CN114140434A - Method, system and medium for detecting windage yaw fault of insulator string of power transmission line - Google Patents
Method, system and medium for detecting windage yaw fault of insulator string of power transmission line Download PDFInfo
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Abstract
The invention provides a method for detecting windage yaw faults of an insulator string of a power transmission line, which comprises the following steps: s1, acquiring images of the insulator string by using a camera, and calibrating the camera to obtain corrected images; s2, filtering and segmenting the insulator string image, and correcting the segmented image by morphological processing; s3, extracting frameworks of the insulator strings by using a thinning algorithm according to the corrected images of the insulator strings, and calculating to obtain end point coordinates of two ends of the frameworks; s4, calculating the wind deflection angle of the insulator string by using a wind deflection angle calculation formula according to the end point coordinates of the two ends of the framework; and S5, judging whether the windage yaw angle of the insulator string is larger than a threshold value, if so, giving an early warning when the insulator string has windage yaw faults. The detection method provided by the invention has the advantages of few calculation equation parameters and simple calculation, and can accurately reflect the windage yaw condition of the insulator string of the power transmission line, so that windage yaw fault early warning is made in advance.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to a method, a system and a medium for detecting windage yaw faults of an insulator string of a power transmission line.
Background
With the continuous increase of the power load and the continuous improvement of the power supply reliability requirements of power users, the continuous construction of power grid infrastructure and ultrahigh voltage transmission lines is promoted. The wind deflection accident of the power transmission line is one of the frequently-occurring power grid accidents, and often causes line tripping, wind deflection discharge, wire arc burning, disconnection and the like. Unlike lightning flashover and operational impulse flashover, most windage yaw flashover faults occur at operating voltages. Due to the continuity of wind in a certain time, the wind deflection flashover can not be successfully superposed after jumping off, thereby causing the outage of a power transmission line and seriously influencing the power supply reliability of a power grid. The wind deflection inter-hop fault is one of the most common wind damage types of the power transmission line, mainly comprises deflection of a lead and an insulator under the action of wind power, and discharge tripping caused by insufficient electrical gap distance.
At present, the commonly used insulator windage yaw detection method mainly utilizes an installation tilt angle sensor to detect, or establishes a yaw angle calculation model, then measures microclimate around the insulator, such as wind speed, wind direction and the like, and substitutes parameters into a complex mathematical model to calculate the insulator string windage yaw angle. However, these calculation methods are not only computationally intensive, but also have many errors, such as the accuracy of the sensors and environmental factors affecting windage.
Therefore, in order to reflect the windage yaw condition of the transmission line insulator string more accurately, it is necessary to provide a method, a system and a medium for detecting the windage yaw fault of the transmission line insulator string.
Disclosure of Invention
In order to solve the technical problem that an insulator string wind deflection angle calculation method in the prior art is difficult to accurately reflect the actual wind deflection condition of an insulator string, the invention provides a method, a system and a medium for detecting the wind deflection fault of the insulator string of a power transmission line, and aims to solve the technical problem.
According to a first aspect of the application, a method for detecting windage yaw faults of an insulator string of a power transmission line is provided, and the method comprises the following steps:
s1, acquiring images of the insulator string by using a camera, and calibrating the camera to obtain corrected images of the insulator string;
s2, filtering and segmenting the insulator string image, and correcting the segmented insulator string image by morphological processing;
s3, extracting frameworks of the insulator strings by using a thinning algorithm according to the corrected images of the insulator strings, and calculating to obtain end point coordinates of two ends of the frameworks;
s4, calculating the wind deflection angle of the insulator string by using a wind deflection angle calculation formula according to the end point coordinates of the two ends of the framework;
and S5, judging whether the windage yaw angle of the insulator string is larger than a threshold value, if so, giving an early warning when the insulator string has windage yaw faults.
The method comprises the steps of collecting images of an insulator string through a camera, calibrating the camera to obtain reliable images, processing the images, extracting frameworks of the insulator string according to the processed images, finally determining coordinates of end points at two ends of the insulator string, calculating a wind deflection angle of the insulator string according to a wind deflection angle calculation formula, judging whether the wind deflection angle of the insulator string is larger than a threshold value or not, and judging whether a wind deflection fault occurs to the insulator string or not. The method and the device have the advantages that the images of the collected insulator strings are sequentially subjected to image correction, image processing, skeleton extraction, coordinate extraction and calculation judgment, the calculation equation parameters in the whole process are few, the calculation is simple, extra environment parameters do not need to be collected, the calculation speed is high, and the windage yaw condition of the insulator strings of the power transmission line can be accurately reflected, so that early warning is made in advance.
Preferably, the camera is calibrated by a tensegrity scaling method, which specifically includes:
a) reading the images of the insulator strings, and carrying out corner point rough extraction on the images of the insulator strings;
b) carrying out corner point accurate extraction on the image of the insulator string to obtain sub-pixel corner point coordinates;
c) acquiring calibration parameters of the camera;
d) according to the calibration parameters of the camera, carrying out distortion removal on the image of the insulator string;
e) and evaluating the final calibration result of the camera.
And extracting angular points on the calibration plate in the crude extraction step, wherein the precise extraction is to enable the precision of the extracted angular points to reach a sub-pixel level, then calculating parameters such as internal reference and external reference coefficients, distortion coefficients, a rotation matrix, a translation vector and the like of the camera, and carrying out distortion removal on the image according to the internal reference and external reference coefficients of the camera to finally obtain the corrected image.
Further preferably, the step e) specifically includes: and carrying out re-projection calculation on the space three-dimensional points according to the calibration parameters of the camera to obtain new projection coordinates of the space three-dimensional points on the image of the insulator string, and calculating the deviation between the projection coordinates and the sub-pixel corner point coordinates, wherein the smaller the deviation is, the better the calibration result of the camera is.
By evaluating the calibration result, whether the calibration method can meet the calculation precision requirement of the scheme can be judged.
Preferably, the extracting the skeleton of the insulator string by using a refinement algorithm in step S3 specifically includes: and based on a table look-up method, removing the pixel points which do not meet the requirements in the image of the insulator string, thereby extracting the framework of the insulator string.
By extracting the skeleton, the outline of the central pixel of the insulator string on the image can be obtained.
Further preferably, the pixel points which do not meet the requirement in the image of the insulator string are determined according to the conditions of 8 adjacent pixel points of the current pixel points, and the specific determination is as follows:
the current pixel point is not an interior point;
the current pixel point is not an isolated point;
the current pixel point is not a straight line point;
if the current pixel point is a boundary point, after the current pixel point is removed, the connection component between 8 adjacent pixel points of the current pixel point cannot be increased.
Preferably, the windage yaw angle calculation formula in step S4 is specifically:
wherein theta is the windage yaw angle of the insulator string, x1、y1And x2、y2Respectively are the xy-axis coordinates of the end points of the two ends of the framework.
Because the whole insulator string is a straight line, and the finally extracted framework of the insulator string is also a straight line in practice, the wind deflection angle of the insulator string can be calculated by only calculating the coordinates of the end points at the two ends of the framework and then calculating the change of the coordinates of the end points at the two ends of the framework.
Preferably, the morphological processing in step S2 is processing using dilation and erosion operations in mathematical morphology.
Through the expansion and corrosion operation processing in mathematical morphology, defects and burrs in the insulator string image can be removed.
Further preferably, the camera is mounted on an unmanned aerial vehicle, and the camera acquires images of the insulator strings by utilizing the routing inspection of the unmanned aerial vehicle.
The camera carried by the unmanned aerial vehicle is used for collecting images of the insulator string, complex equipment does not need to be assembled on the tower pole and the insulator string for a long time, the unmanned aerial vehicle camera cannot be influenced by outdoor disasters, and the data transmission mode is simple and has high reliability.
According to a second aspect of the application, a system for detecting windage yaw faults of an insulator string of a power transmission line is provided, which comprises:
the image acquisition module is configured to acquire images of the insulator string by using a camera and calibrate the camera to obtain corrected images of the insulator string;
the image processing module is configured to filter and divide the images of the insulator strings and correct the divided images of the insulator strings by morphological processing;
the framework extraction module is configured for extracting a framework of the insulator string by utilizing a thinning algorithm according to the corrected image of the insulator string;
the calculation module is configured to calculate end point coordinates of two ends of the framework and calculate a windage yaw angle of the insulator string by using a windage yaw angle calculation formula according to the end point coordinates of the two ends of the framework;
and the judging module is configured for judging whether the windage yaw angle of the insulator string is greater than a threshold value, if so, the insulator string has windage yaw faults and sends out early warning.
According to a third aspect of the application, a computer-readable storage medium is proposed, which stores a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.
The application provides a method, a system and a medium for detecting windage yaw faults of an insulator string of a power transmission line, images of the insulator string are collected through an unmanned aerial vehicle camera, the unmanned aerial vehicle camera is calibrated to obtain corrected images, then the images are sequentially filtered, segmented, expanded and corroded, according to the processed images, frameworks of the insulator string are extracted through a table look-up method of a thinning algorithm, and finally coordinates of end points at two ends of the insulator string are determined, so that the windage yaw angle of the insulator string is calculated according to a windage yaw angle calculation formula, and whether the windage angle of the insulator string is larger than a threshold value or not is judged, and whether the windage faults of the insulator string occur or not is further judged. This application carries out image correction to the image of the insulator chain that gathers through the unmanned aerial vehicle camera in proper order, image enhancement, morphology is handled, the skeleton is extracted, the coordinate is drawed and is calculated and judge, whole process's calculation equation parameter is few, it is simple to calculate, need not to gather extra environmental parameter, and need not at the tower pole, the equipment that the insulator chain is complicated for a long time assembled, the unmanned aerial vehicle camera can not receive outdoor calamity's influence, whole in-process data transmission mode is simple, the computational rate is fast, the windage yaw condition of reflection transmission line insulator chain that can be comparatively accurate, thereby make the early warning in advance.
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The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.
Fig. 1 is a flowchart of a method for detecting windage yaw faults of an insulator string of a power transmission line according to an embodiment of the invention;
FIG. 2 is a schematic view of a windage fault according to an embodiment of the present invention;
FIG. 3 is a flow chart of the opencv-based Zhang calibration method according to an embodiment of the present invention;
FIG. 4 is a schematic view of the calculation of windage yaw angle of an insulator string according to an embodiment of the present invention;
fig. 5 is a block diagram of a system for detecting windage yaw faults of a power transmission line insulator string according to one embodiment of the invention.
Description of reference numerals: 1. an image acquisition module; 2. an image processing module; 3. a skeleton extraction module; 4. a calculation module; 5. and a judging module.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the list of additional identical elements in a process, method, article, or apparatus that comprises the element.
It should be noted that the programming, the module and the function call in the method for detecting the windage yaw fault of the power transmission line insulator string in the embodiment are based on the opencv framework of python language, and will not be emphasized below.
According to the first aspect of the application, a method for detecting windage yaw faults of an insulator string of a power transmission line is provided. Fig. 1 shows a flowchart of a method for detecting a windage yaw fault of an insulator string of a power transmission line according to an embodiment of the invention, and as shown in fig. 1, the method comprises the following steps:
and S1, acquiring the images of the insulator strings by using the camera, and calibrating the camera to obtain the corrected images of the insulator strings.
In a specific embodiment, fig. 2 shows a schematic diagram of a windage yaw fault according to an embodiment of the present invention, as shown in fig. 2, the windage yaw fault mainly includes a deflection of a conductor and an insulator string under a force, a discharge trip due to insufficient distance of an electrical gap, and the windage fault often occurs under severe weather conditions, such as strong wind, heavy rainstorm or hail weather, the conductor is affected by wind to generate a certain deflection so as to reduce the air gap, and meanwhile, the power frequency discharge voltage of the conductor is reduced along with the heavy wind ice skies or heavy rain, and the combined action of the two will cause the windage fault. Therefore, in this embodiment, the camera is carried on unmanned aerial vehicle, utilizes unmanned aerial vehicle's the image of patrolling and examining and gathering insulator chain, need not to assemble complicated equipment on pylon, insulator chain for a long time, and the camera on unmanned aerial vehicle can not receive outdoor calamity's influence to data transmission mode is simple, only needs to be passed back the image of gathering by unmanned aerial vehicle, has higher reliability.
In a preferred embodiment, in order to improve the accuracy of the detection result, after the image of the insulator string is acquired by using a camera on the unmanned aerial vehicle, the camera is calibrated, so that the corrected image of the insulator string is obtained. The calibration of the camera specifically adopts a module of the spandrel calibration method provided in opencv, and fig. 3 shows a flowchart of the spandrel calibration method based on opencv according to an embodiment of the present invention, and as shown in fig. 3, the spandrel calibration method specifically includes:
a) and reading the images of the insulator strings, and carrying out corner point rough extraction on the images of the insulator strings.
In a specific embodiment, the corner points are extracted based on the cv2. findchessboardcorrers function, resulting in corner point coordinates. The corner points here refer to the inner corner points on the calibration plate, which are not in contact with the edges of the calibration plate.
b) And carrying out corner point accurate extraction on the image of the insulator string to obtain sub-pixel corner point coordinates.
In a specific embodiment, in order to improve calibration accuracy and reduce calibration deviation of a camera, accuracy of corner points is further extracted to a sub-pixel level on the preliminarily extracted corner point information based on a cv2.corner sub-pix function, and sub-pixel corner point coordinates are obtained. In other embodiments, corner refinement extraction can also be performed based on the cv2. find4quadcorrosubpix function.
c) And acquiring calibration parameters of the camera.
In a specific embodiment, after the coordinates of the inner corner of the calibration board are obtained, calibration is performed based on a cv2. calibretacarama function, and parameters such as an internal parameter, an external parameter coefficient, a distortion coefficient, a rotation matrix, a translation vector and the like of the camera are calculated.
d) And according to the calibration parameters of the camera, carrying out distortion removal on the image of the insulator string.
In a specific embodiment, the distortion of the image of the insulator string is corrected based on the cv2 undistort function by using the obtained internal reference and external reference coefficients of the camera. In other embodiments, the distortion removal may also be performed based on the coordination of the initunosterrectifymap and remap functions.
e) And evaluating the final calibration result of the camera.
In a specific embodiment, evaluating the calibration result specifically includes: and carrying out re-projection calculation on the space three-dimensional points according to the internal reference coefficient and the external reference coefficient of the camera to obtain new projection coordinates of the space three-dimensional points on the image of the insulator string, and calculating the deviation between the projection coordinates and the sub-pixel corner point coordinates, wherein the smaller the deviation is, the better the calibration result of the camera is. Where the re-projection of the spatial three-dimensional points uses the cv2 project points function. In the present embodiment, the deviation range between the projection coordinates and the sub-pixel corner coordinates is required to be less than one in a thousand.
With continued reference to fig. 1, after step S1:
and S2, filtering and dividing the insulator string image, and correcting the divided insulator string image by morphological processing.
In a specific embodiment, after the camera is calibrated, the image of the insulator string is filtered by using a median filter function cv2.media blur, so that noise in the image of the insulator string is suppressed. And after the image filtering processing is finished, carrying out threshold segmentation on the image of the insulator string by using a cv2.threshold function. The morphological processing is expansion and corrosion operation processing in mathematical morphology, and the expansion adopts a cv2. die function, so that the edge of the image can be expanded, and the edge of the insulator string or the inner pit can be filled. And c, corroding the edge of the image by adopting a cv2. anode function, so that burrs at the edge of the insulator string are removed.
And S3, extracting the framework of the insulator string by using a thinning algorithm according to the corrected image of the insulator string, and calculating to obtain the end point coordinates of the two ends of the framework.
In a specific embodiment, the unqualified pixel points in the image of the insulator string are removed based on a table look-up method in a thinning algorithm, so that the skeleton of the insulator string is extracted. The pixel points which do not meet the requirements in the image of the insulator string are determined according to the conditions of 8 adjacent pixel points of the current pixel point, and the specific determination is as follows:
1. the current pixel point is not an interior point;
2. the current pixel point is not an isolated point;
3. the current pixel point is not a straight line point;
4. if the current pixel point is the boundary point, after the current pixel point is removed, the connection component between 8 adjacent pixel points of the current pixel point cannot be increased.
And extracting a framework of the insulator string according to the 4 judgment bases, wherein the shape of the framework is the real shape closest to the insulator string. Similarly, the coordinates of the end points at the two ends of the skeleton can be obtained through traversal.
And S4, calculating the wind deflection angle of the insulator string by using a wind deflection angle calculation formula according to the end point coordinates of the two ends of the framework.
In a specific embodiment, because the shape of the insulator string is a section of straight line, the skeleton of the finally extracted insulator string is also a section of straight line in practice, so that the wind deflection angle of the insulator string can be calculated by only calculating the coordinates of the end points at the two ends of the skeleton and then calculating the change of the coordinates of the end points at the two ends of the skeleton. The windage yaw angle calculation formula specifically comprises:
wherein theta is the windage yaw angle of the insulator string, x1、y1And x2、y2Respectively are the xy-axis coordinates of the end points of the two ends of the framework. FIG. 4 is a schematic diagram illustrating calculation of windage yaw angle of an insulator string according to an embodiment of the present invention, where as shown in FIG. 4, the insulator string is in an initial state and is in a suspension state, and the coordinates of end points at two ends of the insulator string are assumed to be A (x) respectively1，y1)、B(x2，y2) And calculating the windage yaw angle theta according to the trigonometric function relation.
And S5, judging whether the windage yaw angle of the insulator string is larger than a threshold value, if so, giving an early warning if the insulator string has windage yaw faults.
The windage yaw angle threshold of the insulator string has different requirements for different equipment in different regions, and in the embodiment, the threshold is set to be 30 degrees.
By the detection method, the images of the insulator strings are acquired by the camera carried by the unmanned aerial vehicle, complex equipment does not need to be assembled on the tower pole and the insulator strings for a long time, the camera on the unmanned aerial vehicle is not influenced by outdoor disasters, and the data transmission mode in the whole process is simple and reliable; then calibrating the camera to obtain a corrected image, and further improving the accuracy of subsequent detection; then, sequentially carrying out filtering, segmentation, expansion and corrosion treatment on the corrected insulator string image so as to further optimize the image; extracting a framework of the insulator string by using a table look-up method in a thinning algorithm according to the optimized image, and finally determining coordinates of end points at two ends of the insulator string so as to calculate a wind deflection angle of the insulator string according to a wind deflection angle calculation formula; and finally, judging whether the wind deflection angle of the insulator string is larger than a threshold value or not so as to judge whether the insulator string has a wind deflection fault or not. This application carries out image correction, image enhancement, morphological processing, skeleton extraction, coordinate extraction and calculation judgement to the image of the insulator chain that gathers through the unmanned aerial vehicle camera in proper order, and the calculation equation parameter of whole process is few, calculate simply, need not to gather extra environmental parameter, and the influence factor is less, the windage yaw condition of reflection transmission line insulator chain that can be comparatively accurate to make windage yaw fault early warning in advance.
According to a second aspect of the application, a system for detecting windage yaw faults of an insulator string of a power transmission line is provided, and the system is configured to implement the detection method. Fig. 5 shows a block diagram of a system for detecting windage yaw fault of an insulator string of a power transmission line according to an embodiment of the invention, and as shown in fig. 5, the system comprises:
the image acquisition module 1 is configured to acquire images of the insulator string by using a camera and calibrate the camera to obtain corrected images of the insulator string;
the image processing module 2 is configured to perform filtering and segmentation processing on the images of the insulator strings and correct the images of the segmented insulator strings by using morphological processing;
the framework extraction module 3 is configured for extracting the framework of the insulator string by utilizing a thinning algorithm according to the corrected image of the insulator string;
the calculation module 4 is configured to calculate end point coordinates of two ends of the framework, and calculate a windage yaw angle of the insulator string by using a windage yaw angle calculation formula according to the end point coordinates of the two ends of the framework;
and the judging module 5 is configured to judge whether the windage yaw angle of the insulator string is greater than a threshold value, if so, the insulator string has windage yaw faults, and an early warning is sent out.
According to a third aspect of the present application, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the method for detecting windage yaw faults of a power transmission line insulator string as described above.
In the embodiments of the present application, it should be understood that the disclosed technical contents may be implemented in other ways. The above-described embodiments of the apparatus/system/method are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalents, the present invention is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps than those listed in a claim. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims shall not be construed as limiting the scope.
Claims (10)
1. A method for detecting a windage yaw fault of an insulator string of a power transmission line is characterized by comprising the following steps:
s1, acquiring images of the insulator string by using a camera, and calibrating the camera to obtain corrected images of the insulator string;
s2, filtering and segmenting the insulator string image, and correcting the segmented insulator string image by morphological processing;
s3, extracting frameworks of the insulator strings by using a thinning algorithm according to the corrected images of the insulator strings, and calculating to obtain end point coordinates of two ends of the frameworks;
s4, calculating the wind deflection angle of the insulator string by using a wind deflection angle calculation formula according to the end point coordinates of the two ends of the framework;
and S5, judging whether the windage yaw angle of the insulator string is larger than a threshold value, if so, giving an early warning when the insulator string has windage yaw faults.
2. The method according to claim 1, wherein the camera is calibrated by a tensor calibration method, which specifically comprises:
a) reading the images of the insulator strings, and carrying out corner point rough extraction on the images of the insulator strings;
b) carrying out corner point accurate extraction on the image of the insulator string to obtain sub-pixel corner point coordinates;
c) acquiring calibration parameters of the camera;
d) according to the calibration parameters of the camera, carrying out distortion removal on the image of the insulator string;
e) and evaluating the final calibration result of the camera.
3. The method according to claim 2, wherein said step e) comprises in particular: and carrying out re-projection calculation on the space three-dimensional points according to the calibration parameters of the camera to obtain new projection coordinates of the space three-dimensional points on the image of the insulator string, and calculating the deviation between the projection coordinates and the sub-pixel corner point coordinates, wherein the smaller the deviation is, the better the calibration result of the camera is.
4. The method according to claim 1, wherein the extracting the skeleton of the insulator string by using the refinement algorithm in step S3 specifically comprises: and based on a table look-up method, removing the pixel points which do not meet the requirements in the image of the insulator string, thereby extracting the framework of the insulator string.
5. The method according to claim 4, wherein the unsatisfactory pixel points in the image of the insulator string are determined by using the conditions of 8 adjacent pixel points of the current pixel points as criteria, and the specific criteria are as follows:
the current pixel point is not an interior point;
the current pixel point is not an isolated point;
the current pixel point is not a straight line point;
if the current pixel point is a boundary point, after the current pixel point is removed, the connection component between 8 adjacent pixel points of the current pixel point cannot be increased.
6. The method according to claim 1, wherein the windage yaw angle calculation formula in step S4 is specifically:
wherein theta is the windage yaw angle of the insulator string, x1、y1And x2、y2Respectively are the xy-axis coordinates of the end points of the two ends of the framework.
7. The method according to claim 1, wherein the morphological processing in the step S2 is processing using dilation and erosion operations in mathematical morphology.
8. The method according to claim 1, wherein the camera is mounted on a drone, the camera capturing images of the insulator string using a patrol of the drone.
9. The utility model provides a transmission line insulator chain windage yaw fault detection system which characterized in that includes:
the image acquisition module is configured to acquire images of the insulator string by using a camera and calibrate the camera to obtain corrected images of the insulator string;
the image processing module is configured to filter and divide the images of the insulator strings and correct the divided images of the insulator strings by morphological processing;
the framework extraction module is configured for extracting a framework of the insulator string by utilizing a thinning algorithm according to the corrected image of the insulator string;
the calculation module is configured to calculate end point coordinates of two ends of the framework and calculate a windage yaw angle of the insulator string by using a windage yaw angle calculation formula according to the end point coordinates of the two ends of the framework;
and the judging module is configured for judging whether the windage yaw angle of the insulator string is greater than a threshold value, if so, the insulator string has windage yaw faults and sends out early warning.
10. A computer-readable storage medium, storing a computer program which, when executed by a processor, implements the method of any one of claims 1-7.
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