CN114894091B - Line monitoring device and system with binocular vision ranging function - Google Patents
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Abstract
The invention relates to the field of galloping detection of transmission line wires, and provides a line monitoring device with a binocular vision ranging function. The invention combines the binocular vision technology and the gesture sensing galloping technology to realize real-time monitoring of galloping tracks and detection of distance facing obstacles. The invention can measure the distance between the dangerous object and the wire by combining the binocular three-dimensional vision ranging function, and can further judge the dangerous degree of the galloping by combining the amplitude of the galloping of the wire. The invention adopts advanced digital filtering technology, can effectively reduce measurement noise, improve measurement precision, integrate an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. Track curve fitting calculation of wire galloping is carried out through an algorithm, when galloping is serious, a camera on the device can be used for carrying out snapshot picture and shooting video record on site conditions, and line maintenance personnel can timely check galloping early warning information, site pictures, real-time videos and the like according to APP software.
Description
Technical Field
The invention belongs to the technical field of transmission line wires, and particularly relates to a line monitoring device and system with a binocular vision ranging function.
Background
Currently, galloping is a serious form of disaster in the related dangerous phenomena of overhead transmission line conductors. The formation of which depends mainly on 3 factors, namely the structure and parameters of the ice coating, wind excitation and the line. In ice and snow weather, the damage of line galloping phenomenon caused by wind excitation of the non-uniform ice-coated wire mainly comprises two types of mechanical damage and electrical failure; mechanical damage comprises loosening and falling of bolts, damage of hardware fittings, insulators and jumpers, wire strand breakage, wire breakage, damage of tower materials and foundations and the like; the electric faults mainly comprise inter-phase tripping, flashover, wire erosion, wire breakage, phase-ground short circuit, mixed wire tripping and the like, and the wire galloping affects the transmission safety and can lead to long-time shutdown of an important transmission channel and affect the safe and stable operation of a serious power system.
At present, the detection of the galloping of the power transmission line is mainly based on the following 3 technical principles: 1) The method comprises the steps of loading a plurality of sensors on a transmission line to obtain the waving condition of a plurality of points on a wire, establishing a wire waving model and calculating to obtain characteristic data of the waving of the wire; 2) The detection of the waving is realized through a video acquisition technology, namely a camera is installed, and the extraction of the characteristic value is completed through acquiring the waving image information of the power transmission line; 3) And acquiring longitude, latitude and space three-dimensional coordinates of the power transmission line to be detected through a Differential Global Positioning System (DGPS), and converting the longitude, latitude and space three-dimensional coordinates into space curves in a corresponding coordinate system.
The high-voltage transmission line mostly covers in remote places such as the field and mountain area, and traditional wired monitoring network is extremely inconvenient in actual topography application, lays engineering volume big, and equipment is impaired easily, and can monitor the scope little. In the aspect of galloping track monitoring, the video analysis technical scheme has the advantages of non-contact measurement and dynamic real-time monitoring, and has the disadvantages of being limited by a power supply and a communication network of equipment, being more difficult to implement in severe environment areas, being poor in reliability and high in cost, and being easily influenced by weather, rain, snow, visibility and the like. The multipoint acceleration sensor scheme has the advantages of being capable of relatively accurately obtaining the state of the lead wire, being not affected by meteorological conditions, and having the defects of no field image information and requiring field verification of the structure. The differential global positioning system scheme has the problems of high power consumption, large error, difficulty in implementation and the like.
Disclosure of Invention
The invention provides a line monitoring device and a line monitoring system with a binocular vision ranging function, and the technical scheme of video analysis has the advantages of non-contact measurement and dynamic real-time monitoring in the aspect of galloping track monitoring, and has the defects of being limited by a power supply and a communication network of equipment, being more difficult to implement in severe environment areas, being poor in reliability and high in cost, and being extremely easily influenced by weather, rain, snow, visibility and the like. The multipoint acceleration sensor scheme has the advantages of being capable of relatively accurately obtaining the state of the lead wire, being not affected by meteorological conditions, and having the defects of no field image information and requiring field verification of the structure. The differential global positioning system scheme has the problems of high power consumption, large error, difficulty in implementation and the like.
A line monitoring device for binocular vision ranging function, comprising:
Binocular vision ranging module: the method comprises the steps of identifying dangerous objects near a transmission line wire, and determining real-time distance between the dangerous objects and the transmission line wire after identification;
The gesture detection module: the gesture sensor is used for detecting gesture change data of the transmission line wire and determining a galloping track of the transmission line wire;
And the detection alarm module is used for: and the device is used for judging whether the transmission line wire is abnormal or not according to the real-time distance and the galloping track, and alarming.
Preferably, the binocular vision ranging module includes:
Left vision detection unit: the method comprises the steps of obtaining a left view of a transmission line wire on the left side of the transmission line wire through a preset first binocular camera;
Right vision detection unit: the method comprises the steps of obtaining a right view of a transmission line wire on the right side of the transmission line wire through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
The calibration unit comprises: the method comprises the steps of calibrating scene elements on a left view and a right view after element identification to generate calibration pictures;
Three-dimensional model unit: the binocular three-dimensional ranging module is used for constructing a binocular three-dimensional ranging model according to the left view and the right view;
distance calculation unit: and the real-time distance between the transmission line wire and the target dangerous object is calculated according to the three-dimensional ranging model.
Preferably, the element identifying unit includes:
Scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
The elements include: environmental elements, cable elements, and hazardous elements;
Database subunit: the method comprises the steps of constructing an element database, constructing an identification model and determining the quantity of stored element information; wherein,
The element information comprises an element identifier and corresponding first characteristic information;
identifying a subunit: acquiring element characteristics according to the left view and the right view, and inputting the element characteristics into a recognition model to determine element recognition results; wherein,
The element identification result comprises: dangerous material element identification and conventional element identification;
The element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
Dangerous element identification subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the element identification results, wherein,
The element matching results comprise at least one element information, and the matching degree of the element matching results and the characteristic information of the dangerous object element meets a preset condition; wherein,
The predetermined condition includes: the feature of the element information and the matching degree of the dangerous object element are more than fifty percent, and the feature is defined as a preset condition of the dangerous object element;
Dangerous object identification unit: and taking the scene elements meeting the preset conditions as dangerous object elements according to the preset conditions.
Preferably, the calibration unit includes:
Element attribute identification subunit: receiving the left view and the right view, and obtaining image attribute parameter values; wherein,
The image attribute parameter values include color parameter values and contour parameter values;
contrast subunit: comparing the color parameter value and the profile parameter value with a preset color parameter set and a preset profile parameter set respectively: wherein,
And if the color parameter value and the contour parameter value respectively have the matched color and contour parameters, calibrating the scene elements which can be matched, and generating a calibrated picture.
Preferably, the distance calculating unit includes:
Relationship determination subunit: determining a first relation of two cameras in the first binocular camera and a second relation of two cameras in the second binocular camera according to the generated calibration picture;
Projection subunit: the method comprises the steps of determining the internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and restricting the corresponding points between images to a straight line to generate a binocular three-dimensional ranging model;
Distance value calculation unit: and the real-time distance between the transmission line lead and the target dangerous object is determined according to the parallax value.
Preferably, the gesture detection module includes:
A data acquisition unit: the gesture sensor is used for acquiring real-time gesture data according to the gesture sensor; wherein,
The gesture data includes: acceleration values and angular velocity values of the transmission line conductors in the horizontal direction, the transverse direction and the vertical direction;
track calculation: the method comprises the steps of establishing an operation curve of a transmission line wire according to gesture data, and carrying out fitting calculation on the operation curve to obtain a fitting calculation result; wherein,
The fitting is calculated as a least square method;
A grade judging unit: the method is used for determining the galloping value of the transmission line wire according to the fitting calculation result and judging the galloping value early warning grade; wherein,
And the amplitude value of the early warning level and the galloping is determined.
Preferably, the pose fitting calculation comprises the following steps:
Discretizing the attitude data on a three-dimensional coordinate axis, determining a galloping period, wherein the period number is N, and obtaining a three-dimensional coordinate (x i,yi,zi), and the value range of i is 1, 2, 3 or 4; x i denotes the ith horizontal coordinate; y i denotes the ith longitudinal coordinate; z i represents the ith vertical coordinate;
carrying out least square fitting curve on the three-dimensional coordinates to obtain a least square fitting curve equation, and calculating to obtain the maximum value and the minimum value of the least square fitting curve equation through the least square fitting curve equation;
And determining fitting calculation results in different periods according to the maximum value and the minimum value of the least square fitting curve equation.
Preferably, the detection alarm module includes:
an acquisition unit: acquiring a galloping track and a real-time distance, and corresponding the galloping track and the real-time distance to generate a monitoring table based on a time axis; wherein,
The monitoring table comprises N galloping tracks and distance values of the N real-time distances, the galloping tracks and the distance values are in one-to-one correspondence to generate a period group, and N is a positive integer;
And a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage device and a preset threshold value; wherein,
If the galloping track and the real-time distance in the period group are smaller than or equal to the preset threshold value, indicating that no abnormality exists, not giving an alarm;
And if the numerical value of the galloping track and the real-time distance in the period group is larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
Preferably, the apparatus further comprises:
distance acquisition unit: acquiring a real-time distance between the transmission line wire and dangerous objects, wherein the acquired image contains the dangerous objects;
a judging unit: judging the position of the dangerous object to be a fixed position/a moving position;
when the dangerous object is at a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is a moving position, judging whether the moving position is far away or close; wherein,
When the moving position is close, calculating the maximum galloping value of the transmission line wire, judging whether contact risk exists, and carrying out real-time alarm
Preferably, the apparatus further comprises:
the calibration unit comprises: calibrating a coordinate transformation matrix between the transmission line and a coordinate system of the attitude sensor;
A measurement unit: measuring the posture of the transmission line wire, obtaining a three-dimensional coordinate set of the transmission line wire, establishing a global coordinate system, and integrating the global coordinate system into a marked coordinate transformation matrix;
three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the transmission line conductor according to the global coordinate system.
The invention has the beneficial effects that: the invention combines the binocular vision technology and the gesture sensing galloping technology to realize real-time monitoring of galloping tracks and detection of distance facing obstacles. The invention can measure the distance between the dangerous object and the wire by combining the binocular three-dimensional vision ranging function, and can further judge the dangerous degree of the galloping by combining the amplitude of the galloping of the wire. The invention adopts advanced digital filtering technology, can effectively reduce measurement noise, improve measurement precision, integrate an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. Track curve fitting calculation of wire galloping is carried out through an algorithm, when galloping is serious, a camera on the device can be used for carrying out snapshot picture and shooting video record on site conditions, and line maintenance personnel can timely check galloping early warning information, site pictures, real-time videos and the like according to APP software.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
Fig. 1 is a diagram illustrating a line monitoring apparatus with binocular vision ranging function according to an embodiment of the present invention;
FIG. 2 is a diagram of a model of the spatial relationship between left and right cameras and a measured point p in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a binocular three-dimensional ranging system in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of distance calculation according to an embodiment of the present invention;
Fig. 5 is a diagram showing a galloping trace fit in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1:
a line monitoring device for binocular vision ranging function, comprising:
Binocular vision ranging module: the method comprises the steps of identifying dangerous objects near a transmission line wire, and determining real-time distance between the dangerous objects and the transmission line wire after identification;
The gesture detection module: the gesture sensor is used for detecting gesture change data of the transmission line wire and determining a galloping track of the transmission line wire;
And the detection alarm module is used for: and the device is used for judging whether the transmission line wire is abnormal or not according to the real-time distance and the galloping track, and alarming.
In the invention, the following components are added: according to the binocular vision module, after the binocular camera shoots an image, when objects affecting insulation safety, such as trees and other dangerous objects, exist near a line through the object detection technology, the terminal can measure the distance from the dangerous objects to the lead by combining the binocular three-dimensional vision ranging function, and the dangerous degree of the galloping can be further judged by combining the galloping amplitude of the lead. The whole process of line galloping is displayed through the extraction of various sensing characteristic parameters; and researching a grading early warning strategy based on the galloping analysis result and the binocular vision three-dimensional ranging value of the object in the channel. The attitude sensing module integrates a high-precision gyroscope and an accelerometer, adopts a high-performance microprocessor and an advanced dynamic resolving and Kalman dynamic filtering algorithm, can quickly resolve the current real-time motion attitude of the module, adopts an advanced digital filtering technology, can effectively reduce measurement noise, improves measurement precision, integrates an attitude resolver in the module, and can accurately output the current attitude of the module under a dynamic environment by matching with the dynamic Kalman filtering algorithm.
The acceleration signal acquired by the wire vibration contains a direct current component and a serious trend term, the existence of the direct current component and the trend term has great influence on integral transformation, the obtained displacement curve can generate distortion, even distortion, and the direct current component is eliminated by adopting an average method. And then, carrying out interpolation correction on the integrated numerical value by adopting a least square method so as to eliminate the influence of the trend term on a final displacement result. And (3) fitting the trace curve of the wire galloping to the motion state of the model through an algorithm by using the acceleration value and the angular velocity value of the wire in the directions X, Y and the Z axis.
The invention combines the binocular vision technology and the gesture sensing galloping technology to realize real-time monitoring of galloping tracks and detection of distance facing obstacles. The invention can measure the distance between the dangerous object and the wire by combining the binocular three-dimensional vision ranging function, and can further judge the dangerous degree of the galloping by combining the amplitude of the galloping of the wire. The invention adopts advanced digital filtering technology, can effectively reduce measurement noise, improve measurement precision, integrate an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. Track curve fitting calculation of wire galloping is carried out through an algorithm, when galloping is serious, a camera on the device can be used for carrying out snapshot picture and shooting video record on site conditions, and line maintenance personnel can timely check galloping early warning information, site pictures, real-time videos and the like according to APP software.
Preferably, the binocular vision ranging module includes:
Left vision detection unit: the method comprises the steps of obtaining a left view of a transmission line wire on the left side of the transmission line wire through a preset first binocular camera;
Right vision detection unit: the method comprises the steps of obtaining a right view of a transmission line wire on the right side of the transmission line wire through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
The calibration unit comprises: the method comprises the steps of calibrating scene elements on a left view and a right view after element identification to generate calibration pictures;
Three-dimensional model unit: the binocular three-dimensional ranging module is used for constructing a binocular three-dimensional ranging model according to the left view and the right view;
distance calculation unit: and the real-time distance between the transmission line wire and the target dangerous object is calculated according to the three-dimensional ranging model.
In the technical scheme, the device mainly detects the transmission line wires from two directions, in the monitoring process, the device can be binocular vision camera devices arranged at two sides of the roadside transmission and transformation line to realize the camera at the left side and the right side, or can be devices connected in series on the transmission line wires, and a group of binocular vision cameras are respectively arranged at the front and the rear of the device to realize the recognition of the obstacle. The binocular three-dimensional ranging model is built according to the principle of binocular stereoscopic vision, fig. 2 is a spatial relationship model of pictures shot by a left camera and a right camera and a measured point, and fig. 3 is a schematic diagram of a binocular three-dimensional ranging system. In fig. 3, z is the distance from the measured point P to the camera, O L and O R are the optical centers of the left and right cameras, respectively, and b is the distance between the two optical centers, commonly referred to as the baseline length. P L and P R are imaging points of the measured point P on the left and right images, respectively. f is the focal length of the camera, u L and u R are the distances of the imaging point relative to the point in the image.
Preferably, the element identifying unit includes:
Scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
The elements include: environmental elements, cable elements, and hazardous elements;
Database subunit: the method comprises the steps of constructing an element database, constructing an identification model and determining the quantity of stored element information; wherein,
The element information comprises an element identifier and corresponding first characteristic information;
identifying a subunit: acquiring element characteristics according to the left view and the right view, and inputting the element characteristics into a recognition model to determine element recognition results; wherein,
The element identification result comprises: dangerous material element identification and conventional element identification;
The element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
Dangerous element identification subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the element identification results, wherein,
The element matching results comprise at least one element information, and the matching degree of the element matching results and the characteristic information of the dangerous object element meets a preset condition; wherein,
The predetermined condition includes: the feature of the element information and the matching degree of the dangerous object element are more than fifty percent, and the feature is defined as a preset condition of the dangerous object element;
Dangerous object identification unit: and taking the scene elements meeting the preset conditions as dangerous object elements according to the preset conditions.
In the above technical solution, if it is desired to determine whether there is a dangerous obstacle, such as an overhead, a bridge, a tree, etc., in different binocular vision pictures. The premise of the dangerous obstacle identification is that all elements are in the identification range, then whether dangerous elements exist or not is judged by the fact that the dangerous elements are in the identification range, in the process, the dangerous elements are required to be input into corresponding feature models, and what is the dangerous elements is determined by matching the feature models.
Preferably, the calibration unit includes:
Element attribute identification subunit: receiving the left view and the right view, and obtaining image attribute parameter values; wherein,
The image attribute parameter values include color parameter values and contour parameter values;
contrast subunit: comparing the color parameter value and the profile parameter value with a preset color parameter set and a preset profile parameter set respectively: wherein,
And if the color parameter value and the contour parameter value respectively have the matched color and contour parameters, calibrating the scene elements which can be matched, and generating a calibrated picture.
In the above technical scheme, the calculation of the distance can be completed by using two images shot by binocular under the wanted condition, but when the camera is used for imaging, distortion phenomenon of a certain degree almost appears, the degree of the phenomenon is smaller on an industrial camera, and the degree of the phenomenon is larger on a wide angle and a fisheye lens. In order to eliminate distortion, the wide-angle fisheye camera is adopted, meanwhile, the internal parameters of the camera are acquired, before ranging, camera calibration is carried out on the camera for ranging, and a Zhang Zhengyou calibration method is most commonly used in the camera calibration method. The invention is different from the invention, the invention combines the calibration realized by the environmental picture, the distance calculation and the galloping calculation are more accurate, in the process, the invention is based on the color parameter value and the outline parameter value, when the pixels among the elements are the same in the color space, and the outline is the same, the accurate calibration can be realized.
Preferably, the distance calculating unit includes:
Relationship determination subunit: determining a first relation of two cameras in the first binocular camera and a second relation of two cameras in the second binocular camera according to the generated calibration picture;
Projection subunit: the method comprises the steps of determining the internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and restricting the corresponding points between images to a straight line to generate a binocular three-dimensional ranging model;
Distance value calculation unit: and the real-time distance between the transmission line lead and the target dangerous object is determined according to the parallax value.
In the technical scheme, the method comprises the following steps: after calibration, internal parameters of the pictures can be obtained, distortion is eliminated, then a plurality of pairs of corresponding calibration pictures are needed to be utilized to determine the spatial relationship between the two cameras, namely the external parameters, and then the search space during pixel matching is reduced through polar constraint. The epipolar constraint utilizes the internal and external parameters of two images to project the two images which are not coplanar on the same plane, and constrains the corresponding points between the images on a straight line, so that the search space of the corresponding points is reduced from the whole image domain to the straight line. After the search space is reduced, the pixels can be matched by using algorithms such as bm or sgbm, so that the corresponding relation among the pixels is established, the parallax value is obtained, and the final distance value is calculated.
In a further embodiment, the invention can also be seen by the formula z=b×f/d, the maximum value of the distance z being dependent on the values of b and f at d=1. Where d is in pixels and b is in mm, z is the length unit when f is also in pixels. f x＝f/dx,fx is the value of f in pixels and d x is the length of a single pixel in the x-direction on the imaging plane.
Because the terminal equipment is arranged on the lead, the Z-axis plane is the lead plane as long as the equipment is correctly positioned, and the distance from the target to the lead plane is the length corresponding to the coordinate x-axis after the coordinate of the target is acquired. Let the height from a point on the wire corresponding to the object to the ground be T y. In the ideal case, i.e. when the wires are in a straight line, the value of T y is the length corresponding to the y-axis of the target coordinate. In practice, the wire may sag, so T y =y+Δy, Δy is a height correction value, and the value depends on the magnitude of the wire sag equation at the target z coordinate. The distance from the object to the wire can then be calculated using the right triangle formula: as shown in fig. 4. Where x is the length corresponding to the x-axis of the coordinates of the target point, obtained from the ranging above.
Preferably, the gesture detection module includes:
A data acquisition unit: the gesture sensor is used for acquiring real-time gesture data according to the gesture sensor; wherein,
The gesture data includes: acceleration values and angular velocity values of the transmission line conductors in the horizontal direction, the transverse direction and the vertical direction;
track calculation: the method comprises the steps of establishing an operation curve of a transmission line wire according to gesture data, and carrying out fitting calculation on the operation curve to obtain a fitting calculation result; wherein,
The fitting is calculated as a least square method;
A grade judging unit: the method is used for determining the galloping value of the transmission line wire according to the fitting calculation result and judging the galloping value early warning grade; wherein,
And the amplitude value of the early warning level and the galloping is determined.
In the technical scheme, the real-time attitude data obtained by the invention are data such as acceleration, angular velocity, angle and the like obtained by the attitude sensor collected by the terminal in the horizontal, transverse and vertical directions, the data are filtered by the upper conduction line galloping monitoring system, and the common curve fitting method comprises a least square method, a Lagrange interpolation method, a Newton interpolation method, a successive linear interpolation method and the like. The lead galloping data acquisition mainly relies on an attitude sensor on equipment integrated therein to obtain information such as acceleration, angular velocity, angle and the like of different directional axes of lead vibration along with time change. And then the motion trail of the lead is simulated and displayed by a curve fitting algorithm. According to the size of the gear, a plurality of monitoring terminals can be installed according to the situation, and a galloping track fitting schematic diagram of only one monitoring terminal installed in the gear can be seen from fig. 5.
Preferably, the pose fitting calculation comprises the following steps:
Discretizing the attitude data on a three-dimensional coordinate axis, determining a galloping period, wherein the period number is N, and obtaining a three-dimensional coordinate (x i,yi,zi), and the value range of i is 1, 2, 3 or 4; x i denotes the ith horizontal coordinate; y i denotes the ith longitudinal coordinate; z i represents the ith vertical coordinate;
carrying out least square fitting curve on the three-dimensional coordinates to obtain a least square fitting curve equation, and calculating to obtain the maximum value and the minimum value of the least square fitting curve equation through the least square fitting curve equation;
And determining fitting calculation results in different periods according to the maximum value and the minimum value of the least square fitting curve equation.
In the above technical scheme, when the transmission line wire is waved, the transmission line wire is in a discretized coordinate distribution state on the three-dimensional coordinate system due to the influence of the environment. In the prior art, the galloping curve obtained by the attitude sensor can be obtained directly through a curve fitting mode. However, the method for fitting the curve by the least square method has the advantages that the least square method finds the best function matching of the data by minimizing the square sum of errors, and the fitted curve is more in line with the actual scene. The unknown data can be easily obtained by the least square method, and the sum of squares of errors between the obtained data and the actual data is minimized. When the mean value of the independent variable and the dependent variable is zero and random errors with the same variance exist at the same time, the method can give the best parameter fitting result in the statistical sense.
Preferably, the detection alarm module includes:
an acquisition unit: acquiring a galloping track and a real-time distance, and corresponding the galloping track and the real-time distance to generate a monitoring table based on a time axis; wherein,
The monitoring table comprises N galloping tracks and distance values of the N real-time distances, the galloping tracks and the distance values are in one-to-one correspondence to generate a period group, and N is a positive integer;
And a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage device and a preset threshold value; wherein,
If the galloping track and the real-time distance in the period group are smaller than or equal to the preset threshold value, indicating that no abnormality exists, not giving an alarm;
And if the numerical value of the galloping track and the real-time distance in the period group is larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
In the process of detecting and alarming, the invention combines the real-time distance with the galloping track, determines the real-time distance and the galloping track at each moment, takes the real-time distance and the galloping track at each moment as a period group in a monitoring table, and can pass through a preset threshold value in the period. Judging whether the existing real-time distance of the obstacle and the dangerous threshold value of the wire galloping track are larger than a preset value, if so, alarming, otherwise, not alarming. For alarming, the prior art needs manual processing, and the position information of the line monitoring device is uploaded to the network to inform operation and maintenance personnel to process.
Preferably, the apparatus further comprises:
distance acquisition unit: acquiring a real-time distance between the transmission line wire and dangerous objects, wherein the acquired image contains the dangerous objects;
a judging unit: judging the position of the dangerous object to be a fixed position/a moving position;
when the dangerous object is at a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is a moving position, judging whether the moving position is far away or close; wherein,
When the moving position is close, calculating the maximum galloping value of the transmission line wire, judging whether contact risk exists, and carrying out real-time alarm
In the above technical solution, it is possible that the dangerous object is a fixed location, for example, an overhead, or a flying bird or a big tree blown by wind, and the dangerous object has a risk of contacting the transmission line wire, or may not contact the transmission line wire, in the prior art, whether the dangerous object is contacted or not is judged only based on actual conditions, or whether the dangerous object is contacted or not is judged after the dangerous object is contacted. The invention is a mode of judging in advance, and the dangerous objects which are possibly in contact and possibly have danger can be warned, and the dangerous objects which are not in contact and not in unexpected event can not be warned.
Preferably, the apparatus further comprises:
the calibration unit comprises: calibrating a coordinate transformation matrix between the transmission line and a coordinate system of the attitude sensor;
A measurement unit: measuring the posture of the transmission line wire, obtaining a three-dimensional coordinate set of the transmission line wire, establishing a global coordinate system, and integrating the global coordinate system into a marked coordinate transformation matrix;
three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the transmission line conductor according to the global coordinate system.
In the technical scheme, the detection defects of the prior art are that the detection is limited by a power supply and a communication network of equipment, the detection is more difficult to implement in severe environment areas, the reliability is poor, the cost is high, and the detection is extremely easily influenced by weather, rain, snow, visibility and the like. The multipoint acceleration sensor scheme has the advantages of being capable of relatively accurately obtaining the state of the lead wire, being not affected by meteorological conditions, and having the defects of no field image information and requiring field verification of the structure. The differential global positioning system scheme has the problems of high power consumption, large error, difficulty in implementation and the like. Through the mode, the coordinate transformation matrix can be built in advance through the transmission line and the attitude sensor, and the matrix carries out global supervision and global statistics on the galloping track of the transmission line wire in a global coordinate system mode in the three-dimensional coordinate set, so that any track statistics error and galloping track failure are prevented.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. The utility model provides a line monitoring device of binocular vision range finding function, includes its characterized in that:
Binocular vision ranging module: the method comprises the steps of identifying dangerous objects near a transmission line wire, and determining real-time distance between the dangerous objects and the transmission line wire after identification;
The gesture detection module: the gesture sensor is used for detecting gesture change data of the transmission line wire and determining a galloping track of the transmission line wire;
And the detection alarm module is used for: the real-time distance and the galloping track are used for judging whether the transmission line wire is abnormal or not and giving an alarm;
The apparatus further comprises:
A marking unit: marking a coordinate transformation matrix between the transmission line and a coordinate system of the attitude sensor;
A measurement unit: measuring the posture of the transmission line wire, obtaining a three-dimensional coordinate set of the transmission line wire, establishing a global coordinate system, and integrating the global coordinate system into a marked coordinate transformation matrix;
three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the transmission line conductor according to the global coordinate system.
2. The line monitoring device of claim 1, wherein the binocular vision ranging module comprises:
Left vision detection unit: the method comprises the steps of obtaining a left view of a transmission line wire on the left side of the transmission line wire through a preset first binocular camera;
Right vision detection unit: the method comprises the steps of obtaining a right view of a transmission line wire on the right side of the transmission line wire through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
The calibration unit comprises: the method comprises the steps of calibrating scene elements on a left view and a right view after element identification to generate calibration pictures;
Three-dimensional model unit: the binocular three-dimensional ranging module is used for constructing a binocular three-dimensional ranging model according to the left view and the right view;
distance calculation unit: and the real-time distance between the transmission line wire and the target dangerous object is calculated according to the three-dimensional ranging model.
3. The line monitoring apparatus of a binocular vision ranging function according to claim 2, wherein the element recognition unit comprises:
Scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
The elements include: environmental elements, cable elements, and hazardous elements;
Database subunit: the method comprises the steps of constructing an element database, constructing an identification model and determining the quantity of stored element information; wherein,
The element information comprises an element identifier and corresponding first characteristic information;
identifying a subunit: acquiring element characteristics according to the left view and the right view, and inputting the element characteristics into a recognition model to determine element recognition results; wherein,
The element identification result comprises: dangerous material element identification and conventional element identification;
The element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
Dangerous element identification subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the element identification results, wherein,
The element matching results comprise at least one element information, and the matching degree of the element matching results and the characteristic information of the dangerous object element meets a preset condition; wherein,
The predetermined condition includes: the feature of the element information and the matching degree of the dangerous object element are more than fifty percent, and the feature is defined as a preset condition of the dangerous object element;
Dangerous object identification unit: and taking the scene elements meeting the preset conditions as dangerous object elements according to the preset conditions.
4. The line monitoring device of a binocular vision ranging function according to claim 2, wherein the calibration unit comprises:
Element attribute identification subunit: receiving the left view and the right view, and obtaining image attribute parameter values; wherein,
The image attribute parameter values include color parameter values and contour parameter values;
contrast subunit: comparing the color parameter value and the profile parameter value with a preset color parameter set and a preset profile parameter set respectively: wherein,
And if the color parameter value and the contour parameter value respectively have the matched color and contour parameters, calibrating the scene elements which can be matched, and generating a calibrated picture.
5. The line monitoring apparatus of a binocular vision ranging function of claim 4, wherein the distance calculating unit comprises:
Relationship determination subunit: determining a first relation of two cameras in the first binocular camera and a second relation of two cameras in the second binocular camera according to the generated calibration picture;
Projection subunit: the method comprises the steps of determining the internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and restricting the corresponding points between images to a straight line to generate a binocular three-dimensional ranging model;
Distance value calculation unit: and the real-time distance between the transmission line lead and the target dangerous object is determined according to the parallax value.
6. The line monitoring apparatus of claim 1, wherein the gesture detection module comprises:
A data acquisition unit: the gesture sensor is used for acquiring real-time gesture data according to the gesture sensor; wherein,
The gesture data includes: acceleration values, angular velocity values, angle values and the like of the transmission line wires in the horizontal direction, the transverse direction and the vertical direction;
track calculation: the method comprises the steps of establishing an operation curve of a transmission line wire according to gesture data, and carrying out fitting calculation on the operation curve to obtain a fitting calculation result; wherein,
The fitting is calculated as a least square method;
A grade judging unit: the method is used for determining the galloping value of the transmission line wire according to the fitting calculation result and judging the galloping value early warning grade; wherein,
The early warning level is determined by the amplitude value of the galloping.
7. The line monitoring apparatus of a binocular vision ranging function of claim 6, wherein the fitting calculation comprises the steps of:
Discretizing the attitude data on a three-dimensional coordinate axis, determining a galloping period, wherein the period number is N, and obtaining a three-dimensional coordinate (x i,yi,zi), and the value range of i is 1, 2, 3 or 4; x i denotes the ith horizontal coordinate; y i denotes the ith longitudinal coordinate; z i represents the ith vertical coordinate;
carrying out least square fitting curve on the three-dimensional coordinates to obtain a least square fitting curve equation, and calculating to obtain the maximum value and the minimum value of the least square fitting curve equation through the least square fitting curve equation;
And determining fitting calculation results in different periods according to the maximum value and the minimum value of the least square fitting curve equation.
8. The line monitoring device with binocular vision ranging function according to claim 1, wherein the detection alarm module comprises:
an acquisition unit: acquiring a galloping track and a real-time distance, and corresponding the galloping track and the real-time distance to generate a monitoring table based on a time axis; wherein,
The monitoring table comprises N galloping tracks and distance values of the N real-time distances, the galloping tracks and the distance values are in one-to-one correspondence to generate a period group, and N is a positive integer;
And a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage device and a preset threshold value; wherein,
If the galloping track and the real-time distance in the period group are smaller than or equal to the preset threshold value, indicating that no abnormality exists, not giving an alarm;
And if the numerical value of the galloping track and the real-time distance in the period group is larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
9. The line monitoring device of a binocular vision ranging function of claim 1, further comprising:
distance acquisition unit: acquiring the real-time distance between the transmission line wire and dangerous objects;
a judging unit: judging the position of the dangerous object to be a fixed position/a moving position;
when the dangerous object is at a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is a moving position, judging whether the moving position is far away or close; wherein,
And when the moving position is close, calculating the maximum galloping value of the transmission line wire, judging whether contact risk exists, and carrying out real-time alarm.
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| CN116993743B (en) * | 2023-09-28 | 2024-03-19 | 南方电网数字电网研究院有限公司 | Method, device, equipment and storage medium for detecting galloping amplitude of power transmission line |
| CN117132947B (en) * | 2023-10-27 | 2024-01-26 | 山东拓新电气有限公司 | Dangerous area personnel identification method based on monitoring video |
| CN117671603B (en) * | 2024-02-01 | 2024-04-16 | 江苏濠汉信息技术有限公司 | Multi-dimensional environment monitoring method for power transmission line of three-dimensional ranging device |
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