KR102131197B1 - Power facility diagnosis device and the operation method - Google Patents

Abstract

The present invention provides a power facility diagnosing device, which comprises: an image photographing unit photographing an image; a rotation driving unit rotating and moving the image photographing unit; a display unit displaying the image on a screen area; and a control unit calculating a center movement trajectory of the power facility based on images continuously photographed by the image photographing unit while driving a vehicle, and controlling the rotation driving unit so that the center movement trajectory passes through a central portion of the screen area.

Description

Power facility diagnosis device and the operation method

The present invention relates to a power facility diagnosis apparatus and its operation method, and more specifically, a power facility diagnosis apparatus and its operation method that is easy to recognize and automatically recognize a power facility while driving a vehicle and diagnose the state of the power facility. It is about.

As the power equipment operates while the high voltage is applied, deterioration occurs due to complex causes such as environmental, mechanical, thermal, and electrical deterioration, and accordingly, electrical abnormalities appear.

For example, these electrical abnormalities indicate surface cracks, erosion tracking, leakage current increase, heat generation, ultrasonic sound, light, mechanical vibration, etc. on the equipment, and if this phenomenon persists, insulation is destroyed and a failure occurs.

In general, in order to prevent the defects of various abnormalities, diagnosis is performed using various equipment such as infrared cameras, optical cameras, ultrasonic equipment, high-frequency equipment, partial discharge equipment, and VLF (Very Low Frequency) equipment. Doing.

At this time, when the power facility diagnosis apparatus displays an image photographed by the above-described devices on the screen area of the display unit, the power facility diagnosis device may photograph the power facility according to the shooting angle and direction of the devices and display the screen on the screen area.

However, the power facility diagnosis apparatus recognizes the state of the power facility by not displaying the power facilities included in the image photographed by the above-described devices on the screen area of the display unit, or by displaying the power facilities on a part of the screen area. Difficulties are occurring.

In recent years, research into a power facility diagnostic apparatus is underway to facilitate recognition of the state of a power facility.

1) Korea Registered Patent Publication No. 10-1144213 (2012.05.02) 2) Korea Registered Patent Publication No. 10-1791305 (2017.10.23)

An object of the present invention is to provide a power facility diagnosis apparatus and an operation method for easily recognizing a power facility while driving a vehicle and automatically diagnosing the state of the power facility.

In addition, an object of the present invention is to provide a power facility diagnosis apparatus and an operation method for easily diagnosing the state of the power facility by placing the power facility in the center of the display unit based on the images of the power facility.

In addition, an object of the present invention is to provide a power facility diagnostic apparatus and an operation method for displaying a power facility in the center of the display unit in software based on images.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. In addition, it will be readily appreciated that the objects and advantages of the present invention can be realized by means of the appended claims and combinations thereof.

The apparatus for diagnosing power facilities according to the present invention includes: an image photographing unit photographing an image, a rotation driving unit rotating the image photographing unit, a display unit displaying the image on a screen area, and continuously photographed by the image photographing unit while driving a vehicle. It may include a control unit for calculating the center movement trajectory of the power facility based on the image, and controlling the rotation driving unit so that the center movement trajectory passes through the central portion of the screen area.

The image photographing unit may include a camera for photographing the images and the camera, and may include a pan tilt for rotating the camera in at least one of a vertical direction and a horizontal direction according to the operation of the rotation driving unit.

The camera may include a first camera that shoots a first image among the images and a second camera that shoots a second image among the images.

The first camera may photograph the first image at a first angle of view, and the second camera may photograph the second image at a second angle of view narrower than the first angle of view.

The rotation driving unit may output a driving signal to operate the pan tilt according to the control signal.

The images include a first image captured at a first angle of view and a second image captured at a second angle of view narrower than the first angle of view, and the control unit recognizes the power facility based on the first image. The facility recognition unit, when recognizing the power facility, controls the rotation drive unit so that the center movement trajectory calculates the center movement trajectory based on the center of the power facility and the center movement trajectory passes through the center portion of the screen area. It may include an operation control unit for outputting a control signal for controlling the driving unit.

The operation control unit may diagnose a state of the power facility included in the second image after outputting the control signal, and generate status information about the power facility.

The facility recognition unit may recognize the power facility that satisfies shape information about an insulator and a vertical portion of the power facility previously set in the first image.

The trajectory calculating unit extracts an insulator region including the insulator according to the edge extraction deep learning learned from the first image, and the intersection of the center portion of the insulator region and the vertical portion crosses the center of the power facility. It can be recognized, and then connect the centers of other recognized power facilities to each other to calculate the center movement trajectory.

The operation control unit may calculate a vector value at which the center point of the center movement trajectory moves to the center included in the center portion of the screen area, and output the control signal set according to the vector value.

The operation method of the power facility diagnostic apparatus according to the present invention comprises the steps of receiving images taken by an image capturing unit, recognizing power facilities based on the images, and calculating a central movement trajectory of the power equipment, the image Calculating a vector value so that the center movement trajectory passes through the center portion of the screen area where they are displayed, and rotating the image capturing unit to control signals set according to the vector value so that the center movement trajectory passes through the center portion of the screen region. It may include the step of outputting to the rotary drive.

The images may include a first image captured at a first angle of view and a second image captured at a second angle of view narrower than the first angle of view.

The calculating of the center movement trajectory may include recognizing the power facility based on the first image and, once the power facility is recognized, different from the center of the power facility and then recognized to calculate the center movement trajectory. And connecting the centers of power facilities to each other.

The step of recognizing the power facility may recognize the power facility that satisfies shape information about an insulator and a vertical portion of the power facility previously set in the first image.

In the connecting step, the insulator region including the insulator is extracted according to the edge extraction deep learning learned from the first image, and the intersection of the center and the vertical portion of the insulator region crosses the power facility. It can be recognized as the center, and connect the centers of the different power facilities to each other.

In the calculating of the vector value, the vector value for moving the center point of the center movement trajectory to the center included in the center of the screen area may be calculated.

In the step of outputting to the rotation driving unit, the control signal may be output to the rotation driving unit such that the image capturing unit is rotated in at least one of a vertical direction and a horizontal direction.

In addition, the operation method of the power facility diagnosis apparatus according to the present invention, after outputting the control signal, diagnoses the state of the power facility included in the second image displayed on the screen area, and for the power facility The method may further include generating status information.

The apparatus for diagnosing a power facility according to the present invention and its operation method have an advantage of easily diagnosing the state of the power facility by placing the images including the power facility in the center of the display unit.

In addition, the power facility diagnosis apparatus and its operation method according to the present invention calculates a center movement trajectory by connecting the centers of power facilities included in images to each other, so that the center movement trajectory passes through the central portion of the display unit, thereby visually applying power. It has the advantage of being easy to diagnose the condition of the installation.

In addition, the power facility diagnosis apparatus and its operation method according to the present invention have the advantage of being able to calculate the center movement trajectory in software, thereby minimizing the configuration added during manufacturing and lowering the manufacturing cost.

In addition to the above-described effects, the concrete effects of the present invention will be described together while describing the specific matters for carrying out the invention.

1 is a conceptual diagram for explaining another power equipment diagnostic apparatus according to the present invention.
2 is a control block diagram showing a control configuration of a power facility diagnostic apparatus according to the present invention.
3 and 4 are exemplary views briefly showing images photographed by the image photographing unit shown in FIG. 1.
5 is a flow chart showing the operation method of the power equipment diagnostic apparatus according to the present invention.

It should be noted that in the following description, only parts necessary for understanding the embodiments of the present invention are described, and descriptions of other parts will be omitted so as not to distract the subject matter of the present invention.

The terms or words used in the present specification and claims described below should not be construed as being limited to ordinary or lexical meanings, and the inventor is appropriate as a concept of terms to describe his or her invention in the best way. It should be interpreted as a meaning and a concept consistent with the technical idea of the present invention based on the principle that it can be defined as such. Therefore, the embodiments shown in the embodiments and the drawings described in this specification are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention. It should be understood that there may be and variations.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram for explaining another power equipment diagnostic apparatus according to the present invention.

Referring to FIG. 1, the power facility diagnosis apparatus 100 may be installed on the top of the vehicle 20.

In the embodiment, the power facility diagnostic apparatus 100 is described as being installed on the upper portion of the vehicle 20, but is not limited to the installation location.

The power facility diagnosis apparatus 100 may photograph images including power facilities 10 located on the side of the driving road while the vehicle is driving.

Thereafter, the power facility diagnosis apparatus 100 may diagnose the state of each of the power facilities 10 based on the images.

In addition, the power facility diagnostic apparatus 100 may generate status information for each of the power facilities 10 after diagnosing the state of the power facilities 10.

The power facility diagnostic apparatus 100 uses the vertical parts 1 and the insulator 2 included in the power facilities 10 based on the images, and the power facilities are located at the center of the screen area displaying the images. 10) This position can generate the status information.

The control configuration for the power facility diagnostic apparatus 100 will be described in detail in FIG. 2 to be described later.

2 is a control block diagram showing a control configuration of a power facility diagnostic apparatus according to the present invention.

Referring to FIG. 2, the power facility diagnostic apparatus 100 may include an image capturing unit 110, a rotation driving unit 120, a display unit 130, and a control unit 140.

As shown in FIG. 1, the image photographing unit 110 may photograph images m1 and m2 including power facilities 10 located on a side of a driving road while driving a vehicle.

Here, the image capturing unit 110 may include a camera 112 and a pan tilt 116.

The camera 112 may include a first camera 113 and a second camera 114.

The first camera 113 may shoot the first image m1 at a first angle of view among the images m1 and m2, and the second camera 114 may be greater than the first angle of view of the images m1 and m2. The second image m2 may be captured with a narrow second angle of view.

That is, the first image m1 may include more objects than the second image m2.

The pan tilt 116 is provided with first and second cameras 113 and 114, and can rotate the first and second cameras 113 and 114 in at least one of a vertical direction and a horizontal direction.

At this time, the pan tilt 116 may rotate the first and second cameras 113 and 114 according to the driving signal PWM output from the rotation driving unit 120.

Here, the pan tilt 116 may include a motor (not shown) and a gear (not shown) operated by the driving signal PWM, but is not limited thereto.

The rotation driving unit 120 may generate a driving signal PWM according to the control signal SC output from the control unit 140.

In an embodiment, the rotation driving unit 120 is shown and described in a separate configuration, but may be included in the control unit 140, but is not limited thereto.

The display 130 may display at least one of the first and second images m1 and m2. In an embodiment, the display unit 130 is described as displaying a second image m2.

The display 130 may include a screen area on which the second image m2 is displayed.

The control unit 140 may include a facility recognition unit 142, a trajectory calculation unit 144, and an operation control unit 146.

First, the facility recognition unit 142 may recognize power facilities 10 based on the first image m1 captured by the first camera 113.

That is, the facility recognition unit 142 can recognize the power facility 10 that satisfies the shape information for the vertical part 1 and the insulator 2 of the power facility 10 previously set in the first image m1. have.

The facility recognition unit 142 may recognize power facilities 10 that satisfy shape information for the insulator 2 intersecting the vertical part 1 and the vertical part 1 set in the first image m1. have.

The trajectory calculating unit 144 may extract the insulator area including the insulator 2 according to the learned edge extraction deep learning of the power facilities 10 recognized by the facility recognition unit 142.

Thereafter, the trajectory calculating unit 144 may recognize the intersection point p where the center portion and the vertical portion 1 of the insulator region intersect as the centers of the power facilities 10.

The trajectory calculating unit 144 may connect the intersection points p of the power facilities 10 to each other to calculate the center movement trajectory ps.

The operation control unit 146 may output a control signal SC controlling the rotation driving unit 120 such that the center movement trajectory ps passes through the center of the screen area of the display unit 130.

That is, the operation control unit 146 calculates a vector value in which the center point pp of the center movement trajectory ps moves to the center po included in the center of the screen area, and the control signal set according to the vector value ( SC).

Here, the vector value is a movement amount value at which the center point (pp) of the center movement trajectory (ps) moves to the center (po) included in the center of the screen area, and the control signal (SC) rotates corresponding to the vector value The driving unit 120 may indicate a rotation amount value that rotates in at least one of a vertical direction and a horizontal direction.

After being moved in at least one of the vertical direction and the horizontal direction by the rotation driving unit 120, when the second image m2 captured by the image capturing unit 110 is input, the operation control unit 146 displays the second image ( m2) may be used to diagnose the state of the power facilities 10 to generate state information.

The diagnostic information may be stored in the control unit 140 and may be displayed on the display unit 130.

3 and 4 are exemplary views briefly showing images photographed by the image photographing unit shown in FIG. 1.

First, FIG. 3 shows first and second images m1 and m2 normally displayed on the display 130.

That is, FIG. 3(a) shows a first image m1 displayed on the display unit 130 in FIG. 3(a), and FIG. 3(b) shows a second image m2 displayed on the display unit 130 ).

Figure 4 shows the first and second images (m1, m2) taken in a state in which the shooting angles and directions of the first and second cameras (113, 114) are wrong, and the vertical directions of the first and second cameras (113, 114) are shown. And by rotating at least one of the horizontal direction, as shown in FIG. 3, normal first and second images m1 and m2 may be photographed.

First, FIGS. 4(a) and 4(b) show the first and second images m1 and m2 taken by the first and second cameras 113 and 114, respectively.

At this time, the first image m1 shown in FIG. 4(a) is an image taken at a first angle of view, and the power facilities 10 included in the first image m1 are above the screen area of the display 130 All can be displayed on.

However, the second image m2 shown in FIG. 4(b) is an image captured at a second angle of view, and the second image m2 is a screen area of the display unit 130 only a part of the power facilities 10 All can be displayed on the upper side.

However, the power facilities 10 shown in FIG. 4(b) may be difficult to diagnose the state of the power facilities 10 in a state displayed on the display 130.

At this time, the control unit 140 of the power facility diagnosis apparatus 100 may calculate the center movement trajectory ps for the power facilities 10 from the first image m1 shown in FIG. 4(a).

That is, FIGS. 4(c) and 4(d) describe the process of calculating the center movement trajectory ps.

Referring to FIG. 4(c), the controller 140 includes power facilities 10 that satisfy shape information on the vertical part 1 and the insulator 2 of the power facility 10 set in the first image m1. ).

Thereafter, referring to FIG. 4(d), the control unit 140 includes the insulator region (e) and the vertical unit (2) including the insulator 2 according to the learned edge extraction deep learning of the power facilities 10. Based on 1), it is possible to recognize the intersection point p of the power facilities 10.

Here, the control unit 140 may connect the intersection points p of the power facilities 10 to each other to calculate the center movement trajectory ps.

Referring to FIG. 4(e), the controller 140 may correct the center movement trajectory ps to pass through the center of the screen area of the display 130.

First, the control unit 140 may calculate a vector value in which the center point pp of the center movement trajectory ps moves to the center po included in the center of the screen area.

Here, the vector value may be a movement amount value in which the center point pp of the center movement trajectory ps moves to the center po included in the center of the screen area.

Thereafter, the control unit 140 controls the rotation driving unit 120 with a control signal SC indicating a rotation amount value in which the rotation driving unit 120 rotates in at least one of a vertical direction and a horizontal direction corresponding to the vector value. Can be.

4(f) and 4(g) generate the driving signal PWM generated according to the control signal SC from the rotation driving unit 120, and the first and second cameras 113 are generated by the driving signal PWM. , 114) indicates first and second images (m1, m2) taken by rotation.

That is, FIGS. 4(f) and 4(g) may be the same as FIGS. 3(a) and 3(b), but are not limited thereto.

Thereafter, the controller 140 may generate status information that diagnoses the state of the power facilities 10 based on at least one of the first and second images m1 and m2.

5 is a flow chart showing the operation method of the power equipment diagnostic apparatus according to the present invention.

Referring to FIG. 5, the control unit 140 of the power facility diagnosis apparatus 100 may receive images m1 and m2 captured by the image photographing unit 110 in operation S210.

That is, each of the first and second cameras 113 and 114 included in the image photographing unit 110 outputs the first and second images m1 and m2 captured under the control of the control unit 140 to the control unit 140. can do.

The controller 140 recognizes the power facilities 10 based on the images m1 and m2 (S220), and when the power facilities 10 are recognized, the center movement trajectory ps of the power facilities 10 It can be calculated (S230).

That is, the control unit 140 may recognize power facilities 10 satisfying shape information about the insulators and vertical parts of the power facilities preset in the first image m1 among the images m1 and m2.

Thereafter, the controller 140 extracts an insulator area including the insulator according to the edge extraction deep learning learned from the first image m1, and an intersection point p at which the center of the insulator area and the vertical part intersect. Can be recognized as the center of the power facilities 10, and the center movement trajectory ps can be calculated by connecting the centers of the power facilities 10 to each other.

The controller 140 may calculate a vector value so that the center movement trajectory ps passes through the center of the screen area where the images m1 and m2 are displayed (S240 ).

That is, the controller 140 may calculate a vector value in which the center point pp of the center movement trajectory ps moves to the center po included in the center of the screen area.

Here, the vector value may be a movement amount value in which the center point pp of the center movement trajectory ps moves to the center po included in the center of the screen area.

The control unit 140 outputs the control signal SC set according to the vector value to the rotation driver 120 that rotates the image capturing unit 110 so that the center movement trajectory ps passes through the center of the screen area. It can be (S250).

That is, the control unit 140 controls the rotation driving unit 120 with a control signal SC indicating a rotation amount value in which the rotation driving unit 120 rotates in at least one of a vertical direction and a horizontal direction corresponding to the vector value. Can.

After outputting the control signal SC, the control unit 140 diagnoses the state of the power facilities 10 included in the second image m2 displayed on the screen area, and the power facilities 10 Status information may be generated (S260).

Features, structures, effects, etc. described in the above embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Furthermore, features, structures, effects, and the like exemplified in each embodiment may be combined or modified for other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention.

In addition, although the embodiments have been mainly described above, this is merely an example and does not limit the present invention, and those skilled in the art to which the present invention pertains are exemplified above in a range that does not depart from the essential characteristics of the present embodiment. It will be appreciated that various modifications and applications are possible. For example, each component specifically shown in the embodiment can be implemented by modification. And differences related to these modifications and applications should be construed as being included in the scope of the invention defined in the appended claims.

110: video recording unit
120: rotation drive
130: display unit
140: control unit

Claims (18)

An image photographing unit for photographing an image;
A rotation driving unit for rotating the image capturing unit;
A display unit that displays the image on a screen area; And
It includes a control unit for calculating the center movement trajectory of the power facility based on the images continuously photographed by the image capturing unit while driving the vehicle, and controlling the rotation driving unit so that the center movement trajectory passes through the central portion of the screen area,
The video recording unit,
A camera that shoots the images; And
The camera is mounted, and includes a pan tilt for rotating the camera in at least one of a vertical direction and a horizontal direction according to the operation of the rotation driving unit,
The camera,
A first camera that shoots a first image among the images; And
And a second camera that shoots a second image among the images,
The first camera,
Taking the first image with a first angle of view,
The second camera,
The second image is taken with a second angle of view narrower than the first angle of view,
The control unit,
Recognizing the power facility based on the first image,
Recognizing the power facility, calculating the center movement trajectory by connecting the center of the power facility and the center of the next power facility to each other in order to calculate the center movement trajectory,
Power facility diagnostic device. delete delete delete According to claim 1,
The images are
It includes a first image taken at a first angle of view and a second image taken at a second angle of view narrower than the first angle of view,
The control unit,
A facility recognition unit recognizing the power facility based on the first image;
Recognizing the power facility, a trajectory calculating unit for calculating the center movement trajectory based on the center of the power facility; And
And an operation control unit outputting a control signal for controlling the rotation driving unit to control the rotation driving unit so that the center movement trajectory passes through the center of the screen area.
Power facility diagnostic device. The method of claim 5,
The rotation driving unit,
Outputting a drive signal to operate the pan tilt according to the control signal,
Power facility diagnostic device. The method of claim 5,
The operation control unit,
Diagnosing the state of the power facility included in the second image after outputting the control signal, and generating status information for the power facility,
Power facility diagnostic device. The method of claim 5,
The facility recognition unit,
Recognizing the power facility that satisfies the shape information for the insulator and the vertical portion of the power facility previously set in the first image,
Power facility diagnostic device. The method of claim 8,
The trajectory calculation unit,
The insulator region including the insulator is extracted according to the edge extraction deep learning learned from the first image, the intersection of the center and the vertical portion of the insulator region is recognized as the center of the power facility, and then Calculating the center movement trajectory by connecting the centers of other recognized power facilities to each other,
Power facility diagnostic device. The method of claim 5,
The operation control unit,
Calculating a vector value moving to a center included in a center portion of the screen area, and outputting the control signal set according to the vector value,
Power facility diagnostic device. Receiving images photographed by the image photographing unit;
Recognizing power facilities based on the images and calculating a central movement trajectory of the power facilities;
Calculating a vector value so that the center movement trajectory passes through a central portion of a screen area where the images are displayed; And
And outputting a control signal set according to the vector value to a rotation driving unit that rotates the image capturing unit so that the center movement trajectory passes through a central portion of the screen area.
The images are
It includes a first image taken at a first angle of view and a second image taken at a second angle of view narrower than the first angle of view,
The step of calculating the center movement trajectory,
Recognizing the power facility based on the first image; And
And recognizing the power facility, connecting the center of the power facility and the next recognized center of the other power facility to calculate the center movement trajectory.
How to operate the power equipment diagnostic device. delete delete The method of claim 11,
Recognizing the power facility,
Recognizing the power facility that satisfies the shape information for the insulator and the vertical portion of the power facility previously set in the first image,
How to operate the power equipment diagnostic device. The method of claim 14,
The step of connecting with each other,
The insulator region including the insulator is extracted according to the edge extraction deep learning learned from the first image, and the intersection of the center and the vertical portion of the insulator region is recognized as the center of the power facility. Connecting the centers of different power facilities to each other,
How to operate the power equipment diagnostic device. The method of claim 11,
The step of calculating the vector value,
Calculating the vector value for moving the center point of the center movement trajectory to the center included in the center of the screen area,
How to operate the power equipment diagnostic device. The method of claim 11,
The step of outputting to the rotation driving unit,
Outputting the control signal to the rotation driving unit such that the image capturing unit is rotated in at least one of a vertical direction and a horizontal direction,
How to operate the power equipment diagnostic device. The method of claim 11,
After outputting the control signal, further comprising the step of diagnosing the state of the power facility included in the second image displayed on the screen area, and generating status information about the power facility,
How to operate the power equipment diagnostic device.

Images