CN114220029A - Detection method and device for rotary joint of groove type photo-thermal power station - Google Patents
Detection method and device for rotary joint of groove type photo-thermal power station Download PDFInfo
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Abstract
The application discloses a method and a device for detecting a rotary joint of a slot type photo-thermal power station. The detection method of the rotary joint of the groove type photo-thermal power station comprises the following steps: acquiring distribution information of a groove type condenser field and size information of a rotary joint corresponding to the distribution information; determining a flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises a shooting position of the unmanned aerial vehicle; acquiring an image of a rotary joint shot by the unmanned aerial vehicle at the shooting position; performing image preprocessing on the image; and identifying the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged. The detection method and device for the groove type photothermal power station rotary joint can rapidly and accurately determine whether the rotary joint is damaged or not.
Description
Technical Field
The application relates to the technical field of photo-thermal power stations, in particular to a method and a device for detecting a rotary joint of a slot type photo-thermal power station.
Background
The groove type solar thermal power generation system adopts the parabolic cylindrical reflector to gather sunlight onto the vacuum heat collector at the focal line, the heat transfer working medium of the heat collector is heated in the flowing process, and then the heat energy is transmitted to the thermal power generation device through the heat pipeline to generate power. Wherein, the heat collector and the heat distribution pipeline are connected through a rotary joint. At present, the rotary joint produced in China in a localization mode does not have the maturity of being applied to a large-scale commercial slot type optical thermal power station, and the industry is monopolized by imported products in foreign countries. Due to the fact that the hydrological meteorological conditions of foreign slot type photo-thermal power station sites are different from those of domestic photo-thermal dominant areas generally, imported rotary joints cannot be fully understood in the processes of design, manufacture, test and inspection and the like and adapt to common low-temperature severe cold, large temperature difference, high immunogenicity and other weather characteristics of domestic photo-thermal power station sites, and frequent faults of the rotary joints are caused. Specifically, the rotary joint conveys organic heat conducting oil under a pressure-bearing state in the normal operation period, and the rotary joint needs to bear 360-degree axial rotation of nearly 10000 times, up to 1000 times of high and low temperature and pressure alternation, and radial deflection of nearly 7 degrees at most every year. In the low-temperature severe cold or large temperature difference areas with severe climate, the failure rate is obviously increased, especially in the aspects of leakage or seepage at the rotary joints, damage of the heat preservation structure and the like. Because the space between the photo-thermal power station and the heat collector is large, and the mode of adopting manual visual observation needs to invest in larger manpower and working hours, a method capable of quickly and conveniently detecting the rotary joint is urgently needed.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
Therefore, a first object of the present application is to provide a method for inspecting a slot type rotary joint of a photothermal power station, which can quickly and accurately determine whether the rotary joint is damaged.
A second object of the present application is to provide a detection device for a rotary joint of a slot type photothermal power station.
A third object of the present application is to propose a computer device.
A fourth object of the present application is to propose a computer readable storage medium.
In order to achieve the above object, an embodiment of the first aspect of the present application provides a method for detecting a rotary joint of a slot type photothermal power station, including:
acquiring distribution information of a groove type condenser field and size information of a rotary joint corresponding to the distribution information;
determining a flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises a shooting position of the unmanned aerial vehicle;
acquiring an image of a rotary joint shot by the unmanned aerial vehicle at the shooting position;
performing image preprocessing on the image;
and identifying the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged.
Optionally, obtain the unmanned aerial vehicle in the image of the rotary joint who shoots in the shooting position includes:
controlling the unmanned aerial vehicle carrying the camera to fly to the shooting position along the flight path;
and shooting the image of the rotary joint at a preset shooting angle at the shooting position.
Optionally, the preset shooting angle is determined by a first formula and a second formula, where the first formula is:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha.
Optionally, the image preprocessing is performed on the image, and includes:
performing positioning cropping of a rotary joint on the image;
and adjusting the size of the positioned and cut image.
Optionally, recognizing the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged, including:
graying the preprocessed image to obtain a corresponding grayscale image;
carrying out binarization processing on the gray level image;
and comparing the binarized image with a standard template to determine whether the rotary joint is damaged or not.
Optionally, after determining whether the rotary joint is broken, the method further includes:
performing feature extraction on the image of the rotary joint determined to be broken;
filtering and denoising the image of the damaged rotary joint after the characteristics are extracted;
and comparing the filtered and denoised image of the damaged rotary joint with preset fault characteristics to determine the fault type of the rotary joint.
Optionally, the fault type includes oil leakage of a rotary joint and damage of an insulation structure.
The detection method of slot type light and heat power station rotary joint of this application embodiment, through the distribution information that acquires slot type collecting mirror field and the rotary joint's that corresponds size information, and according to distribution information with unmanned aerial vehicle's flight path is confirmed to size information, and obtains unmanned aerial vehicle is in the image of the rotary joint who shoots the position, then right the image carries out image preprocessing to and utilize preset algorithm to discern the image after the preprocessing, in order to confirm whether rotary joint takes place the damage, can confirm whether rotary joint takes place the damage fast, accurately.
In order to achieve the above object, an embodiment of the second aspect of the present application provides a detection device for a slot type photothermal power station rotary joint, including:
the acquisition module is used for acquiring the distribution information of the groove type condenser field and the size information of the corresponding rotary joint;
the determining module is used for determining a flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises a shooting position of the unmanned aerial vehicle;
the image acquisition module is used for acquiring an image of the rotary joint shot by the unmanned aerial vehicle at the shooting position;
the preprocessing module is used for preprocessing the image;
and the detection module is used for identifying the preprocessed image by using a preset algorithm so as to determine whether the rotary joint is damaged.
Optionally, the image obtaining module is configured to:
controlling the unmanned aerial vehicle carrying the camera to fly to the shooting position along the flight path;
and shooting the image of the rotary joint at a preset shooting angle at the shooting position.
Optionally, the preset shooting angle is determined by a first formula and a second formula, where the first formula is:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha.
Optionally, the preprocessing module is configured to:
performing positioning cropping of a rotary joint on the image;
and adjusting the size of the positioned and cut image.
Optionally, the detection module is configured to:
graying the preprocessed image to obtain a corresponding grayscale image;
carrying out binarization processing on the gray level image;
and comparing the binarized image with a standard template to determine whether the rotary joint is damaged or not.
Optionally, the apparatus further comprises a fault type determination module,
the fault type determination module is configured to:
after determining whether the rotary joint is broken, performing feature extraction on the image of the rotary joint determined to be broken;
filtering and denoising the image of the damaged rotary joint after the characteristics are extracted;
and comparing the filtered and denoised image of the damaged rotary joint with preset fault characteristics to determine the fault type of the rotary joint.
Optionally, the fault type includes oil leakage of a rotary joint and damage of an insulation structure.
The detection device of slot type light and heat power station rotary joint of this application embodiment, through the distribution information that acquires slot type collecting mirror field and the rotary joint's that corresponds size information, and according to distribution information with unmanned aerial vehicle's flight path is confirmed to size information, and obtains unmanned aerial vehicle is in the image of the rotary joint who shoots the position, then right the image carries out image preprocessing to and utilize preset algorithm to discern the image after the preprocessing, in order to confirm whether rotary joint takes place the damage, can confirm whether rotary joint takes place the damage fast, accurately.
In order to achieve the above object, a third aspect of the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for detecting a slot-type photothermal power station rotary joint according to the first aspect of the present invention is implemented.
In order to achieve the above object, a non-transitory computer-readable storage medium is further provided in an embodiment of a fourth aspect of the present application, where a computer program is stored on the non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the method for detecting a rotary joint of a trough-type photothermal power station is implemented as described in the embodiment of the first aspect.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
FIG. 1 is a flow chart of a method of detecting a slot-type solar thermal power plant rotary joint according to one embodiment of the present application;
fig. 2 is a schematic view of a flight path of a drone according to one embodiment of the present application;
fig. 3 is a schematic diagram of an unmanned aerial vehicle capturing an image of a rotary joint according to an embodiment of the present application;
FIG. 4 is a flow chart of a method of detecting a slot-type solar thermal power station rotary joint according to another embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a rotating joint detecting device based on a drone according to a specific embodiment of the present application;
FIG. 6 is a flow chart of a method of detecting a slot-type solar thermal power station rotary joint according to one embodiment of the present application;
FIG. 7 is a software process flow diagram of one embodiment of the present application;
FIG. 8 is a schematic structural view of a detection device of a trough type photothermal power station rotary joint according to an embodiment of the present application;
fig. 9 is a schematic structural view of a detection device of a slot type photothermal power station rotary joint according to another embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The present invention is described in further detail below with reference to specific examples, which are not to be construed as limiting the scope of the invention as claimed.
The method and apparatus for inspecting a rotary joint of a trough type photothermal power station according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for inspecting a rotary joint of a trough type photothermal power station according to an embodiment of the present application, as shown in fig. 1, the method comprising the steps of:
and S1, acquiring the distribution information of the groove type condenser field and the size information of the corresponding rotary joint.
Wherein, the groove type condenser field is formed by arranging a plurality of groups of groove type condenser matrixes. And rotary joints are arranged at two ends of the heat collector of each group of groove type collecting lenses.
And S2, determining the flight path of the unmanned aerial vehicle according to the distribution information and the size information.
The flight path is determined by coordinates of a plurality of points in the flight path of the unmanned aerial vehicle according to distribution information of the slot type condenser lens field, wherein the coordinates comprise positions and heights, and connecting lines of the points form the path. The flight path includes the shooting position of the drone, i.e. the position point of the shooting for each rotary joint.
The principle of determining the flight path of the unmanned aerial vehicle comprises the following steps: 1. safety; 2. operability; 3. a clear image can be photographed.
Based on above unmanned aerial vehicle flight path confirms the principle, design unmanned aerial vehicle's flight route, flying height and shooting angle to realize carrying out the image acquisition of high definition to rotary joint.
To the collection of rotary joint image, for the image that makes the collection clear complete, and minimize acquisition time, can set up unmanned aerial vehicle along the direction flight perpendicular with the heat collector axis. The distance between unmanned aerial vehicle and the rotary joint can set up to the safe distance under avoiding the collision condition to guarantee that the resolution ratio of the image of the rotary joint who shoots is enough clear. For example, as shown in fig. 2, since thermal pipelines are disposed at two ends of the heat collector in the trough type condenser field, in order to ensure safety and comprehensively consider the size of the unmanned aerial vehicle and the wing deployment length, the horizontal distance between the unmanned aerial vehicle and the rotary joint is set to be 3m, the horizontal shooting angle θ is set to be 45 degrees, and the flight path is from top to bottom in the figure.
And S3, acquiring the image of the rotary joint shot by the unmanned aerial vehicle at the shooting position.
Specifically, when shooing the image, steerable unmanned aerial vehicle that carries on the camera flies to shooting position along the flight path, then shoots the image of rotary joint with predetermineeing shooting angle in shooting position. The preset shooting angle is determined through a first formula and a second formula, wherein the first formula is as follows:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha. For example, as shown in fig. 3, in order to capture a complete swivel image, the camera needs to capture images in both the front and rear directions of the swivel. Meanwhile, for safety, the unmanned aerial vehicle needs to avoid other equipment below the unmanned aerial vehicle, and therefore the unmanned aerial vehicle is determined to have no equipmentThe man-machine shoots outside the heat collector both ends. The axis of the rotary joint perpendicular to the ground is taken as a longitudinal axis (Z axis), the height of the rotary joint is h1, a is the horizontal distance between the unmanned aerial vehicle and the rotary joint, and theta is a given horizontal shooting angle; the height of the unmanned aerial vehicle is h2, and flying along the Y-axis direction, the deflection angle of the camera is beta, and the pitch angle is alpha.
S4, image preprocessing is performed on the image.
The image preprocessing is to improve the detection precision and the detection speed, and can be divided into two parts, namely image positioning and cutting and size adjustment. Image cutting: and positioning and cutting the rotary joint to remove redundant backgrounds and sundries. According to the rectangle clipping method, the position of the upper left corner of the equipment (rotary joint) is obtained, and the image of the rotary joint is obtained by clipping according to the width and the length of the equipment in the image. And (3) size adjustment: and the image size is reduced through a scaling algorithm, the data processing amount is reduced, and the detection speed is improved.
And S5, recognizing the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged.
Specifically, the image is identified to determine whether the rotary joint is damaged, and the method can be further divided into three steps:
the first step is as follows: and graying the preprocessed image to acquire a corresponding grayscale image.
Specifically, the preprocessed image is converted into a gray-scale image. The RGB components of the image may be scaled factor-converted to gray values by equation three. The formula III is as follows: gray(i,j)＝μ1×R(i,j)+μ2×G(i,j)+μ3×B(i,j)，u1、u2And u3Are the scale factors corresponding to the three primary colors of R/G/B respectively.
The second step is that: and carrying out binarization processing on the gray-scale image.
Specifically, the grayscale image is converted into a binary image by threshold segmentation. A gray threshold value is preset, and the gray threshold value is in a gray value interval between the sky and the ground. The portion above the threshold is determined as the ground, and the portion below the threshold is determined as the sky, thereby distinguishing the sky from the ground.
The third step: and comparing the image after the binarization processing with a standard template to determine whether the rotary joint is damaged or not.
The presence of faulty areas in the image is distinguished by matching with standard templates.
In another embodiment of the present application, as shown in fig. 4, the method further comprises:
s6, after determining whether the rotary joint is broken, feature extraction is performed on the image of the rotary joint determined to be broken.
And S7, filtering and denoising the image of the damaged rotary joint after the characteristics are extracted.
And screening out the characteristics of the corresponding faults by adopting morphological filtering. The morphological filtering is a filtering process for an image, and the nature of the morphological filtering is the same as that of other filters, and the morphological filtering can perform denoising, enhancing and the like on the image.
And S8, comparing the image of the damaged rotary joint subjected to filtering and denoising with preset fault characteristics to determine the fault type of the rotary joint.
Wherein, the fault type includes that the swivelling joint leaks oil, insulation system is damaged.
The failure characteristic of the breakage of the insulation structure is represented by the fact that the diameter of the connection pipe of the swivel is smaller than the diameter of the standard size. The failure characteristic of a spun joint oil leak is characterized by a lower gray value (i.e., blackened) of the image at the oil leak. In the case of the infrared image, the temperature at the oil-permeated portion may be different from the standard based on the thermodynamic distribution map of the infrared image.
The detection method of slot type light and heat power station rotary joint of this application embodiment, through the size information that obtains slot type condensing lens field's distribution information and its corresponding rotary joint, and confirm unmanned aerial vehicle's flight path according to distribution information and size information, and obtain the image of the rotary joint that unmanned aerial vehicle was shooing the position, then carry out image preprocessing to the image, and utilize the preset algorithm to discern the image after the preliminary treatment, whether take place the damage with confirming rotary joint, whether can confirm rotary joint takes place the damage fast, accurately.
The following is a detailed description of a specific embodiment.
As shown in FIG. 5, the scheme mainly utilizes the unmanned aerial vehicle to shoot the rotary joint, and the shot image is analyzed to detect whether the rotary joint is damaged or not. Wherein the detection means may comprise an unmanned aerial vehicle 1, a pod-holder 2, a visible camera 3 (and/or an infrared camera) and a computer processing unit 4. The unmanned aerial vehicle 1 further comprises a control module, an image transmission module, a data transmission module, a communication module and a nacelle cradle head module. The visible light camera (and/or infrared camera) 3 further comprises a receiver, a lens, a memory card. The computer processing unit 4 further comprises computer hardware, matlab processing programs and a visual operation interface. The visible light camera 3 photographs the rotary joint 5.
A detection method of a slot type power station rotary joint based on an unmanned aerial vehicle is realized by the following steps as shown in figure 6:
and S61, determining the flight height and the flight path of the unmanned aerial vehicle according to the distribution of the groove type collecting lens field and the size of the overall dimension of the rotary joint.
Because thermal pipelines are arranged at two ends of the heat collector in the groove type condenser field, in order to ensure safety and comprehensively consider the size of the unmanned aerial vehicle and the wing expansion length, the horizontal distance between the unmanned aerial vehicle and the rotary joint is set to be 3m (namely a is 3 m), the theta angle is set to be 45 degrees, and then c is about 4.25 m. The height of the collector is about 4.7 meters (i.e., h 1-4.7 meters). If the shooting angle of the camera is also 45 degrees, the height of the unmanned aerial vehicle is 8.95 meters. The shooting angle of the camera can be adjusted according to actual conditions, and the flying height is preliminarily planned to be 10 meters. To the collection of rotary joint image, for the equipment image that makes the collection is clear complete, and minimize acquisition time, unmanned aerial vehicle should fly along east and west direction at the heat collector both ends, and the flying height that unmanned aerial vehicle corresponds is tentatively planned for 12m, and the distance apart from the rotary joint horizontal direction is tentatively planned for 3 m.
And S62, determining the shooting angle of the camera.
The oblique top that unmanned aerial vehicle carried on camera heat collector shoots rotary joint, stores the image of shooing in the storage card.
And S63, numbering the shot images according to the shooting sequence of the rotary joint, reading the images by a matlab program and preprocessing the images.
The image preprocessing is to improve the detection precision and the detection speed, and is divided into two parts, namely image cutting and size adjustment.
Image cutting: and positioning and cutting the rotary joint to remove redundant backgrounds and sundries. And according to a rectangular cutting method, acquiring the position of the upper left corner of the equipment, and cutting the image according to the width and the length of the equipment in the image.
Adjusting the size: the detection speed can be improved by reducing the image through a scaling algorithm.
And S64, positioning and cutting the image by using an algorithm, and screening the cut image by template matching to determine the image of the rotary joint fault.
The template matching is to compare a fault area in a rotary joint image with an image without faults, and is specifically divided into three parts, namely graying, binarization and comparison templates.
Graying: the color image is converted into a gray image, RGB components of the color image are converted into gray values according to a calculation formula according to scale factors, and therefore different gray areas of the sky and the ground can be obtained.
Binarization: converting the gray level image into a binary image through a gray level threshold, setting a gray level interval of the gray level threshold between the sky and the ground, and distinguishing the sky image from the ground image.
And (3) comparing the templates: whether the image has the fault area is distinguished through a template matching algorithm. Template matching is a recognition method, which studies the specific position of a pattern of a specific object in an image to recognize the object. If the equipment has faults of defect, deformation, loss and the like, the algorithm judges the equipment to be fault equipment.
And S65, classifying the fault images by using a characteristic classification algorithm, and determining the fault type.
If the equipment has faults, matching the image with a fault template to carry out fault classification, wherein the fault classification operation can be divided into three steps: feature extraction, filtering denoising and type judgment.
Feature extraction: the distinctive portions are segmented by comparison with the non-faulty rotary joint image.
Filtering and denoising: and screening out the characteristics of the corresponding faults by adopting morphological filtering.
And (4) type judgment: and comparing the filtered and denoised image with the corresponding fault characteristics, and classifying the fault.
Wherein the failure types may include a swivel joint oil leak and insulation structural failure.
a. Oil leakage at the rotary joint:
the temperature of the heat conducting oil is 300-400 ℃ and the pressure is higher than 3MPa in the daily operation period. And the heat conduction oil has the characteristics of high viscosity, strong permeability and the like, and when oil leakage occurs, the heat conduction oil diffuses outwards, penetrates through the heat insulation layer and diffuses on the surface of the heat insulation shell (usually an aluminum alloy plate). This process will change the color and ir emissivity of the outer surface of the insulating shell. Meanwhile, as the heat capacity of the heat conducting oil is large, the heat of the heat conducting oil is transferred to the outer surface of the heat preservation shell, so that the temperature rises to exceed that of the heat preservation shell in other areas.
The color and gray scale characteristics of the image in the oil leakage area will be obviously changed compared with other areas. In addition, temperature anomalies can be detected with an infrared scheme.
b. The heat preservation structure is damaged:
after the heat preservation box is damaged, because rotary joint is continuously rotating and is shifting, its heat preservation box compares normal insulation construction and will have obvious change: the whole body and the corners with lower damage degree are deformed abnormally, and the whole temperature rises; the heat preservation structure with higher damage degree can partially or even wholly fall off, and at the moment, if the rotary joint and the connected heat distribution pipeline are directly shot, the heat preservation structure has small size, high temperature and obvious abnormal characteristics.
The software process flow of a specific matlab handler may be as shown in fig. 7.
S71, reading the image.
And S72, positioning and cropping the image.
And S73, matching the templates.
And S74, feature classification.
And S75, saving the data and exporting the report.
This technical scheme can gather condenser field rotary joint's image fast to handle the image, realize the short-term test to rotary joint. The method comprises the steps of adopting a photogrammetry method, shooting the rotary joint by utilizing an unmanned aerial vehicle-mounted camera, guiding the shot images into matlab, numbering, screening out fault images through image processing methods such as image recognition, threshold segmentation and template matching, and determining the position of the fault rotary joint by utilizing the numbering, so that the aim of detecting the rotary joint is fulfilled. The technical scheme has the advantages of high measuring speed and high detection precision, and can effectively solve the problems of time consumption and labor consumption in the detection of the rotary joint.
In order to realize the embodiment, the application also provides a detection device for the rotary joint of the slot type photothermal power station.
FIG. 8 is a schematic structural view of a detection device of a slot type photothermal power station rotary joint according to an embodiment of the present application.
As shown in fig. 8, the apparatus includes an acquisition module 81, a determination module 82, an image acquisition module 83, a preprocessing module 84, and a detection module 85.
And the obtaining module 81 is configured to obtain distribution information of the groove type condenser field and size information of the corresponding rotary joint.
And the determining module 82 is used for determining the flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises the shooting position of the unmanned aerial vehicle.
And the image acquisition module 83 is used for acquiring an image of the rotating joint shot by the unmanned aerial vehicle at the shooting position.
The image obtaining module 83 is specifically configured to:
controlling the unmanned aerial vehicle carrying the camera to fly to a shooting position along a flight path;
and shooting the image of the rotary joint at a preset shooting angle at the shooting position.
The preset shooting angle is determined through a first formula and a second formula, wherein the first formula is as follows:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha.
And a preprocessing module 84 for performing image preprocessing on the image.
The preprocessing module 84 is specifically configured to:
positioning and clipping of a rotary joint are carried out on the image;
and adjusting the size of the positioned and cut image.
And the detection module 85 is configured to identify the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged.
The detection module 85 is specifically configured to:
graying the preprocessed image to obtain a corresponding grayscale image;
carrying out binarization processing on the gray level image;
and comparing the image after the binarization processing with a standard template to determine whether the rotary joint is damaged or not.
In another embodiment of the present application, as shown in fig. 9, the apparatus further comprises a fault type determination module 86.
The fault type determination module 86 is configured to:
after determining whether the rotary joint is broken, performing feature extraction on the image of the rotary joint determined to be broken;
filtering and denoising the image of the damaged rotary joint after the characteristics are extracted;
and comparing the filtered and denoised image of the damaged rotary joint with preset fault characteristics to determine the fault type of the rotary joint.
The fault types comprise oil leakage of a rotary joint and damage of an insulation structure.
It should be understood that the detection device of the slot-type photothermal power station rotary joint is consistent with the embodiment of the detection method of the slot-type photothermal power station rotary joint corresponding thereto, and therefore, no further description is provided in this embodiment.
The utility model provides a slot type light and heat power station rotary joint's detection device, distribution information through acquireing slot type condensing lens field and its corresponding rotary joint's size information, and confirm unmanned aerial vehicle's flight path according to distribution information and size information, and acquire the image of unmanned aerial vehicle at the rotary joint who shoots the position, then carry out image preprocessing to the image, and utilize preset algorithm to discern the image after the preliminary treatment, whether take place the damage with confirming rotary joint, can be quick, whether take place the damage accurately to confirm rotary joint.
In order to implement the above embodiments, the present application also provides a computer device.
The computer device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for detecting a rotary joint of a trough type photothermal power station as embodied in the first aspect when the computer program is executed by the processor.
To implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium.
The non-transitory computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of detecting a trough photo-thermal power station rotary joint as embodied in the first aspect.
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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It should be noted that in the description of the present specification, reference to the description of the term "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Claims (14)
1. A detection method for a rotary joint of a slot type photo-thermal power station is characterized by comprising the following steps:
acquiring distribution information of a groove type condenser field and size information of a rotary joint corresponding to the distribution information;
determining a flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises a shooting position of the unmanned aerial vehicle;
acquiring an image of a rotary joint shot by the unmanned aerial vehicle at the shooting position;
performing image preprocessing on the image;
and identifying the preprocessed image by using a preset algorithm to determine whether the rotary joint is damaged.
2. The method of claim 1, wherein acquiring the image of the rotating joint taken by the drone at the capture location comprises:
controlling the unmanned aerial vehicle carrying the camera to fly to the shooting position along the flight path;
and shooting the image of the rotary joint at a preset shooting angle at the shooting position.
3. The method of claim 2, wherein the preset photographing angle is determined by formula one and formula two, formula one:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha.
4. The method of claim 1, wherein image pre-processing the image comprises:
performing positioning cropping of a rotary joint on the image;
and adjusting the size of the positioned and cut image.
5. The method of claim 1, wherein identifying the pre-processed image using a predetermined algorithm to determine whether the rotary joint is broken comprises:
graying the preprocessed image to obtain a corresponding grayscale image;
carrying out binarization processing on the gray level image;
and comparing the binarized image with a standard template to determine whether the rotary joint is damaged or not.
6. The method of claim 1, after determining whether the rotary union is broken, further comprising:
performing feature extraction on the image of the rotary joint determined to be broken;
filtering and denoising the image of the damaged rotary joint after the characteristics are extracted;
and comparing the filtered and denoised image of the damaged rotary joint with preset fault characteristics to determine the fault type of the rotary joint.
7. The method of claim 6, wherein the failure types include a rotary joint oil leak, an insulation structural failure.
8. The utility model provides a detection device of slot type light and heat power station rotary joint which characterized in that includes:
the acquisition module is used for acquiring the distribution information of the groove type condenser field and the size information of the corresponding rotary joint;
the determining module is used for determining a flight path of the unmanned aerial vehicle according to the distribution information and the size information, wherein the flight path comprises a shooting position of the unmanned aerial vehicle;
the image acquisition module is used for acquiring an image of the rotary joint shot by the unmanned aerial vehicle at the shooting position;
the preprocessing module is used for preprocessing the image;
and the detection module is used for identifying the preprocessed image by using a preset algorithm so as to determine whether the rotary joint is damaged.
9. The apparatus of claim 8, wherein the image acquisition module is to:
controlling the unmanned aerial vehicle carrying the camera to fly to the shooting position along the flight path;
and shooting the image of the rotary joint at a preset shooting angle at the shooting position.
10. The apparatus of claim 9, wherein the preset shooting angleThe degree is determined by a first formula and a second formula, wherein the first formula is as follows:
the formula II is as follows:
wherein, a is unmanned aerial vehicle and rotary joint's horizontal distance, and theta is predetermined level and shoots the angle, and rotary joint's height is h1The height of the unmanned plane is h2And the shooting angle is alpha.
11. The apparatus of claim 8, wherein the pre-processing module is to:
performing positioning cropping of a rotary joint on the image;
and adjusting the size of the positioned and cut image.
12. The apparatus of claim 8, wherein the detection module is to:
graying the preprocessed image to obtain a corresponding grayscale image;
carrying out binarization processing on the gray level image;
and comparing the binarized image with a standard template to determine whether the rotary joint is damaged or not.
13. The apparatus of claim 8, wherein the apparatus further comprises a fault type determination module,
the fault type determination module is configured to:
after determining whether the rotary joint is broken, performing feature extraction on the image of the rotary joint determined to be broken;
filtering and denoising the image of the damaged rotary joint after the characteristics are extracted;
and comparing the filtered and denoised image of the damaged rotary joint with preset fault characteristics to determine the fault type of the rotary joint.
14. The apparatus of claim 13, wherein the failure types include a spin-seam oil leak, an insulation structural failure.
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| CN202111525932.4A CN114220029A (en) | 2021-12-14 | 2021-12-14 | Detection method and device for rotary joint of groove type photo-thermal power station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116164711A (en) * | 2023-03-09 | 2023-05-26 | 广东精益空间信息技术股份有限公司 | Unmanned aerial vehicle mapping method, unmanned aerial vehicle mapping system, unmanned aerial vehicle mapping medium and unmanned aerial vehicle mapping computer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116164711A (en) * | 2023-03-09 | 2023-05-26 | 广东精益空间信息技术股份有限公司 | Unmanned aerial vehicle mapping method, unmanned aerial vehicle mapping system, unmanned aerial vehicle mapping medium and unmanned aerial vehicle mapping computer |
| CN116164711B (en) * | 2023-03-09 | 2024-03-29 | 广东精益空间信息技术股份有限公司 | Unmanned aerial vehicle mapping method, unmanned aerial vehicle mapping system, unmanned aerial vehicle mapping medium and unmanned aerial vehicle mapping computer |
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