CN116740910B - Power transmission line moving target monitoring method and device - Google Patents
Power transmission line moving target monitoring method and device Download PDFInfo
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
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- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
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- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
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- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
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- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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Abstract
The application relates to the technical field of intelligent monitoring of power systems, in particular to a method and a device for monitoring a moving target of a power transmission line; the method comprises the steps of continuously collecting panoramic images of the power transmission line to be monitored in real time by using six cameras uniformly arranged on the outer surface of a measuring box in circumference, sending the panoramic images to a main control computer for moving target identification until a target to be distinguished is detected, outputting a current panoramic image as an image to be processed, and carrying out image segmentation to obtain a drawing where the target to be distinguished is located; driving a laser ranging module to rotate to an angle consistent with a camera for collecting a drawing where a target to be distinguished is located, and then obtaining a first distance, a second distance and a first rotation angle to calculate the height difference between the lowest point of a power transmission line to be monitored and the highest point of the target to be distinguished; if the height difference is smaller than the preset safety distance, generating a dangerous target alarm signal and sending the dangerous target alarm signal toA control platform; if it isAnd the control platform returns a response signal within a preset time interval, so that the dangerous target alarm signal is successfully sent.
Description
Technical Field
The application relates to the technical field of intelligent monitoring of power systems, in particular to a method and a device for monitoring a moving target of a power transmission line
Background
The transmission line is used as a core component of the power grid, and the safe and stable operation of the transmission line is related to the operation safety of the whole power network. Because the transmission lines are mostly distributed in the field and span long distances, the climatic conditions and the geographical environments are severe and changeable, and the transmission lines are inevitably influenced by natural and artificial factors, so that the safety operation of the transmission lines is greatly threatened.
In order to solve the problem, a large number of image monitoring devices are additionally arranged on the power transmission line, but the monitoring visual angle is limited, and a single camera can only face a large-size side or a small-size side, so that a monitoring blind area exists; in addition, the alarm information is generally limited to whether dangerous targets exist or not, and the targets with real threats are difficult to alarm, so that the phenomenon of 'wolf' exists.
In summary, the current monitoring means cannot perform quantitative monitoring on the size of a dangerous target and the space distance between the dangerous target and a line and a tower, relative speed and azimuth vector, the monitoring has no advance, early warning cannot be performed in advance, and a post alarm phenomenon exists.
Disclosure of Invention
Therefore, the application aims to solve the technical problems that monitoring blind areas exist in monitoring in the prior art, monitoring quantity cannot be quantified, and monitoring is inaccurate.
In order to solve the technical problems, the application provides a method for monitoring a moving object of a power transmission line, which comprises the following steps:
the panoramic images containing the transmission line to be monitored are continuously collected in real time by six cameras uniformly arranged on the outer surface of the measuring box in a circumferential manner and sent to a main control computer;
the method comprises the steps that a main control computer is used for identifying moving targets of a plurality of frames of panoramic images until targets to be distinguished are detected, a current panoramic image is output as an image to be processed, and image segmentation is carried out on the image to be processed to obtain frames where the targets to be distinguished are located;
driving the three-degree-of-freedom mechanical module to carry the laser ranging module to rotate by utilizing the servo driver until the laser ranging module rotates to an angle consistent with a camera for collecting the picture of the object to be distinguished;
measuring the distance from the position of the laser ranging module to the lowest point of the power transmission line to be monitored by using the laser ranging module, and sending the distance to a main control computer, wherein the distance is a first distance;
rotating the laser ranging module, measuring the distance from the position of the laser ranging module to the highest point of the target to be distinguished to obtain a second distance, acquiring a first rotation angle of the laser ranging module, and sending the first rotation angle to a main control computer;
calculating the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished in the main control computer based on the first distance, the second distance and the first rotation angle;
if the height difference is smaller than the preset safety distance, judging that the danger exists, generating a dangerous target alarm signal by the main control computer, and sending the dangerous target alarm signal to the AI control platform;
and if the AI control platform returns a response signal within a preset time interval, the dangerous target alarm signal is successfully sent.
Preferably, after the obtaining the difference between the lowest point of the power transmission line to be monitored and the highest point of the object to be distinguished, the method further includes:
if the height difference is not smaller than the preset safety distance, judging that the danger does not exist, and continuing to identify the moving target of the acquired panoramic image.
Preferably, if the AI control platform does not return the response signal within the preset time interval, the AI control platform determines that the sending of the dangerous target alarm signal fails, stores the dangerous target alarm signal in the main control computer, and sets timing sending until receiving the response signal returned by the AI control platform.
Preferably, the step of obtaining the difference between the lowest point of the power transmission line to be monitored and the highest point of the object to be distinguished is expressed as:
，
wherein,representing the height difference between the lowest point of the transmission line to be monitored and the highest point of the object to be distinguished, < > and->Representing the first distance from the laser ranging module to the lowest point of the transmission line to be monitored, < >>Representing the second distance from the laser ranging module to the highest point of the object to be discriminated, +.>Indicating the first rotation angle.
Preferably, after the laser ranging module rotates to an angle consistent with a camera for collecting a frame where the object to be distinguished is located, the method further comprises the steps of:
acquiring a travelling path of the object to be distinguished according to the continuous multi-frame panoramic image, and arbitrarily selecting a first measuring point and a second measuring point which are not overlapped on the travelling path;
when the target to be judged passes through the first measuring point, measuring the distance from the position of the laser ranging module to the first measuring point by using the laser ranging module, wherein the distance is a third distance;
when the target to be judged passes through the second measuring point, rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the second measuring point by using the laser ranging module to obtain a fourth distance;
acquiring a second rotation angle and a distance measurement interval time of the laser ranging module from measuring the third distance to measuring the fourth distance;
and acquiring the moving speed of the object to be distinguished based on the third distance, the fourth distance, the second rotation angle and the distance measurement interval time.
Preferably, the moving speed of the object to be discriminated is expressed as:
，
wherein,representing the speed of movement of the object to be discriminated, +.>Representing the ranging interval time; fifth distance->Representing the distance between the first measurement point and the second measurement point, expressed as:
，
wherein,representing said third distance,/->Representing said fourth distance,/->Representing a second angle of rotation.
Preferably, after the obtaining the travel path of the object to be determined, the method further includes:
judging the advancing direction of the object to be judged according to the advancing path of the object to be judged;
if the advancing direction of the object to be judged is the direction approaching to the power transmission line to be monitored, acquiring the horizontal distance from the measuring box when the object to be judged reaches the second measuring pointThe expression is:
。
preferably, after the laser ranging module rotates to an angle consistent with a camera for collecting a frame where the object to be distinguished is located, the method further comprises the steps of obtaining the actual height of the object to be distinguished, and comprises the following steps:
measuring the distance from the position of the laser ranging module to the lowest point of the target to be identified by using the laser ranging module, wherein the distance is the lowest point distance;
rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the highest point of the target to be identified by using the laser ranging module at the same moment, wherein the distance is the highest point distance;
acquiring a third rotation angle of the laser ranging module from measuring the lowest point distance to measuring the highest point distance;
acquiring the actual height of the object to be distinguished based on the minimum point distance, the maximum point distance and the third rotation angleThe expression is:
，
wherein,represents the highest point distance, +.>Represents the lowest point distance, +.>Indicating a third rotation angle.
The application also provides a power transmission line moving target monitoring device, which comprises an AI control platform and a measuring box arranged on the power transmission line tower to be monitored, wherein the measuring box comprises:
the six-mesh panoramic module comprises six cameras which are uniformly arranged on the outer surface of the measuring box in a circumference manner and is used for collecting panoramic images containing the transmission line to be monitored;
the main control computer is in communication connection with the six-mesh panoramic module to acquire a panoramic image for target identification so as to acquire a drawing where a target to be distinguished is; the system is in communication connection with the AI control platform and is used for realizing the moving target identification, the advancing direction judgment, the drawing acquisition of the target to be judged, the receiving and calculation of distance data and the generation and transmission of dangerous target alarm signals of the power transmission line moving target monitoring method;
the servo driver is in communication connection with the main control computer and generates a driving signal based on the drawing where the target to be distinguished is located;
the three-degree-of-freedom mechanical module is in communication connection with the servo driver so as to rotate according to a driving signal generated by the servo driver;
the rotation angle sensor is connected with the three-degree-of-freedom mechanical module to acquire the rotation angle of the three-degree-of-freedom mechanical module;
the laser ranging module is arranged on the three-degree-of-freedom mechanical module and rotates along with the rotation of the three-degree-of-freedom mechanical module so as to rotate to a preset angle for laser ranging, and the measuring result is fed back to the main control computer.
Preferably, the method further comprises:
the power supply module is used for supplying power to the six-mesh panoramic module, the main control computer, the servo driver, the three-degree-of-freedom mechanical module, the rotation angle sensor and the laser ranging module;
the communication module is connected with the main control computer and the AI control platform so as to facilitate data transmission between the main control computer and the AI control platform;
and the storage module is connected with the main control computer so as to store the calculation result and the dangerous target alarm signal.
Compared with the prior art, the technical scheme of the application has the following advantages:
according to the method for monitoring the moving target of the power transmission line, the distance from the laser ranging module to the lowest point of the power transmission line to be monitored and the distance from the laser ranging module to the highest point of the target to be judged are measured, the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be judged is obtained based on the measured distance and the rotation angle of the two ranging steps, and the height difference is compared with the preset safety distance, so that whether the target to be judged is a dangerous target or not is judged, and the dangerous target is accurately identified;
according to the method, when the target to be judged passes through different positions, the horizontal distance from the tower and the interval time are acquired, so that the moving speed of the target to be judged is acquired, and the time required for the target to be judged to reach the lowest point of the power transmission line to be monitored can be accurately calculated, so that early warning is performed in advance;
according to the method, the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished, the moving speed of the target to be distinguished, the actual distance between the target to be distinguished and the tower and the actual height of the target to be distinguished are quantitatively monitored, so that more accurate and more timely danger early warning is realized;
according to the power transmission line moving target monitoring device, the six-mesh panoramic module is utilized to collect 360-degree panoramic images around the power transmission line to be monitored, so that monitoring blind areas are eliminated, and omnibearing monitoring is realized.
Drawings
In order that the application may be more readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings, in which
Fig. 1 is a flow chart of steps of a method for monitoring a moving object of a power transmission line;
fig. 2 is a schematic diagram of a part of a component structure of the power transmission line moving object monitoring device provided by the application;
fig. 3 is a flowchart of another embodiment of a method for monitoring a moving object of a power transmission line provided by the present application;
fig. 4 is a schematic diagram of connection relation of the power transmission line moving object monitoring device provided by the application;
description of the specification reference numerals: 1. a six-mesh panoramic module; 2. a three degree of freedom mechanical module; 3. a laser ranging module; 4. a camera is provided.
Detailed Description
The present application will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the application and practice it.
Referring to fig. 1, the step flowchart of the method for monitoring a moving object of a power transmission line of the present application specifically includes:
s101: the panoramic images containing the transmission line to be monitored are continuously collected in real time by six cameras uniformly arranged on the outer surface of the measuring box in a circumferential manner and sent to a main control computer;
s102: the method comprises the steps that a main control computer is used for identifying moving targets of a plurality of frames of panoramic images until targets to be distinguished are detected, a current panoramic image is output as an image to be processed, and image segmentation is carried out on the image to be processed to obtain frames where the targets to be distinguished are located;
s103: driving the three-degree-of-freedom mechanical module to carry the laser ranging module to rotate by utilizing the servo driver until the laser ranging module rotates to an angle consistent with a camera for collecting the picture of the object to be distinguished;
s104: measuring the distance from the position of the laser ranging module to the lowest point of the power transmission line to be monitored by using the laser ranging module, and sending the distance to a main control computer, wherein the distance is a first distance;
s105: rotating the laser ranging module, measuring the distance from the position of the laser ranging module to the highest point of the target to be distinguished to obtain a second distance, acquiring a first rotation angle of the laser ranging module, and sending the first rotation angle to a main control computer;
s106: based on the first distance, the second distance and the first rotation angle, calculating the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished in the main control computerExpressed as:
，
wherein,representing the first distance from the laser ranging module to the lowest point of the transmission line to be monitored, < >>Representing the second distance from the laser ranging module to the highest point of the object to be discriminated, +.>Indicating the first rotation angle.
S107: if the height difference is smaller than the preset safety distance, judging that the danger exists, generating a dangerous target alarm signal by the main control computer, and sending the dangerous target alarm signal to the AI control platform;
if the height difference is not smaller than the preset safety distance, judging that no danger exists, and continuing to identify the moving target of the acquired panoramic image;
s109: if the AI control platform returns a response signal within a preset time interval, the dangerous target alarm signal is successfully sent, and the main control computer continues to identify the moving target;
if the AI control platform does not return the response signal within the preset time interval, judging that the dangerous target alarm signal fails to be sent, storing the dangerous target alarm signal into a main control computer, and setting timing sending until the response signal returned by the AI control platform is received.
Specifically, in the embodiment of the present application, the moving object includes, except the transmission line body, other objects entering the image monitoring area, that is, objects having a moving characteristic, such as vehicles, birds or kites, with respect to being stationary, belong to the object to be determined; the present embodiment uses an AI recognition method to recognize whether or not a moving object appears in a photographed panoramic image. A panoramic image comprises six pictures, and each picture corresponds to a camera which is uniformly arranged on the outer surface of the measuring box in a circumference manner.
Specifically, referring to fig. 2, the servo driver is used to drive the three-degree-of-freedom mechanical module 2 to carry the laser ranging module 3 to rotate until the laser ranging module rotates to an angle consistent with the angle of the camera 4 for collecting the picture where the object to be distinguished is located, and the three-degree-of-freedom mechanical module is used to carry the laser ranging module to rotate, so that the position of the laser ranging module and the position of the camera for obtaining the picture where the object to be distinguished is located are located on the same radius vertical line direction relative to the circle center of the six-mesh panoramic module on the measuring box.
According to the method for monitoring the moving target of the power transmission line, the distance from the laser ranging module to the lowest point of the power transmission line to be monitored and the distance from the laser ranging module to the highest point of the target to be judged are measured, the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be judged is obtained based on the measured distance and the rotation angle of the two ranging steps, and the height difference is compared with the preset safety distance, so that whether the target to be judged is a dangerous target or not is judged, and the dangerous target is accurately identified.
Specifically, referring to fig. 3, in the present embodiment, the six-view panorama module performs reading and compositing of panoramic images, and performs target recognition. If the target is not found, continuing to identify the target. If the target is found, image segmentation is carried out, and the picture and the segmentation area where the target is located are output. The servo driving module and the three-degree-of-freedom mechanical module drive the laser ranging module to move to the dividing area and judge the rotating angle of the laser ranging module. And calculating the height of the target, the distance between the target and the tower and the relative speed according to the data acquired by the laser ranging module, judging whether the target has danger, if so, starting a general thread to alarm, and judging whether communication is possible. If communication is possible, the communication is sent to an AI platform, if not, storage is carried out, and then timing sending is set; if the danger does not exist, returning to continue to perform target recognition, wherein in the target recognition process, other threads except the panoramic synthetic thread are dormant, and the panoramic synthetic thread monitors in real time and continues to perform target recognition after the target is found.
Based on the above embodiment, in this embodiment, after the laser ranging module rotates to an angle consistent with the camera for collecting the frame where the target to be determined is located, the method further includes calculating a moving speed of the target to be determined, and specifically includes:
s201: acquiring a travelling path of the object to be distinguished according to the continuous multi-frame panoramic image, and arbitrarily selecting a first measuring point and a second measuring point which are not overlapped on the travelling path;
s202: when the target to be judged passes through the first measuring point, measuring the distance from the position of the laser ranging module to the first measuring point by using the laser ranging module, wherein the distance is a third distance;
s203: when the target to be judged passes through the second measuring point, rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the second measuring point by using the laser ranging module to obtain a fourth distance;
s204: acquiring a second rotation angle and a distance measurement interval time of the laser ranging module from measuring the third distance to measuring the fourth distance;
s205: acquiring the moving speed of the object to be distinguished based on the third distance, the fourth distance, the second rotation angle and the distance measurement interval timeExpressed as:
，
wherein,representing the ranging interval time; fifth distance->Representing the distance between the first measurement point and the second measurement point, expressed as:
，
wherein,representing said third distance,/->Representing said fourth distance,/->Representing a second angle of rotation.
Specifically, after the travel path of the object to be distinguished is obtained, the travel direction of the object to be distinguished is judged according to the travel path of the object to be distinguished; if the advancing direction of the object to be judged is the direction approaching to the power transmission line to be monitored, acquiring the horizontal distance from the measuring box when the object to be judged reaches the second measuring pointThe expression is:。
based on the speed of movementThe actual distance from the target to be discriminated to the tower when the target reaches the second measuring point +.>The time required for the object to be discriminated to move to the lowest point of the power line to be monitored can be calculated>。
According to the method, the horizontal distance from the tower to the target to be judged and the interval time are acquired when the target to be judged passes through different positions, so that the moving speed of the target to be judged is acquired, and the time required for the target to be judged to reach the lowest point of the power transmission line to be monitored can be accurately calculated according to the horizontal distance from the target to be judged to the tower, so that early warning can be performed in advance.
Based on the above embodiment, in this embodiment, after the laser ranging module rotates to an angle consistent with the camera that collects the frame where the target to be determined is located, calculating the actual height of the target to be determined specifically includes:
s301: measuring the distance from the position of the laser ranging module to the lowest point of the target to be identified by using the laser ranging module, wherein the distance is the lowest point distance;
s302: rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the highest point of the target to be identified by using the laser ranging module at the same moment, wherein the distance is the highest point distance;
s303: acquiring a third rotation angle of the laser ranging module from measuring the lowest point distance to measuring the highest point distance;
s304: acquiring the actual height of the object to be distinguished based on the minimum point distance, the maximum point distance and the third rotation angleThe expression is: />；
Wherein,represents the highest point distance, +.>Represents the lowest point distance, +.>Indicating a third rotation angle.
According to the method, the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished, the moving speed of the target to be distinguished, the actual distance between the target to be distinguished and the tower and the actual height of the target to be distinguished are quantitatively monitored, so that more accurate and more timely danger early warning is realized.
Based on the embodiment, the actual height of the object to be judged and the picture amplitude of the object to be judged in the panoramic image can be used for calibrating the camera of the six-mesh panoramic module; the method specifically comprises the following steps: and measuring the distance from the position of the laser ranging device to the highest point and the lowest point of the object to be distinguished by using the laser ranging device, and obtaining the actual height of the object to be distinguished. Meanwhile, the actual height of the object to be judged and the pixel number occupied by the height are known, and the distance represented by each pixel can be obtained, so that the calibration of camera parameters is realized.
All the calculation results in the above embodiment, including the height difference between the lowest point of the transmission line to be monitored and the highest point of the object to be distinguished, the moving speed of the object to be distinguished, the advancing direction of the object to be distinguished and the actual height thereof, are sent to the AI control platform by the main control computer, so that the staff at the AI control platform end can timely and effectively obtain the relevant parameters of the moving object entering the monitoring area of the transmission line to be monitored, and thus the risk level of the moving object can be assessed according to the relevant data, so that the staff can timely make corresponding preventive measures.
Referring to fig. 4, a schematic connection relationship diagram of a power transmission line moving object monitoring device according to the present application specifically includes:
the six-mesh panoramic module 1 comprises six cameras which are uniformly arranged on the outer surface of the measuring box in a circumference manner and is used for collecting panoramic images containing the transmission line to be monitored;
the main control computer is in communication connection with the six-mesh panoramic module to acquire a panoramic image for target identification so as to acquire a drawing where a target to be distinguished is; the system is in communication connection with the AI control platform and is used for realizing the moving target identification, the advancing direction judgment, the drawing acquisition of the target to be judged, the receiving and calculation of distance data and the generation and transmission of dangerous target alarm signals of the power transmission line moving target monitoring method;
the servo driver is in communication connection with the main control computer and generates a driving signal based on the drawing where the target to be distinguished is located;
the three-degree-of-freedom mechanical module 2 is in communication connection with the servo driver so as to rotate according to a driving signal generated by the servo driver;
the rotation angle sensor is connected with the three-degree-of-freedom mechanical module to acquire the rotation angle of the three-degree-of-freedom mechanical module;
the laser ranging module 3 is arranged on the three-degree-of-freedom mechanical module, rotates along with the rotation of the three-degree-of-freedom mechanical module so as to rotate to a preset angle for laser ranging, and feeds back a measurement result to the main control computer.
Based on the above embodiment, the power transmission line moving object monitoring device provided in this embodiment further includes:
the power supply module is used for supplying power to the six-mesh panoramic module, the main control computer, the servo driver, the three-degree-of-freedom mechanical module, the rotation angle sensor and the laser ranging module;
the communication module is connected with the main control computer and the AI control platform so as to facilitate data transmission between the main control computer and the AI control platform;
and the storage module is connected with the main control computer so as to store the calculation result and the dangerous target alarm signal.
According to the power transmission line moving target monitoring device, the six-mesh panoramic module is utilized to collect 360-degree panoramic images around the power transmission line to be monitored, so that monitoring blind areas are eliminated, and omnibearing monitoring is realized.
Specifically, based on the above description, the power transmission line moving object monitoring device provided by the application comprises: six mesh panorama module 1, main control computer, laser rangefinder module 3, three degree of freedom mechanical module 2, servo drive module, power module, communication module, storage module, AI platform, rotation angle sensor. The power module is connected with the main control computer and supplies power to the main control computer, the six-mesh panoramic module is connected with the main control computer, monitored target information is sent to the main control computer, the main control computer is connected with the servo driving module, the target information monitored by the six-mesh panoramic module is sent to the servo driving module, the servo driving module and the three-degree-of-freedom mechanical module are connected with the laser ranging module, the laser ranging module is driven to rotate to a target direction, and the rotating angle sensor is connected with the three-degree-of-freedom mechanical module and monitors the rotating angle of the laser ranging module. The communication module is connected with the main control computer and transmits the result to the AI platform.
Specifically, six mesh panorama modules are arranged by 6 cameras at intervals of 60 degrees, and 360-degree dead angle-free monitoring of a monitoring area is achieved. The image acceleration engine and the deep learning acceleration engine are embedded in the program of the main control computer, so that the target identification and data processing delay is less than 1s. The ranging accuracy of the laser ranging module is less than 0.5% in the range of 600 meters, and the target recognition rate is more than 90%. In this embodiment, the power transmission line moving object quantization parameter measurement device adopts low power consumption processing, and the average power consumption is less than 2W.
According to the power transmission line moving target monitoring method, the six-mesh panoramic module is used for collecting 360-degree panoramic images around the power transmission line to be monitored, so that monitoring blind areas are eliminated, and omnibearing monitoring is realized; measuring the distance from the laser ranging module to the lowest point of the power transmission line to be monitored and the distance from the laser ranging module to the highest point of the target to be distinguished, acquiring the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished based on the measured distance and the rotation angle of the two ranging steps, and comparing the height difference with a preset safety distance, so as to judge whether the target to be distinguished is a dangerous target or not, and accurately identifying the dangerous target; the horizontal distance from the tower to the target to be judged and the interval time are acquired when the target to be judged passes through different positions, so that the moving speed of the target to be judged is acquired, and the time required for the target to be judged to reach the lowest point of the power transmission line to be monitored can be accurately calculated, so that early warning is performed in advance; according to the method, the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished, the moving speed of the target to be distinguished, the actual distance between the target to be distinguished and the tower and the actual height of the target to be distinguished are quantitatively monitored, so that more accurate and more timely danger early warning is realized.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. 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 is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present application will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the application.
Claims (7)
1. The method for monitoring the moving object of the power transmission line is characterized by comprising the following steps of:
the panoramic images containing the transmission line to be monitored are continuously collected in real time by six cameras uniformly arranged on the outer surface of the measuring box in a circumferential manner and sent to a main control computer;
the method comprises the steps that a main control computer is used for identifying moving targets of a plurality of frames of panoramic images until targets to be distinguished are detected, a current panoramic image is output as an image to be processed, and image segmentation is carried out on the image to be processed to obtain frames where the targets to be distinguished are located;
driving the three-degree-of-freedom mechanical module to carry the laser ranging module to rotate by utilizing the servo driver until the laser ranging module rotates to an angle consistent with a camera for collecting the picture of the object to be distinguished;
measuring the distance from the position of the laser ranging module to the lowest point of the power transmission line to be monitored by using the laser ranging module, and sending the distance to a main control computer, wherein the distance is a first distance;
rotating the laser ranging module, measuring the distance from the position of the laser ranging module to the highest point of the target to be distinguished to obtain a second distance, acquiring a first rotation angle of the laser ranging module, and sending the first rotation angle to a main control computer;
based on the first distance, the second distance and the first rotation angle, calculating the height difference between the lowest point of the power transmission line to be monitored and the highest point of the target to be distinguished in the main control computerExpressed as:
，
wherein,representing the first distance from the laser ranging module to the lowest point of the transmission line to be monitored, < >>Representing the second distance from the laser ranging module to the highest point of the object to be discriminated, +.>Representing a first rotation angle;
if the height difference is smaller than the preset safety distance, judging that the danger exists, generating a dangerous target alarm signal by the main control computer, and sending the dangerous target alarm signal to the AI control platform;
if the AI control platform returns a response signal within a preset time interval, the dangerous target alarm signal is successfully sent;
acquiring a travelling path of the object to be distinguished according to the continuous multi-frame panoramic image, and arbitrarily selecting a first measuring point and a second measuring point which are not overlapped on the travelling path;
when the target to be judged passes through the first measuring point, measuring the distance from the position of the laser ranging module to the first measuring point by using the laser ranging module, wherein the distance is a third distance;
when the target to be judged passes through the second measuring point, rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the second measuring point by using the laser ranging module to obtain a fourth distance;
acquiring a second rotation angle and a distance measurement interval time of the laser ranging module from measuring the third distance to measuring the fourth distance;
based on the third distance, the fourth distance, the second rotation angle and the distance measurement interval time, the moving speed of the object to be distinguished is obtained, and the moving speed is expressed as follows:
，
wherein,representing the speed of movement of the object to be discriminated, +.>Representing the ranging interval time; fifth distance->Representing the distance between the first measurement point and the second measurement point, expressed as:
，
wherein,representing said third distance,/->Representing said fourth distance,/->Representing a second angle of rotation.
2. The method for monitoring a moving object of a power transmission line according to claim 1, further comprising, after obtaining a height difference between a lowest point of the power transmission line to be monitored and a highest point of the object to be discriminated:
if the height difference is not smaller than the preset safety distance, judging that the danger does not exist, and continuing to identify the moving target of the acquired panoramic image.
3. The method for monitoring a moving object of a power transmission line according to claim 1, wherein if the AI control platform does not return a response signal within a preset time interval, the AI control platform determines that the dangerous object alarm signal fails to be sent, stores the dangerous object alarm signal in the main control computer, and sets timing transmission until the AI control platform returns the response signal.
4. The method for monitoring a moving object of a power transmission line according to claim 1, further comprising, after the obtaining of the travel path of the object to be discriminated:
judging the advancing direction of the object to be judged according to the advancing path of the object to be judged;
if the advancing direction of the object to be judged is the direction approaching to the power transmission line to be monitored, acquiring the horizontal distance from the measuring box when the object to be judged reaches the second measuring pointThe expression is:
。
5. the method for monitoring a moving object of a power transmission line according to claim 1, wherein the step of obtaining the actual height of the object to be determined after the laser ranging module rotates to an angle consistent with a camera for collecting a frame where the object to be determined is located, comprises the steps of:
measuring the distance from the position of the laser ranging module to the lowest point of the target to be identified by using the laser ranging module, wherein the distance is the lowest point distance;
rotating the laser ranging module, and measuring the distance from the position of the laser ranging module to the highest point of the target to be identified by using the laser ranging module at the same moment, wherein the distance is the highest point distance;
acquiring a third rotation angle of the laser ranging module from measuring the lowest point distance to measuring the highest point distance;
acquiring the actual height of the object to be distinguished based on the minimum point distance, the maximum point distance and the third rotation angleThe expression is:
，
wherein,represents the highest point distance, +.>Represents the lowest point distance, +.>Indicating a third rotation angle.
6. The utility model provides a transmission line moving object monitoring devices, its characterized in that includes AI control platform and sets up the measuring box on waiting to monitor transmission line shaft tower, the measuring box includes:
the six-mesh panoramic module comprises six cameras which are uniformly arranged on the outer surface of the measuring box in a circumference manner and is used for collecting panoramic images containing the transmission line to be monitored;
the main control computer is in communication connection with the six-mesh panoramic module to acquire a panoramic image for target identification so as to acquire a drawing where a target to be distinguished is; the system is in communication connection with the AI control platform and is used for realizing the moving target identification, the advancing direction judgment, the drawing acquisition of the target to be judged, the receiving and the calculation of distance data and the generation and the sending of dangerous target alarm signals of the power transmission line moving target monitoring method according to any one of the claims 1 to 5;
the servo driver is in communication connection with the main control computer and generates a driving signal based on the drawing where the target to be distinguished is located;
the three-degree-of-freedom mechanical module is in communication connection with the servo driver so as to rotate according to a driving signal generated by the servo driver;
the rotation angle sensor is connected with the three-degree-of-freedom mechanical module to acquire the rotation angle of the three-degree-of-freedom mechanical module;
the laser ranging module is arranged on the three-degree-of-freedom mechanical module and rotates along with the rotation of the three-degree-of-freedom mechanical module so as to rotate to a preset angle for laser ranging, and the measuring result is fed back to the main control computer.
7. The transmission line moving object monitoring device according to claim 6, characterized by further comprising:
the power supply module is used for supplying power to the six-mesh panoramic module, the main control computer, the servo driver, the three-degree-of-freedom mechanical module, the rotation angle sensor and the laser ranging module;
the communication module is connected with the main control computer and the AI control platform so as to facilitate data transmission between the main control computer and the AI control platform;
and the storage module is connected with the main control computer so as to store the calculation result and the dangerous target alarm signal.
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