CN116609613A - Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system - Google Patents
Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system Download PDFInfo
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- CN116609613A CN116609613A CN202310574282.5A CN202310574282A CN116609613A CN 116609613 A CN116609613 A CN 116609613A CN 202310574282 A CN202310574282 A CN 202310574282A CN 116609613 A CN116609613 A CN 116609613A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000007689 inspection Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 5
- 239000003990 capacitor Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/088—Aspects of digital computing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a two-dimensional and three-dimensional integrated transmission line on-line monitoring system, which is calibrated by a CCD industrial camera and a laser radar sensor, and the acquisition of the position information of the whole system is realized by a Beidou positioning board card; the data fused by the CCD industrial camera and the laser radar sensor is transmitted to a front-end calculation module, stored by a storage module, calculated by a microprocessor, and used for completing identification and tracking of targets in a corridor of the power transmission line and calculation of safe distances between the targets and a power transmission line body and a line, and once the distance exceeds the safe distance, information is transmitted to on-line monitoring software of the power transmission line by a communication module to carry out warning prompt. The invention can monitor the moving target in the corridor of the overhead transmission line, timely alarm hidden danger exceeding the safety distance, eliminate the hidden danger of electric power, reduce misjudgment of the hidden danger, lighten the pressure of personnel on-site inspection, timely eliminate the hidden danger and improve the power supply reliability.
Description
Technical Field
The invention relates to the technical field of power transmission line monitoring, in particular to a two-dimensional and three-dimensional integrated power transmission line online monitoring system.
Background
The transmission line runs under the open air for a long time, passes through various geographic environments and is greatly influenced by external environments. Along with the rapid development of economy and society, hidden dangers caused by construction such as municipal administration, roads and bridges to safe operation of the power transmission line are increased, and the risk of damage to the power transmission line caused by external force is also increased. In 2010 to 2014, the external damage faults of 330kV and above power transmission lines of the national power grid company occur 436 times, account for 18.7% of the total number of faults, are stopped 274 times, account for 35.12% of the total number of the stopping operations, and are in a year-by-year growth trend, and the external damage faults become main reasons for stopping the power transmission lines.
The external damage of the power transmission line is divided into two parts of an overhead line and a cable line according to equipment attributes, and the external damage of the overhead line is divided into 10 types of theft and deliberate damage, construction (mechanical) damage, foreign matter short circuit, tree bamboo felling, fishing line, fire disaster, chemical corrosion, illegal soil taking (piling), blasting operation damage and goaf (coal mine subsidence area). Wherein, the damage or fault caused by construction machinery or facilities such as hoisting, excavating, pile pressing, shipping and the like in and near the line protection area to the power transmission line body and auxiliary facilities is one of the most main reasons for the external damage of the power transmission line. The method can find out, alarm and stop illegal operation vehicles in time, and is a main means for preventing construction (machinery) damage.
The conventional online sensing equipment (video monitoring, infrared sensing and the like) deployed on the overhead transmission line can only perform qualitative sensing on targets in a channel, cannot be positioned accurately, and the conventional online monitoring device for the overhead transmission line mainly depends on plane vision technologies such as video/images and the like, and has not been researched or applied on the basis of active online monitoring technologies integrated with three-dimensional laser radars and vision.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a two-dimensional and three-dimensional integrated power transmission line online monitoring system so as to solve the problems in the background technology.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a two-dimensional and three-dimensional integrated power transmission line online monitoring system, which comprises a server, a computer, a CCD industrial camera, a laser radar sensor, a Beidou positioning board card and a battery, wherein the server is connected with the computer;
the CCD industrial camera is internally provided with a microprocessor, a front-end computing module, a storage module and a communication module;
the Beidou positioning board card is internally provided with a positioning and orientation module which is used for acquiring the position information of the whole system;
the server and the computer are internally provided with transmission line online monitoring software; the transmission line on-line monitoring software is connected with the CCD industrial camera through the communication module;
the battery is used for supplying power to the whole system;
the CCD industrial camera is calibrated with the laser radar sensor, and the Beidou positioning board card is used for acquiring the position information of the whole system; the data fused by the CCD industrial camera and the laser radar sensor is transmitted to a front-end calculation module, stored by a storage module, calculated by a microprocessor, and used for completing identification and tracking of targets in a corridor of the power transmission line and calculation of safe distances between the targets and a power transmission line body and a line, and once the distance exceeds the safe distance, information is transmitted to on-line monitoring software of the power transmission line by a communication module to carry out warning prompt.
Preferably, a heat sink is installed in the CCD industrial camera.
Preferably, a CCD camera is installed at one side of the CCD industrial camera and is used for shooting and collecting images.
The invention has the beneficial effects that:
1. the system can monitor the safe environment of the dense channel of the power transmission line, recognize dangerous targets in the channel, track the positions of the dangerous targets and calculate the spatial position information of the dangerous targets.
2. The invention can monitor the moving target in the corridor of the overhead transmission line, timely alarm hidden danger exceeding the safety distance, eliminate the hidden danger of electric power, reduce misjudgment of the hidden danger, lighten the pressure of personnel on-site inspection, timely eliminate the hidden danger and improve the power supply reliability.
3. The invention is that
4. The invention is that
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a CCD industrial camera according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an overall flow of a system according to an embodiment of the present invention.
Reference numerals illustrate:
the system comprises a 1-CCD industrial camera, a 2-laser radar sensor, a 3-Beidou positioning plate card, 4-cooling fins and a 5-CCD camera.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Examples:
as shown in fig. 1-2, the invention provides a two-dimensional and three-dimensional integrated power transmission line on-line monitoring system, which comprises a server, a computer, a CCD industrial camera 1, a laser radar sensor 2, a Beidou positioning board card 3 and a battery;
the CCD industrial camera 1 is internally provided with a microprocessor, a front-end computing module, a storage module and a communication module; the laser radar sensor 2 is arranged on the CCD industrial camera 1;
the Beidou positioning board card 3 is internally provided with a positioning and orientation module which is used for acquiring the position information of the whole system;
the server and the computer are internally provided with transmission line online monitoring software; the transmission line on-line monitoring software is connected with the CCD industrial camera 1 through a communication module;
the battery is used for supplying power to the whole system;
CCD, english is fully called: charge coupled Device, chinese is fully: the charge coupled device may be referred to as a CCD image sensor. A CCD is a semiconductor device capable of converting an optical image into a digital signal. The tiny photosensitive substances implanted on the CCD are called pixels (pixels). The greater the number of pixels contained on a CCD, the higher the resolution of the picture it provides. The CCD acts like a film, but it converts image pixels into digital signals. The CCD has many capacitors arranged orderly, which can sense light and convert the image into digital signals. Each small capacitor can transfer its charge to its adjacent capacitor via control of an external circuit. As a light-to-digital conversion element, a CCD camera has been widely used.
The CCD industrial camera 1 and the laser radar sensor 2 are calibrated, and the Beidou positioning board card 3 is used for acquiring the position information of the whole system; the data fused by the CCD industrial camera 1 and the laser radar sensor 2 are transmitted to a front-end calculation module, stored by a storage module, calculated by a microprocessor, and used for completing identification and tracking of targets in a corridor of the power transmission line and calculation of safe distances between the targets and a power transmission line body and a line, and once the distance exceeds the safe distance, information is transmitted to on-line monitoring software of the power transmission line by a communication module to carry out alarm prompt.
Further, the communication module is preferably a wireless communication module, and the wireless communication module is widely applied to the fields of vehicle monitoring, remote control, telemetry, small wireless network, wireless meter reading, access control system, cell paging, industrial data acquisition system, wireless tag, identity recognition, non-contact RF smart card, small wireless data terminal, safe fire prevention system, wireless remote control system, biological signal acquisition, hydrological monitoring, robot control, wireless 232 data communication, wireless 485/422 data communication, digital audio, digital image transmission and the like.
The CCD industrial camera 1 provided by the invention is used for sensing data of data obtained by sensing the surrounding environment of a stationary or moving target such as an engineering vehicle, a construction vehicle and the like in a power transmission line corridor, fusing image data collected by on-line monitoring with laser point cloud data, calculating the safety distance between a target point and a wire through a front end calculation module, and generating alarm information once the distance is lower than a set safety value.
The point cloud refers to a massive set of points of the target surface characteristics. The point cloud obtained according to the laser measurement principle comprises three-dimensional coordinates (XYZ) and laser reflection Intensity (Intensity).
The point cloud obtained according to the photogrammetry principle comprises three-dimensional coordinates (XYZ) and color information (RGB).
The point cloud is obtained by combining laser measurement and photogrammetry principles, and comprises three-dimensional coordinates (XYZ), laser reflection Intensity (Intensity) and color information (RGB).
After the spatial coordinates of each sample Point on the object surface are acquired, a set of points is obtained, called a "Point Cloud".
The power transmission line on-line monitoring software is configured to acquire warning information and fusion image information of a static target and a moving target in a power transmission line corridor transmitted by the CCD industrial camera 1, wherein the warning information of the static target and the moving target in the power transmission line corridor is calculated and transmitted by the CCD industrial camera 1, and the fusion image information is displayed on a computer through the power transmission line on-line monitoring software.
Further, a heat sink 4 is installed in the CCD industrial camera 1.
Further, a CCD camera 5 is installed at one side of the CCD industrial camera 1, and is used for shooting and collecting images.
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 (3)
1. The two-dimensional and three-dimensional integrated power transmission line on-line monitoring system comprises a server and a computer, and is characterized by further comprising a CCD industrial camera, a laser radar sensor, a Beidou positioning board card and a battery;
the CCD industrial camera is internally provided with a microprocessor, a front-end computing module, a storage module and a communication module;
the Beidou positioning board card is internally provided with a positioning and orientation module which is used for acquiring the position information of the whole system;
the server and the computer are internally provided with transmission line online monitoring software; the transmission line on-line monitoring software is connected with the CCD industrial camera through the communication module;
the battery is used for supplying power to the whole system;
the CCD industrial camera is calibrated with the laser radar sensor, and the Beidou positioning board card is used for acquiring the position information of the whole system; the data fused by the CCD industrial camera and the laser radar sensor is transmitted to a front-end calculation module, stored by a storage module, calculated by a microprocessor, and used for completing identification and tracking of targets in a corridor of the power transmission line and calculation of safe distances between the targets and a power transmission line body and a line, and once the distance exceeds the safe distance, information is transmitted to on-line monitoring software of the power transmission line by a communication module to carry out warning prompt.
2. The two-dimensional and three-dimensional integrated transmission line on-line monitoring system according to claim 1, wherein a radiating fin is arranged in the CCD industrial camera.
3. The two-dimensional and three-dimensional integrated transmission line on-line monitoring system according to claim 1, wherein a CCD camera is installed on one side of the CCD industrial camera and is used for shooting and collecting images.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310574282.5A CN116609613A (en) | 2023-05-22 | 2023-05-22 | Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310574282.5A CN116609613A (en) | 2023-05-22 | 2023-05-22 | Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system |
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| Publication Number | Publication Date |
|---|---|
| CN116609613A true CN116609613A (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310574282.5A Pending CN116609613A (en) | 2023-05-22 | 2023-05-22 | Two-dimensional and three-dimensional integrated power transmission line on-line monitoring system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104464173A (en) * | 2014-12-03 | 2015-03-25 | 国网吉林省电力有限公司白城供电公司 | Power transmission line external damage protection system based on space image three-dimensional measurement |
| KR101752165B1 (en) * | 2016-12-26 | 2017-06-29 | 엠엠피씨 주식회사 | Power Facility Remote Monitoring System using Fusion Camera |
| CN112258800A (en) * | 2020-09-14 | 2021-01-22 | 云南电网有限责任公司昆明供电局 | Beidou satellite technology-based power transmission line external force damage monitoring system and method |
| CN113850137A (en) * | 2021-08-24 | 2021-12-28 | 山东信通电子股份有限公司 | Power transmission line image online monitoring method, system and equipment |
| WO2022170878A1 (en) * | 2021-02-09 | 2022-08-18 | 国网江苏省电力有限公司泰州供电分公司 | System and method for measuring distance between transmission line and image by unmanned aerial vehicle |
-
2023
- 2023-05-22 CN CN202310574282.5A patent/CN116609613A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104464173A (en) * | 2014-12-03 | 2015-03-25 | 国网吉林省电力有限公司白城供电公司 | Power transmission line external damage protection system based on space image three-dimensional measurement |
| KR101752165B1 (en) * | 2016-12-26 | 2017-06-29 | 엠엠피씨 주식회사 | Power Facility Remote Monitoring System using Fusion Camera |
| CN112258800A (en) * | 2020-09-14 | 2021-01-22 | 云南电网有限责任公司昆明供电局 | Beidou satellite technology-based power transmission line external force damage monitoring system and method |
| WO2022170878A1 (en) * | 2021-02-09 | 2022-08-18 | 国网江苏省电力有限公司泰州供电分公司 | System and method for measuring distance between transmission line and image by unmanned aerial vehicle |
| CN113850137A (en) * | 2021-08-24 | 2021-12-28 | 山东信通电子股份有限公司 | Power transmission line image online monitoring method, system and equipment |
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