage according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
Example 1
The embodiment provides a sensing monitoring system for cable hot spot and damaged tracking, including infrared sensor, visible light camera, arm and treater, infrared sensor and visible light camera are all installed on the arm, are driven by this arm, and infrared sensor, visible light camera and arm are connected respectively to the treater, as shown in fig. 1, the data processing process of treater includes following step:
hotspot detecting step S1: acquiring infrared sensing data of the cable through an infrared sensor, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
the acquisition of the infrared image specifically comprises the following steps: the received infrared sensing data is converted into an electric signal, and then the electric signal is amplified, shaped and converted into a digital signal through analog-to-digital conversion to form an infrared image.
Breakage detection step S2: acquiring visible light data of the cable through a visible light camera, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
the cable breakage area is determined specifically as follows: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
The coordinate position of the temperature abnormal point is the relative position of the temperature abnormal point relative to the infrared sensor; the coordinate position of the cable damage region is the relative position of the cable damage region with respect to the visible light camera.
Cable monitoring preset step S3: the method comprises the steps that a mechanical arm is driven to rotate according to a preset rotation mode, temperature identification and image identification are carried out on the surrounding environment of a cable through a hot spot tracking step and a damage tracking step respectively, and a temperature abnormal point and the coordinate position of a cable damage area are obtained;
cable monitoring step S4: and determining the monitoring angle of the cable according to the target with the highest temperature or the largest damage range, so as to drive the mechanical arm to adjust the position, and enable the target with the highest temperature or the largest damage range to be positioned within the monitoring range of the infrared sensor and the visible light camera.
The cable monitoring step further comprises:
1) and after determining the target with the highest temperature or the largest damage range, focusing and photometry are carried out on the target.
2) The collected infrared image and the visible light image are displayed in real time, and the temperature abnormal point and the cable damage area are marked through the square frame, so that the square frame mark area is not lost.
3) And if the target with the highest temperature or the largest damage range is lost in the real-time monitoring process, the cable monitoring presetting step and the cable monitoring step are executed again in sequence.
The following provides a specific implementation process of the above sensing monitoring system:
the mechanical arm rotates according to a preset rotation mode, and all-around monitoring of the sensing monitoring system is achieved. The infrared sensor and the visible light camera carry out temperature measurement and image recognition on the real-time video, and actively search ambient temperature abnormal points and damage points.
And (3) hotspot tracking: the temperature is monitored in real time, points with abnormal temperatures are identified by rectangular boxes and marked with temperature values, heat radiation energy in an infrared band received by an infrared sensor is converted into electric signals, and the electric signals are amplified, shaped and converted into digital signals through analog-to-digital conversion to present infrared images. And determining whether a point with abnormal temperature exists in the monitoring range of the infrared sensor, obtaining the position of the sensor where the target is located, and moving the mechanical arm with the degree of freedom of 5 according to the position relation between the infrared sensor and the target, so that the target in the moving process can be in the monitoring range.
Breakage (cable breakage) tracking: the visible light camera is mounted on a robot arm with a degree of freedom of 5, and the cable surface is black in the case of a cable breakage by an image recognition algorithm, so that pixels which are not black are extracted from input data in the first step. This is followed by a calculation to determine the horizontal and vertical gradients of the target boundary using brightness and contrast, and then using a hough transform algorithm to find the target contour. By means of the image recognition function, the object in the camera is automatically recognized and analyzed, and finally the cable damage is found. After the damaged department of discovery target, rotate the arm and make damaged target department can keep appearing within monitoring range to appear the rectangle square frame and realize warning, and carry out accurate focusing and photometry so that shoot to the target at any time, prevent that the mistake of focusing from leading to the picture fuzzy.
The process that the arm rotated according to predetermined rotation mode and carried out hotspot and damaged detection is for predetermineeing the model promptly, in predetermineeing the mode, when a plurality of temperature anomaly, damaged target appear, then take the picture to the target in proper order. The target in which the temperature is best or the damage range is largest is monitored.
In the real-time monitoring process, if the target cannot be monitored, the method returns to a preset mode to automatically monitor whether the periphery is abnormal or not, and obtains a new target for monitoring.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A sensing monitoring method for cable hotspot and breakage tracking, comprising the steps of:
hot spot detection: acquiring infrared sensing data of a cable, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
a cable monitoring step: and respectively carrying out temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain coordinate positions of temperature abnormal points and a cable damage area, and determining a monitoring angle of the cable according to a target with the highest temperature or the largest damage range so that the target with the highest temperature or the largest damage range is positioned in the monitoring range.
2. The method according to claim 1, wherein the determination of the damaged area of the cable is specifically: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
3. The sensing and monitoring method for tracking cable hot spots and breakage according to claim 1, wherein the acquisition of the infrared image is specifically as follows: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
4. The utility model provides a sensing monitoring system for cable hotspot and damaged tracking, its characterized in that, includes infrared sensor, visible light camera, arm and treater, infrared sensor and visible light camera are all installed on the arm, are driven by this arm, the treater is connected respectively infrared sensor, visible light camera and arm, the data processing process of treater includes following step:
hot spot detection: acquiring infrared sensing data of the cable through the infrared sensor, constructing an infrared image, judging a temperature abnormal point in the infrared image, and marking the coordinate position of the temperature abnormal point;
a breakage detection step: acquiring visible light data of the cable through the visible light camera, constructing a visible light image, performing image recognition on the visible light image, determining a cable damage area, and marking the coordinate position of the cable damage area;
cable monitoring presetting step: driving the mechanical arm to rotate according to a preset rotation mode, and respectively performing temperature identification and image identification on the surrounding environment of the cable through the hotspot tracking step and the damage tracking step to obtain a temperature abnormal point and a coordinate position of a cable damage area;
a cable monitoring step: and determining a monitoring angle of the cable according to the target with the highest temperature or the largest damage range, so as to drive the mechanical arm to adjust the position, and enable the target with the highest temperature or the largest damage range to be positioned within the monitoring range of the infrared sensor and the visible light camera.
5. A sensing monitoring system for cable hot spot and breakage tracking as recited in claim 4, wherein the cable monitoring step further comprises: and after determining the target with the highest temperature or the largest damage range, focusing and photometry are carried out on the target.
6. A sensing and monitoring system for cable hot spot and breakage tracking according to claim 4, wherein the determination of the cable breakage area is specifically: if the visible light on the surface of the cable is in the first color, pixels of the first color are removed from the obtained visible light data; and then determining horizontal and vertical gradual changes of the target boundary through brightness and contrast, finally obtaining a target contour by using a Hough transform algorithm, and determining a cable damage area according to the target contour.
7. The system according to claim 4, wherein the infrared image is obtained by: and converting the received infrared sensing data into an electric signal, and then converting the electric signal into a digital signal after amplification, reshaping and analog-to-digital conversion to form the infrared image.
8. A sensing and monitoring system for cable hot spot and breakage tracking according to claim 4, wherein the coordinate location of the temperature anomaly point is the relative location of the temperature anomaly point with respect to the infrared sensor; the coordinate position of the cable damage area is the relative position of the cable damage area relative to the visible light camera.
9. A sensing monitoring system for cable hot spot and breakage tracking as recited in claim 4, wherein the cable monitoring step further comprises: and displaying the collected infrared image and the visible light image in real time, and identifying the temperature abnormal point and the cable damage area through the square frame so that the square frame identification area is not lost.
10. A sensing monitoring system for cable hot spot and breakage tracking as recited in claim 4, wherein the cable monitoring step further comprises: and if the target with the highest temperature or the largest damage range is lost in the real-time monitoring process, the cable monitoring presetting step and the cable monitoring step are executed again in sequence.
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| CN202110906673.3A CN113701890A (en) | 2021-08-09 | 2021-08-09 | Sensing monitoring method and system for tracking cable hot spot and damage |
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|---|---|---|---|---|
| US3822945A (en) * | 1972-09-25 | 1974-07-09 | Gen Cable Corp | Optical scanning of electrical cable shields |
| US20030202694A1 (en) * | 2002-04-25 | 2003-10-30 | Fujitsu Ten Limited | Diagnostic apparatus for abnormalities in image recognition system |
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN109104591A (en) * | 2018-09-19 | 2018-12-28 | 国网四川省电力公司信息通信公司 | A kind of image collecting device for power equipment |
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN112595730A (en) * | 2020-11-13 | 2021-04-02 | 深圳供电局有限公司 | Cable breakage identification method and device and computer equipment |
-
2021
- 2021-08-09 CN CN202110906673.3A patent/CN113701890A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3822945A (en) * | 1972-09-25 | 1974-07-09 | Gen Cable Corp | Optical scanning of electrical cable shields |
| US20030202694A1 (en) * | 2002-04-25 | 2003-10-30 | Fujitsu Ten Limited | Diagnostic apparatus for abnormalities in image recognition system |
| CN108303426A (en) * | 2018-02-06 | 2018-07-20 | 华中科技大学 | A kind of lossless device for fast detecting of cable tunnel defect and its detection method |
| CN109104591A (en) * | 2018-09-19 | 2018-12-28 | 国网四川省电力公司信息通信公司 | A kind of image collecting device for power equipment |
| CN110850872A (en) * | 2019-10-31 | 2020-02-28 | 深圳市优必选科技股份有限公司 | Robot inspection method and device, computer readable storage medium and robot |
| CN112595730A (en) * | 2020-11-13 | 2021-04-02 | 深圳供电局有限公司 | Cable breakage identification method and device and computer equipment |
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