CN113741436A - Foreign matter tracking method and device of power grid foreign matter laser cleaner - Google Patents
Foreign matter tracking method and device of power grid foreign matter laser cleaner Download PDFInfo
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Abstract
The application relates to the technical field of power transmission line foreign matter detection, and discloses a foreign matter tracking method and device of a power grid foreign matter laser cleaner. In the method, a camera picture of the power grid foreign matter laser cleaner is obtained, the position of the power grid foreign matter picture and the aiming position of the camera are determined, and the target offset is determined accordingly. And then, rotating the holder to realize coarse aiming according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the target offset of the holder. And then acquiring the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid on the camera picture, and rotating the holder in real time according to the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid to enable the holder to rotate and iterate step by step until the laser aims at the foreign matters. According to the foreign matter tracking method and device of the power grid foreign matter laser cleaner, remote operators do not need to calibrate foreign matters manually, and the technical problem that power grid foreign matters are calibrated only through a manual control holder in the prior art, and accuracy is low is solved.
Description
Technical Field
The application relates to the technical field of power transmission line foreign matter detection, in particular to a foreign matter tracking method and device of a power grid foreign matter laser cleaner.
Background
Most of the power transmission lines in China are bare metal lines without insulation layer protection, the bare metal lines are erected in the air through towers, the distribution points are multiple and wide, the terrain is complex, the environment is severe, the condition that floating foreign matters such as kites and branches are wound on the wires frequently occurs in the operation and maintenance process of a power grid, and sometimes bird nests and hornets appearing on the wires need to be removed. Once the foreign matters are wetted by rain, snow and dew, faults such as interphase short circuit, single-phase grounding and the like are easily caused, so that the line is tripped or damaged, and the power supply reliability is seriously influenced.
In the prior art, before the power grid foreign matter laser cleaner cleans foreign matters, a remote operator firstly needs to perform video identification on the power grid foreign matters through a camera of the power grid foreign matter laser cleaner, and then controls a holder of the power grid foreign matter laser cleaner to manually calibrate the power grid foreign matters. But only through manual control cloud platform to the electric wire netting foreign matter carry out the calibration, the degree of accuracy is very low.
Disclosure of Invention
The application discloses a foreign matter tracking method and a foreign matter tracking device of a power grid foreign matter laser cleaner, which are used for solving the technical problem that the accuracy is very low when a power grid foreign matter is calibrated by a manual control holder in the prior art.
The application discloses in a first aspect a foreign object tracking method for a laser power grid foreign object remover, comprising:
acquiring a camera picture of the power grid foreign matter laser cleaner, and determining the position of the power grid foreign matter picture and the aiming position of the camera;
determining a target offset according to the picture position of the power grid foreign matter and the aiming position of the camera, wherein the target offset is the offset required by the laser hitting the power grid foreign matter;
acquiring a real-time encoder angle value of a holder of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters;
determining a target encoder angle value according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the offset;
rotating the holder according to the angle value of the target encoder, and determining a coarse aiming result;
acquiring the coordinates of a laser aiming point on the picture of the camera and the real-time coordinates of the foreign matters in the power grid according to the coarse aiming result;
and rotating the cradle head in real time according to the laser aiming point coordinates and the real-time coordinates of the power grid foreign matters to track the power grid foreign matters.
Optionally, the determining a target offset according to the power grid foreign matter picture position and the camera aiming position includes:
acquiring camera parameters;
and determining target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
Optionally, rotating the pan/tilt head according to the target encoder angle value, and determining a coarse aiming result, includes:
determining a first holder rotation angle according to the target encoder angle value;
and rotating the cradle head according to the rotation angle of the first cradle head, and determining a coarse aiming result.
Optionally, the control of the rotation of the cradle head in real time according to the laser aiming point coordinate and the real-time coordinate of the power grid foreign matter to track the power grid foreign matter includes:
determining a second holder rotation angle according to the laser aiming point coordinate and the power grid foreign matter real-time coordinate;
and rotating the cradle head in real time according to the rotation angle of the second cradle head to track the foreign matters in the power grid.
The utility model discloses foreign matter tracking means of electric wire netting foreign matter laser cleaner is disclosed in this application second aspect, electric wire netting foreign matter laser cleaner's foreign matter tracking means is applied to the foreign matter tracking method of electric wire netting foreign matter laser cleaner disclosed in this application first aspect, electric wire netting foreign matter laser cleaner's foreign matter tracking means includes:
the picture acquisition module is used for acquiring a camera picture of the power grid foreign matter laser cleaner and determining the position of the power grid foreign matter picture and the aiming position of the camera;
the target offset determining module is used for determining a target offset according to the picture position of the power grid foreign matter and the aiming position of the camera, wherein the target offset is an offset required by the laser hitting the power grid foreign matter;
the parameter acquisition module is used for acquiring a real-time encoder angle value of a holder of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters;
the angle value acquisition module is used for determining a target encoder angle value according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the offset;
the first rotating module is used for rotating the holder according to the angle value of the target encoder and determining a coarse aiming result;
the coordinate acquisition module is used for acquiring the coordinates of the laser aiming point on the camera picture and acquiring the real-time coordinates of the foreign matters in the power grid according to the coarse aiming result;
and the second rotating module is used for rotating the cloud deck in real time according to the laser aiming point coordinate and the real-time coordinate of the power grid foreign matter to track the power grid foreign matter.
Optionally, the target offset determining module includes:
the camera parameter acquiring unit is used for acquiring camera parameters;
and the target offset determining unit is used for determining the target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
Optionally, the first rotation module includes:
the first holder rotation angle determining unit is used for determining a first holder rotation angle according to the target encoder angle value;
and the coarse aiming result acquisition unit is used for rotating the holder according to the rotation angle of the first holder and determining a coarse aiming result.
Optionally, the second rotating module includes:
the second holder rotation angle determining unit is used for determining a second holder rotation angle according to the laser aiming point coordinate and the power grid foreign matter real-time coordinate;
and the tracking unit is used for rotating the cradle head in real time according to the rotation angle of the second cradle head so as to track the foreign matters in the power grid.
The application relates to the technical field of power transmission line foreign matter detection, and discloses a foreign matter tracking method and device of a power grid foreign matter laser cleaner. In the method, a camera picture of the power grid foreign matter laser cleaner is obtained, the position of the power grid foreign matter picture and the aiming position of the camera are determined, and the target offset is determined accordingly. And then, rotating the holder to realize coarse aiming according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the target offset of the holder. And then acquiring the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid on the camera picture, and rotating the holder in real time according to the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid to enable the holder to rotate and iterate step by step until the laser aims at the foreign matters. According to the foreign matter tracking method and device of the power grid foreign matter laser cleaner, remote operators do not need to calibrate foreign matters manually, and the technical problem that power grid foreign matters are calibrated only through a manual control holder in the prior art, and accuracy is low is solved.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic working flow diagram of a foreign object tracking method of a power grid foreign object laser cleaner disclosed in an embodiment of the present application;
fig. 2 is a schematic coordinate diagram of determining a target offset in a foreign object tracking method for a power grid foreign object laser cleaner disclosed in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a foreign object tracking device of a power grid foreign object laser cleaner disclosed in an embodiment of the present application.
Detailed Description
In order to solve the technical problem that accuracy is low when a manual control holder is used for calibrating a power grid foreign matter in the prior art, the application discloses a foreign matter tracking method and a foreign matter tracking device of a power grid foreign matter laser cleaner through the following two embodiments.
The first embodiment of the present application discloses a foreign object tracking method for a power grid foreign object laser cleaner, referring to fig. 1, a working flow diagram of the foreign object tracking method for the power grid foreign object laser cleaner disclosed in the embodiments of the present application, and the foreign object tracking method for the power grid foreign object laser cleaner includes:
and S101, acquiring a camera picture of the power grid foreign matter laser cleaner, and determining the position of the power grid foreign matter picture and the aiming position of the camera.
Specifically, the position of the picture of the foreign matter on the power grid and the aiming position of the camera are obtained through the picture of the camera of the laser cleaner for the foreign matter on the power grid.
And S102, determining a target offset according to the picture position of the power grid foreign matter and the aiming position of the camera, wherein the target offset is an offset required by the laser hitting the power grid foreign matter.
Wherein the aiming position of the camera is the laser aiming position.
In some embodiments of the present application, the determining a target offset according to the grid foreign object picture position and the camera aiming position includes:
and acquiring camera parameters.
And determining target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
Particularly, electric wire netting foreign matter picture position with the camera is aimed the position and is combined the camera parameter and calculate the contained angle between electric wire netting foreign matter and the camera and aim the position, then control cloud platform and rotate this angle, can realize aiming the preliminary of foreign matter in 1s when the contained angle is within 10.
Illustratively, as shown in fig. 2, where OL is the laser emission direction, and D is the position of the target foreign object, under the absolute coordinate system, the target foreign object will be located
Move to
The direction can make the laser hit the foreign body.
Is that
The projection onto the xz-plane is,
is that
The projection onto the yz-plane is,
is that
The projection onto the xz-plane is,
is that
Projection in the yz plane.
The laser light emitting direction is as follows:
the positions of the foreign matters are as follows:
the target offset is as follows:
namely, the process that the holder rotates to make the laser hit the foreign matter can be split into the movement in the x direction and the y direction, and the foreign matter can be rotated by an angle alpha in the x direction
And
by overlapping, by rotation in the y direction by an angle beta
And
and (4) overlapping.
And S103, acquiring a real-time encoder angle value of a holder of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters.
Specifically, from the foreign object parameters and overhead line parameters, a conclusion can be drawn: under the magnification of 52 cameras, the distance between two points on a video picture of the camera is linearly related to the rotation angle of the holder.
And step S104, determining a target encoder angle value according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the offset.
Specifically, a real-time encoder angle value of a holder motor is obtained first, and a target encoder angle value is calculated by combining the solution obtained by the foreign matter parameter and the overhead line parameter.
And S105, rotating the holder according to the angle value of the target encoder, and determining a coarse aiming result.
In some embodiments of the present application, rotating the pan/tilt head according to the target encoder angle value and determining the coarse aiming result includes:
and determining the rotation angle of the first holder according to the target encoder angle value.
And rotating the cradle head according to the rotation angle of the first cradle head, and determining a coarse aiming result.
Specifically, after the target encoder angle value is calculated, the first holder rotating angle is issued by adopting the angle control instruction of the holder motor, so that the holder motor rotates to the target position, and the coarse aiming is realized.
For example, when the distance between the power grid foreign matter laser cleaner and the power grid foreign matter is 300 meters, the 1 ° arc length is l-1/360 × 2 × pi ≈ 300 ≈ 5.2 meters, where pi represents the circumferential rate, and the swing amplitude of the power grid foreign matter is usually less than 5 meters, that is, the swing amplitude of the foreign matter is less than 1 °, and under 52 times of the camera view field, the swing distance of the foreign matter in the video frame is linearly related to the angle at which the pan-tilt head needs to rotate, and is suitable for adopting a conventional PID controller. Among them, the PID controller (also called PID regulator) is controlled according to the proportion (P), integral (I) and derivative (D) of the deviation, and is the most widely used automatic controller.
And step S106, acquiring the coordinates of the laser aiming point on the picture of the camera according to the coarse aiming result and acquiring the real-time coordinates of the foreign matters in the power grid.
Specifically, the laser aiming point coordinate is obtained according to a coarse aiming result, the laser aiming point coordinate refers to the coordinate of a light emitting point on a camera picture under the current camera multiplying power, the cloud deck drives laser to rotate together when rotating, the position of the laser aiming point in the camera picture is kept unchanged, and the real-time coordinate of the foreign matter in the power grid is obtained according to an image recognition algorithm.
And S107, rotating the holder in real time according to the laser aiming point coordinates and the real-time coordinates of the foreign matters in the power grid, and tracking the foreign matters in the power grid.
In some embodiments of the present application, the controlling, in real time, the rotation of the cradle head according to the coordinates of the laser aiming point and the real-time coordinates of the power grid foreign object to track the power grid foreign object includes:
and determining the rotation angle of a second holder according to the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid.
And rotating the cradle head in real time according to the rotation angle of the second cradle head to track the foreign matters in the power grid.
Specifically, the laser aiming point coordinates and the real-time coordinates of the power grid foreign matter are transmitted to a PID controller to calculate a second holder rotating angle and control the holder to rotate, after the holder rotates, the real-time coordinates of the power grid foreign matter are continuously fed back through steps S101 to S105, the holder rotates step by step until the laser aims at the foreign matter, the tracking of the power grid foreign matter is completed, and the laser is prepared for removing the power grid foreign matter.
This embodiment is to the transmission line foreign matter under the various complex environment in the electric wire netting fortune dimension, at first aims the position through electric wire netting foreign matter picture position and camera on the input camera picture, combines the camera parameter to calculate the foreign matter and aims the contained angle between the position, then controls cloud platform and rotates this angle, can realize the preliminary aim to the foreign matter in 1s when contained angle within 10. And then, providing real-time coordinates of the foreign matters in the power grid through an image recognition algorithm, transmitting the two coordinates into a PID (proportion integration differentiation) controller to calculate the rotating angle of the holder and control the holder to rotate, and after the holder rotates, continuously feeding back the position of the foreign matters through the image recognition algorithm so that the holder rotates and iterates step by step until the laser aims at the foreign matters.
According to the foreign matter tracking method for the power grid foreign matter laser cleaner, disclosed by the embodiment of the application, the picture of the camera of the power grid foreign matter laser cleaner is obtained at first, the picture position and the aiming position of the camera of the power grid foreign matter laser cleaner are determined, and the target offset is determined according to the picture position and the aiming position. And then, rotating the holder to realize coarse aiming according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the target offset of the holder. And then acquiring the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid on the camera picture, and rotating the holder in real time according to the coordinates of the laser aiming point and the real-time coordinates of the foreign matters in the power grid to enable the holder to rotate and iterate step by step until the laser aims at the foreign matters. According to the foreign matter tracking method and device of the power grid foreign matter laser cleaner, remote operators do not need to calibrate foreign matters manually, and the technical problem that power grid foreign matters are calibrated only through a manual control holder in the prior art, and accuracy is low is solved.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
The second embodiment of the present application discloses a foreign matter tracking device of a power grid foreign matter laser cleaner, the foreign matter tracking device of the power grid foreign matter laser cleaner is applied to the foreign matter tracking method of the power grid foreign matter laser cleaner disclosed by the first embodiment of the present application, refer to the schematic structural diagram shown in fig. 3, the foreign matter tracking device of the power grid foreign matter laser cleaner includes:
and the picture acquisition module 201 is used for acquiring a camera picture of the power grid foreign matter laser cleaner, and determining the position of the power grid foreign matter picture and the aiming position of the camera.
And the target offset determining module 202 is configured to determine a target offset according to the power grid foreign matter picture position and the camera aiming position, where the target offset is an offset required by the laser hitting the power grid foreign matter.
In some embodiments of the present application, the target offset determination module 202 includes:
and the camera parameter acquisition unit is used for acquiring camera parameters.
And the target offset determining unit is used for determining the target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
And the parameter acquisition module 203 is used for acquiring the real-time encoder angle value of the cloud deck of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters.
An angle value obtaining module 204, configured to determine an angle value of a target encoder according to the real-time encoder angle value, the foreign object parameter, the overhead line parameter, and the offset.
And the first rotating module 205 is configured to rotate the pan/tilt head according to the target encoder angle value, and determine a coarse aiming result.
In some embodiments of the present application, the first rotation module 205 includes:
and the first holder rotation angle determining unit is used for determining the first holder rotation angle according to the target encoder angle value.
And the coarse aiming result acquisition unit is used for rotating the holder according to the rotation angle of the first holder and determining a coarse aiming result.
And the coordinate acquisition module 206 is configured to acquire the coordinates of the laser aiming point on the camera image and the real-time coordinates of the foreign matter in the power grid according to the coarse aiming result.
And the second rotating module 207 is used for rotating the holder in real time according to the laser aiming point coordinate and the real-time grid foreign matter coordinate to track the grid foreign matter.
In some embodiments of the present application, the second rotating module 207 includes:
and the second holder rotation angle determining unit is used for determining the second holder rotation angle according to the laser aiming point coordinate and the power grid foreign matter real-time coordinate.
And the tracking unit is used for rotating the cradle head in real time according to the rotation angle of the second cradle head so as to track the foreign matters in the power grid.
The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.
Claims (8)
1. A foreign matter tracking method of a power grid foreign matter laser cleaner is characterized by comprising the following steps:
acquiring a camera picture of the power grid foreign matter laser cleaner, and determining the position of the power grid foreign matter picture and the aiming position of the camera;
determining a target offset according to the picture position of the power grid foreign matter and the aiming position of the camera, wherein the target offset is the offset required by the laser hitting the power grid foreign matter;
acquiring a real-time encoder angle value of a holder of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters;
determining a target encoder angle value according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the offset;
rotating the holder according to the angle value of the target encoder, and determining a coarse aiming result;
acquiring the coordinates of a laser aiming point on the picture of the camera and the real-time coordinates of the foreign matters in the power grid according to the coarse aiming result;
and rotating the cradle head in real time according to the laser aiming point coordinates and the real-time coordinates of the power grid foreign matters to track the power grid foreign matters.
2. The foreign object tracking method of the power grid foreign object laser cleaner as claimed in claim 1, wherein the determining of the target offset according to the power grid foreign object picture position and the camera aiming position comprises:
acquiring camera parameters;
and determining target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
3. The foreign matter tracking method of the power grid foreign matter laser cleaner according to claim 1, wherein rotating the pan-tilt according to the target encoder angle value and determining a coarse aiming result comprises:
determining a first holder rotation angle according to the target encoder angle value;
and rotating the cradle head according to the rotation angle of the first cradle head, and determining a coarse aiming result.
4. The foreign matter tracking method of the power grid foreign matter laser cleaner according to claim 1, wherein the step of controlling the cradle head to rotate in real time according to the coordinates of the laser aiming point and the real-time coordinates of the power grid foreign matter to track the power grid foreign matter comprises the steps of:
determining a second holder rotation angle according to the laser aiming point coordinate and the power grid foreign matter real-time coordinate;
and rotating the cradle head in real time according to the rotation angle of the second cradle head to track the foreign matters in the power grid.
5. A foreign matter tracking device of a power grid foreign matter laser cleaner is characterized in that the foreign matter tracking device of the power grid foreign matter laser cleaner is applied to the foreign matter tracking method of the power grid foreign matter laser cleaner as claimed in any one of claims 1 to 4, and the foreign matter tracking device of the power grid foreign matter laser cleaner comprises:
the picture acquisition module is used for acquiring a camera picture of the power grid foreign matter laser cleaner and determining the position of the power grid foreign matter picture and the aiming position of the camera;
the target offset determining module is used for determining a target offset according to the picture position of the power grid foreign matter and the aiming position of the camera, wherein the target offset is an offset required by the laser hitting the power grid foreign matter;
the parameter acquisition module is used for acquiring a real-time encoder angle value of a holder of the power grid foreign matter laser cleaner, and acquiring foreign matter parameters and overhead line parameters;
the angle value acquisition module is used for determining a target encoder angle value according to the real-time encoder angle value, the foreign matter parameter, the overhead line parameter and the offset;
the first rotating module is used for rotating the holder according to the angle value of the target encoder and determining a coarse aiming result;
the coordinate acquisition module is used for acquiring the coordinates of the laser aiming point on the camera picture and acquiring the real-time coordinates of the foreign matters in the power grid according to the coarse aiming result;
and the second rotating module is used for rotating the cloud deck in real time according to the laser aiming point coordinate and the real-time coordinate of the power grid foreign matter to track the power grid foreign matter.
6. The foreign object tracking device of the power grid foreign object laser cleaner according to claim 5, wherein the target offset determination module comprises:
the camera parameter acquiring unit is used for acquiring camera parameters;
and the target offset determining unit is used for determining the target offset according to the camera parameters, the power grid foreign matter picture position and the camera aiming position.
7. The foreign matter tracking device of the power grid foreign matter laser cleaner according to claim 5, wherein the first rotation module includes:
the first holder rotation angle determining unit is used for determining a first holder rotation angle according to the target encoder angle value;
and the coarse aiming result acquisition unit is used for rotating the holder according to the rotation angle of the first holder and determining a coarse aiming result.
8. The foreign object tracking device of the power grid foreign object laser cleaner according to claim 5, wherein the second rotating module comprises:
the second holder rotation angle determining unit is used for determining a second holder rotation angle according to the laser aiming point coordinate and the power grid foreign matter real-time coordinate;
and the tracking unit is used for rotating the cradle head in real time according to the rotation angle of the second cradle head so as to track the foreign matters in the power grid.
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| CN110490834A (en) * | 2018-06-16 | 2019-11-22 | 南京理工大学 | The object recognition and detection method of foreign matter device is removed based on laser |
| CN110062205A (en) * | 2019-03-15 | 2019-07-26 | 四川汇源光通信有限公司 | Motion estimate, tracking device and method |
| CN110601068A (en) * | 2019-08-08 | 2019-12-20 | 国家电网有限公司 | Full-automatic dynamic laser aiming device and method |
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