CN114973132A - Power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation - Google Patents
Power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation Download PDFInfo
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- G06V20/50—Context or environment of the image
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Abstract
The embodiment of the invention discloses a power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation, and relates to the technical field of image recognition. The system, comprising: the camera is arranged on a tower of the power transmission line; the edge computing equipment is arranged on a tower of the power transmission line and used for controlling the camera to acquire an image of a power transmission wire corresponding to the current tower, detecting foreign matters on the power transmission wire according to the acquired image based on a preset target detection algorithm and sending foreign matter detection result data to the cloud end; and the cloud end is connected with each edge computing device and used for storing the foreign matter detection result data of the transmission conductor corresponding to the tower of the transmission line sent by each edge computing device. The invention can intelligently and automatically analyze the foreign matters on the transmission conductor through the transmission conductor image acquired in real time, effectively improves the working efficiency and avoids potential safety hazards.
Description
Technical Field
The invention belongs to the technical field of image recognition, and particularly relates to a power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud cooperation.
Background
With the rapid development of economy in China, the guarantee of safe and reliable power supply and demand is of great importance. Because the transmission line is exposed in the field environment throughout the year, foreign matters are often hung on the line and invade and damage line equipment, so that line falling, burning, line damage and the like are caused, serious economic loss is caused, and irretrievable harm can be caused to vehicles and pedestrians under the transmission line. Therefore, the method can accurately and timely find the foreign matter invasion and has very important significance for the safety of the power grid transmission line in China.
According to the traditional method for detecting the foreign matters on the power transmission line, routing inspection personnel can be arranged to conduct routing inspection, but due to the fact that the power transmission line is wide in distribution and the distributed environment is complex (such as mountains, rivers and the like), huge potential safety hazards are brought to the routing inspection personnel, and working efficiency is very low. Along with the rapid development of scientific technology, especially the development of unmanned aerial vehicle technique, the method that adopts unmanned aerial vehicle to patrol and examine comes into effect, has reduced the artifical potential safety hazard that patrols and examines and bring and has improved the work efficiency who patrols and examines to a certain extent, but unmanned aerial vehicle patrols and examines still need the personnel's cooperation of patrolling and examining, accomplishes the discernment of closely operation unmanned aerial vehicle and foreign matter, has the foreign matter discernment untimely, and is inaccurate, and it is big to patrol and examine work load, has the safe risk scheduling problem.
Disclosure of Invention
In view of this, the embodiment of the invention provides a power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination, which is used for solving the problems of untimely and inaccurate foreign matter identification, large inspection workload, high safety risk and the like in the existing power transmission line foreign matter detection method. The intelligent analysis system can intelligently and automatically analyze foreign matters on the transmission conductor according to the transmission conductor image acquired in real time, effectively improves the working efficiency and avoids potential safety hazards.
The embodiment of the invention provides a power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination, which comprises:
the camera is arranged on a tower of the power transmission line;
the edge computing equipment is arranged on a tower of the power transmission line and used for controlling the camera to acquire images of a power transmission wire corresponding to the current tower, detecting foreign matters on the power transmission wire according to the acquired images based on a preset target detection algorithm and sending data of foreign matter detection results to the cloud;
and the cloud end is connected with each edge computing device and used for storing the foreign matter detection result data of the transmission conductor corresponding to the tower of the transmission line sent by each edge computing device.
In an optional embodiment, the camera is further configured to photograph a position below a power transmission conductor corresponding to a current tower;
and the edge computing equipment is also used for detecting whether an engineering vehicle exists below the power transmission conductor according to the picture acquired by the camera.
In an optional embodiment, the system further comprises:
the ejecting device comprises a body and a tail end, and the tail end is sleeved and buckled on the power transmission wire;
the edge computing device is further used for controlling the expelling device on the power transmission line to slide along the sleeved power transmission wire after the foreign matter detection result data are sent to the cloud end, so that dynamic foreign matters on the power transmission wire are expelled.
In an alternative embodiment, the initial position of the expelling means is a position in which the trailing end is on the underside and the axis of rotation is vertically upwards;
the edge computing device is specifically configured to determine a determination control value for cloud data storage at the current time according to a first formula when the foreign matter on the power transmission conductor is detected, determine whether the determination control value for cloud data storage at the current time is smaller than 1, if the determination control value for cloud data storage at the current time is smaller than 1, not send the foreign matter detection result data to the cloud, and otherwise, send the foreign matter detection result data to the cloud for storage;
wherein the first formula is:
when in use
Time of flight
Wherein E (t) represents a judgment control value for storing cloud data at the time t; t represents the current time; f represents the frequency value of the image collected by the edge computing equipment control camera; k represents an integer variable ranging from 1 to 10;
representing the edge computing device capturing at the camera
Coordinate points, closest to the origin, of foreign body graphs detected in the images at the moment in a preset two-dimensional rectangular coordinate system;
representing the edge computing device capturing at the camera
Coordinate points, which are farthest from the original point, of the foreign body graph detected in the image at the moment in a preset two-dimensional rectangular coordinate system; (x) 0 ,y 0 ) Representing a projection coordinate point of the power transmission conductor in a preset two-dimensional rectangular coordinate system in an image acquired by the camera;
denotes a range of values from
To
A closed interval of (c);
indicating a range of valuesTo be driven from
To
A closed interval of (c); e represents belonging to a symbol; f { } represents a judgment function, if the calculation formula in the brackets is true, the function value is 1, otherwise, the function value is 0; t is t 0 Representing a starting time at which the edge computing device detects a foreign object using a target detection algorithm; the preset two-dimensional rectangular coordinate takes a lower left vertex of an image collected by the camera as an origin, the left edge of the image is upwards taken as a Y axis, and the lower edge of the image is taken as the Y axis rightwards.
In an optional embodiment, the body of the expelling apparatus includes: a rotation shaft and a predetermined-shaped expelling member; one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is connected with the expelling component; the rotating shaft is mounted perpendicular to the power transmission conductor;
the edge computing device is further configured to control the rotating shaft to rotate around the power transmission conductor when the expelling device on the power transmission line is controlled to slide along the power transmission conductor sleeved and buckled on the power transmission line.
In an optional embodiment, the edge computing device is specifically configured to determine whether a projection coordinate point of the power transmission conductor in an image acquired by the camera meets a preset condition when a calculated determination control value for performing cloud data storage at the current time is not less than 1; if the preset condition is met, calculating a control angle according to a second formula, and controlling the rotating shaft to rotate clockwise around the power transmission conductor from the initial position by the control angle when controlling the expulsion device on the power transmission line to slide along the power transmission conductor sleeved and buckled on the expulsion device; if the preset condition is not met, when the expulsion device on the power transmission line is controlled to slide along the sleeved power transmission conductor, the rotating shaft is controlled to rotate around the power transmission conductor continuously, and the rotating speeds of the rotating shaft in different rotating angle ranges in the process of rotating around the power transmission conductor for each circle are calculated and controlled according to a third formula;
wherein the preset conditions are as follows:
{[x 0 ∈(X min (t),X max (t))]and [ y 0 ∈(Y min (t),Y max (t))]}
The second formula is:
in the second formula, α (t) represents a control angle at which the rotating shaft needs to rotate around the power transmission conductor at the current moment; (X) min (t),X max (t)) means a value ranging from X min (t) to X max (t) an open interval; (Y) min (t),Y max (t)) means a value ranging from Y min (t) to Y max (t) open interval;
the third formula is:
in the third formula, ω (t) represents the rotational speed at which the rotation axis continues to rotate around the power conductor at time t; β (t) represents the value of the angle of rotation of the axis of rotation clockwise around the power conductor from an initial position at time t; omega max Representing a preset maximum rotational speed value of the rotating shaft continuously rotating around the power conductor.
In an optional embodiment, the edge computing device is further configured to send abnormal alarm information to a cloud when the current foreign object detection result data is sent to the cloud for storage.
In an optional embodiment, the expelling part is provided with a shaft sleeve matched with the rotating shaft, one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is sleeved in the shaft sleeve of the expelling part;
the edge computing device is further configured to control the expelling means to rotate around the rotation axis when controlling the expelling means on the power transmission line to slide along the power transmission conductor of the casing buckle thereof.
According to the power transmission line foreign matter and engineering vehicle monitoring system based on the edge cloud coordination, images of a power transmission conductor are collected through a camera arranged on a tower of the power transmission line, foreign matters on the power transmission conductor are analyzed and detected according to the collected power transmission conductor images, and a foreign matter detection result is sent to a cloud end, so that further processing can be carried out subsequently. The intelligent analysis system can intelligently and automatically analyze foreign matters on the transmission conductor according to the transmission conductor image acquired in real time, effectively improves the working efficiency and avoids potential safety hazards.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination according to an embodiment of the present invention. Referring to fig. 1, the system includes:
the camera 1 is arranged on a tower of the power transmission line;
the edge computing device 2 is arranged on a tower of the power transmission line and used for controlling the camera to acquire images of the power transmission conductor corresponding to the current tower, detecting foreign matters on the power transmission conductor according to the acquired images based on a preset target detection algorithm and sending foreign matter detection result data to the cloud end 3;
and the cloud end 3 is connected with each edge computing device 2 and is used for storing the foreign matter detection result data of the transmission conductor corresponding to the tower of the transmission line, which is sent by each edge computing device 2.
The beneficial effects of the above technical scheme are: the method comprises the steps of firstly collecting images of a transmission conductor through a camera arranged on a tower of a transmission line, then analyzing and detecting foreign matters on the transmission conductor according to the collected images of the transmission conductor, and finally sending a foreign matter detection result to a cloud end, so that the subsequent further processing can be conveniently carried out. According to the invention, the foreign matters on the transmission conductor can be intelligently and automatically analyzed through the transmission conductor image acquired in real time, so that the accuracy and the working efficiency of foreign matter detection are effectively improved, the labor cost is reduced, and the potential safety hazard is avoided.
Obviously, the power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination shown in fig. 1 may include a plurality of edge computing devices 2 and cameras 1, and the connection relationship between each camera 1 and the edge computing device 2, and the connection relationship between the edge computing device 2 and the cloud end 3 are the same as those shown in fig. 1, that is: the cloud 3 manages the monitoring data of the plurality of edge computing devices 2 collectively.
Preferably, the edge computing device 2 is further configured to send abnormal alarm information to the cloud 3 when the foreign object detection result data is sent to the cloud 3 for storage.
As an optional embodiment, the camera 1 is further configured to photograph a position below a power transmission conductor corresponding to a current tower;
and the edge computing equipment 2 is also used for detecting whether an engineering vehicle exists below the power transmission conductor according to the pictures collected by the camera.
The beneficial effects of the above technical scheme are: besides intelligently and automatically monitoring the foreign matters on the power transmission conductor, the method also collects the image below the power transmission conductor and analyzes the condition of the engineering vehicle below the conductor according to the image information. Before the foreign matter on the transmission conductor is to be expelled, the engineering vehicle can be effectively reminded to leave, or the engineering vehicle is arranged below the detected conductor, so that the foreign matter on the transmission conductor is not processed, the damage of the high-altitude foreign matter on the engineering vehicle is avoided, and the safety of the engineering vehicle is effectively improved.
As an optional embodiment, the system for monitoring foreign matters in power transmission lines and engineering vehicles based on edge cloud coordination further includes:
the ejecting device comprises a body and a tail end, and the tail end is sleeved and buckled on the power transmission wire;
the edge computing device 2 is further configured to control the expelling device on the power transmission line to slide along the power transmission line sleeved with the expelling device on the power transmission line after sending the foreign matter detection result data to the cloud 3, so as to expel the dynamic foreign matter on the power transmission line.
The beneficial effects of the above technical scheme are: except that can be according to the transmission line image of real-time collection, intelligence, the foreign matter on the transmission line is gone out to the autoanalysis, it is further, when there is the foreign matter in the transmission line, the expulsion device on the control transmission line slides along the transmission line to carry out the expulsion to the dynamic foreign matter on the transmission line, realize full-automatic discovery foreign matter, get rid of the purpose of foreign matter, improved work efficiency effectively, and also reduced and patrolled and examined and got rid of the safety risk that the foreign matter brought for the staff.
As an alternative embodiment, the initial position of the expelling means is a position in which the trailing end is located at the lower side and the rotation axis is vertically upward;
the edge computing device 2 is specifically configured to determine a determination control value for cloud data storage at the current time according to a first formula when the foreign matter on the power transmission conductor is detected, determine whether the determination control value for cloud data storage at the current time is smaller than 1, if the determination control value for cloud data storage at the current time is smaller than 1, not send the foreign matter detection result data to the cloud 3, and otherwise, send the foreign matter detection result data to the cloud 3 for storage;
wherein the first formula is:
when in use
Time (1)
Wherein E (t) represents a judgment control value for storing cloud data at the time t; t represents the current time; f represents the frequency value of the image collected by the edge computing equipment control camera; k represents an integer variable ranging from 1 to 10;
representing the edge computing device capturing at the camera
Coordinate points, closest to the origin, of foreign body graphs detected in the images at the moment in a preset two-dimensional rectangular coordinate system;
representing the edge computing device capturing at the camera
Coordinate points, which are farthest from the original point, of the foreign body graph detected in the image at the moment in a preset two-dimensional rectangular coordinate system; since the edge computing device is vertically mounted and is detecting the power conductor, the power conductor will behave as a projected coordinate point, (x) in the image captured by the camera 0 ,y 0 ) Representing projection coordinate points () of the power transmission conductor in a preset two-dimensional rectangular coordinate system in an image collected by the camera;
denotes a range of values from
To
A closed interval of (c);
denotes a range of values from
To
A closed interval of (c); e represents belonging to a symbol; f { } represents a judgment function, if the arithmetic expression in the brackets is true, the function value is 1, otherwise, the function value is 0; t is t 0 Representing a starting time at which the edge computing device detects a foreign object using a target detection algorithm; the preset two-dimensional rectangular coordinate takes a lower left vertex of an image collected by the camera as an origin, the left edge of the image is upwards taken as a Y axis, and the lower edge of the image is taken as the Y axis rightwards.
The beneficial effects of the above technical scheme are: if E (t) <1, the staying time of the foreign matters on the power transmission line is short (if some birds stop for a while and fly away), data storage and abnormal alarm are not carried out, and system resources are saved; and if E (t) is more than or equal to 1, storing data and giving an abnormal alarm if the foreign matter stays on the power transmission line for a long time. The method and the device have the advantages that whether cloud data storage and abnormal alarming are needed or not is judged according to the foreign matter dynamic image detected by the edge computing device through the target detection algorithm and the projection coordinate point of the power transmission line in the image through the first formula (1), so that the cloud data storage and the abnormal alarming are reasonably carried out, the space of a cloud server occupied by useless data is avoided, frequent useless alarming is avoided, system resources are effectively saved, and the system execution efficiency is improved.
As an alternative embodiment, the body of the expelling apparatus includes: a rotation shaft and a predetermined-shaped expelling member; one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is connected with the expelling component; the rotating shaft is mounted perpendicular to the power transmission conductor;
the edge computing device 2 is further configured to control the rotation axis to rotate around the power transmission conductor when controlling the expelling apparatus on the power transmission line to slide along the hitched power transmission conductor.
The beneficial effects of the above technical scheme are: when the edge computing equipment 2 controls the expelling device on the power transmission line to slide along the sleeved and buckled power transmission lead, the rotating shaft is controlled to rotate around the power transmission lead, the expelling area is increased, foreign matters can be effectively expelled and dropped, and the safety of the power transmission line is ensured.
As an optional embodiment, the edge computing device 2 is specifically configured to determine whether a projection coordinate point of the power transmission line in an image acquired by the camera 1 meets a preset condition when a determination control value for performing cloud 3 data storage at the calculated current time is not less than 1; if the preset condition is met, calculating a control angle according to a second formula, and controlling the rotating shaft to rotate clockwise around the power transmission conductor from the initial position by the control angle when controlling the expulsion device on the power transmission line to slide along the power transmission conductor sleeved and buckled on the expulsion device; if the preset condition is not met, when the expulsion device on the power transmission line is controlled to slide along the sleeved power transmission conductor, the rotating shaft is controlled to rotate around the power transmission conductor continuously, and the rotating speeds of the rotating shaft in different rotating angle ranges in the process of rotating around the power transmission conductor for each circle are calculated and controlled according to a third formula;
wherein the preset conditions are as follows:
{[x 0 ∈(X min (t),X max (t))]and [ y 0 ∈(Y min (t),Y max (t))]}
The second formula is:
in the second formula, α (t) represents a control angle at which the rotating shaft needs to rotate around the power transmission conductor at the current moment; (X) min (t),X max (t)) means a value ranging from X min (t) To X max (t) open interval; (Y) min (t),Y max (t)) means a value ranging from Y min (t) to Y max (t) an open interval;
the third formula is:
in the third formula, ω (t) represents the rotational speed at which the rotation axis continues to rotate around the power conductor at time t; β (t) represents the value of the angle of rotation of the axis of rotation clockwise around the power conductor from an initial position at time t; omega max Representing a preset maximum value of the rotational speed of the rotation shaft continuously rotating around the power conductor.
Preferably, the expelling part is provided with a shaft sleeve matched with the rotating shaft, one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is sleeved in the shaft sleeve of the expelling part; the edge computing device 2 is further configured to control the expelling means to rotate around the rotation axis when controlling the expelling means on the transmission line to slide along the buckled transmission conductor thereof.
The beneficial effects of the above technical scheme are: controlling the tail end of the expelling device to rotate around by using a second formula (2) according to the dynamic image of the foreign object detected by the edge computing equipment by using a target detection algorithm and the projection coordinate point of the power transmission line in the image, so that the expelling device can expel the foreign object, and the reliability and effectiveness of expelling are ensured; and then, a third formula (3) is utilized to control the rotating speed of the tail end of the expelling device to rotate circularly and continuously according to the rotating speed of the expelling device and the position of the projection coordinate point of the power transmission line in the image in the foreign matter dynamic image, so that the long retention time at a place with a large foreign matter area surface is ensured, and the expelling effect is ensured.
According to the content of the embodiment, firstly, the image of the transmission conductor is acquired through the camera arranged on the tower of the transmission line, and then the foreign matter on the transmission conductor is detected and judged according to the acquired image of the transmission conductor and the first formula, so that cloud data storage and abnormal alarm are reasonably carried out; after detecting that there is the foreign matter on the power transmission line afterwards, successively utilize second formula and third formula, control expulsion device tail end surrounding type rotatory angle and expulsion device tail end carry out the surrounding type and last rotatory rotational speed, carry out the expulsion to the power transmission line foreign matter, guaranteed the expulsion reliability and effectively. The purpose of automatically discovering and expelling foreign matters is achieved, the working efficiency is effectively improved, the labor cost is reduced, the safety of the power transmission line is guaranteed, and the potential safety hazard of workers is avoided.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. Transmission line foreign matter and engineering vehicle monitoring system based on limit cloud is in coordination, its characterized in that includes:
the camera is arranged on a tower of the power transmission line;
the edge computing equipment is arranged on a tower of the power transmission line and used for controlling the camera to acquire images of a power transmission wire corresponding to the current tower, detecting foreign matters on the power transmission wire according to the acquired images based on a preset target detection algorithm and sending data of foreign matter detection results to the cloud;
and the cloud end is connected with each edge computing device and used for storing the foreign matter detection result data of the transmission conductor corresponding to the tower of the transmission line sent by each edge computing device.
2. The system for monitoring foreign matters and engineering vehicles on the power transmission line based on the edge cloud coordination as claimed in claim 1, wherein the camera is further used for shooting the position below the power transmission conductor corresponding to the current tower;
and the edge computing equipment is also used for detecting whether an engineering vehicle exists below the power transmission conductor according to the picture acquired by the camera.
3. The power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination of claim 1, wherein the system further comprises:
the ejecting device comprises a body and a tail end, and the tail end is sleeved and buckled on the power transmission wire;
the edge computing device is further used for controlling the expelling device on the power transmission line to slide along the sleeved power transmission wire after the foreign matter detection result data are sent to the cloud end, so that dynamic foreign matters on the power transmission wire are expelled.
4. The power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination of claim 3, wherein the initial position of the expelling device is a position where the tail end is located at the lower side and the rotating shaft is vertically upward;
the edge computing device is specifically configured to determine a determination control value for cloud data storage at the current time according to a first formula when the foreign matter on the power transmission conductor is detected, determine whether the determination control value for cloud data storage at the current time is smaller than 1, if the determination control value for cloud data storage at the current time is smaller than 1, not send the foreign matter detection result data to the cloud, and otherwise, send the foreign matter detection result data to the cloud for storage;
wherein the first formula is:
when in use
Time of flight
Wherein E (t) represents a judgment control value for storing cloud data at the time t; t represents the current time; f represents the frequency value of the image collected by the edge computing equipment control camera; k represents an integer variable ranging from 1 to 10;
representing the edge computing device capturing at the camera
Coordinate points, closest to the origin, of foreign body graphs detected in the images at the moment in a preset two-dimensional rectangular coordinate system;
representing the edge computing device as captured at the camera
Coordinate points, which are farthest from the original point, of the foreign body graph detected in the image at the moment in a preset two-dimensional rectangular coordinate system; (x) 0 ,y 0 ) Representing a projection coordinate point of the power transmission conductor in a preset two-dimensional rectangular coordinate system in an image acquired by the camera;
denotes a range of values from
To
A closed interval of (c);
denotes a range of values from
To
A closed interval of (c); e represents belonging to a symbol; f { } denotes the judgment function, if in parenthesesIf the formula is true, the function value is 1, otherwise, the function value is 0; t is t 0 Representing a starting time at which the edge computing device detects a foreign object using a target detection algorithm; the preset two-dimensional rectangular coordinate takes a lower left vertex of an image collected by the camera as an origin, the left edge of the image is upwards taken as a Y axis, and the lower edge of the image is taken as the Y axis rightwards.
5. The power transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination of claim 4, wherein the body of the expelling device comprises: a rotation shaft and a predetermined-shaped expelling member; one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is connected with the expelling component; the rotating shaft is mounted perpendicular to the power transmission conductor;
the edge computing device is further configured to control the rotating shaft to rotate around the power transmission conductor when the expelling device on the power transmission line is controlled to slide along the power transmission conductor sleeved and buckled on the power transmission line.
6. The system for monitoring foreign matters in an electric transmission line and engineering vehicles based on side-cloud coordination as claimed in claim 5, wherein the edge computing device is specifically configured to determine whether a projection coordinate point of the electric transmission line in the image collected by the camera meets a preset condition when a determination control value for performing cloud data storage at the current time is not less than 1; if the preset condition is met, calculating a control angle according to a second formula, and controlling the rotating shaft to rotate clockwise around the power transmission conductor from the initial position by the control angle when controlling the expulsion device on the power transmission line to slide along the power transmission conductor sleeved and buckled on the expulsion device; if the preset condition is not met, when the expulsion device on the power transmission line is controlled to slide along the sleeved power transmission conductor, the rotating shaft is controlled to rotate around the power transmission conductor continuously, and the rotating speeds of the rotating shaft in different rotating angle ranges in the process of rotating around the power transmission conductor for each circle are calculated and controlled according to a third formula;
wherein the preset conditions are as follows:
{[x 0 ∈(X min (t),X max (t))]and [ y 0 ∈(Y min (t),Y max (t))]}
The second formula is:
in the second formula, α (t) represents a control angle at which the rotating shaft needs to rotate around the power transmission conductor at the current moment; (X) min (t),X max (t)) means a value ranging from X min (t) to X max (t) open interval; (Y) min (t),Y max (t)) means a value ranging from Y min (t) to Y max (t) open interval;
the third formula is:
in the third formula, ω (t) represents the rotational speed at which the rotation axis continues to rotate around the power conductor at time t; β (t) represents an angular value of the rotation axis starting from an initial position clockwise around the power conductor at time t; omega max Representing a preset maximum value of the rotational speed of the rotation shaft continuously rotating around the power conductor.
7. The system for monitoring foreign matters on a power transmission line and engineering vehicles based on side-cloud coordination as claimed in claim 5 or 6, wherein the edge computing device is further configured to send abnormal alarm information to a cloud terminal when the data of the current foreign matter detection result is sent to the cloud terminal for storage.
8. The transmission line foreign matter and engineering vehicle monitoring system based on edge cloud coordination of claim 5 or 6, wherein the expulsion component is provided with a shaft sleeve matched with the rotating shaft, one end of the rotating shaft is fixedly connected with the tail end, and the other end of the rotating shaft is sleeved in the shaft sleeve of the expulsion component;
the edge computing device is further configured to control the expelling means to rotate around the rotation axis when controlling the expelling means on the power transmission line to slide along the power transmission conductor of the casing buckle thereof.
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