CN105987665B - Early warning monitoring device and method for sag point change range of ultra-high voltage transmission line - Google Patents
Early warning monitoring device and method for sag point change range of ultra-high voltage transmission line Download PDFInfo
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Abstract
The invention relates to a device and a method for carrying out early warning and monitoring aiming at the sag point change range of an ultra-high voltage transmission line, which can be used in the field of state monitoring of the ultra-high voltage transmission line, wherein the early warning and monitoring device comprises a video image analysis module, a communication module and a power supply management module; the monitoring method comprises the steps of carrying out real-time analysis and processing on video image signals through a video image analysis module, wherein the real-time analysis and processing comprise video scene calibration, power line curve point detection, power line curve identification and sag point detection, judging the variation range of sag points, and uploading early warning information and related video image data to a monitoring management center in real time by utilizing a communication module if the variation range exceeds a preset range. The method of the device disclosed by the invention applies a video image intelligent analysis technology, realizes the real-time monitoring of the change condition of the sag point of the power transmission line, can realize active early warning output, timely discovers the potential safety hazard of large change of the sag point of the power transmission line, and lightens the working strength.
Description
Technical Field
The invention relates to the field of on-line monitoring of power transmission lines, in particular to an intelligent early warning device based on a video image intelligent analysis technology and an early warning method thereof.
Background
Sag measurement of a power transmission line is known as sag measurement, namely the degree of tightness of the power transmission line after stringing. The characteristics of the ultra-high voltage transmission line are the same as those of metal, the expansion and contraction characteristics are the same, the higher the temperature is, the longer the lead is stretched, the higher the relaxation degree is, and the lower the temperature is, the shorter the lead is contracted, and the smaller the relaxation degree is. One tension section of the power transmission line is several kilometers long, the positive and negative temperature difference in cold and hot seasons is dozens of degrees, the total length of the telescopic lead is larger, and the pole-falling tower accident can be caused if the change range of the sag of the lead is too large. Monitoring the sag point of the power transmission line can guarantee the safe and stable operation of the power grid.
The characteristics and difficulties of the sag measurement of the power transmission line are that the terrain conditions are complex, i.e. technicians are required to have better individual quality, and line construction measurement teams are required to have more comprehensive group quality. In the line sag measurement construction, an incorrect operation method and a non-strict technical scheme are all hidden dangers of accidents.
At present, sag point measurement of a power transmission line is carried out by observing and calculating the power transmission line by a worker. Common observation calculation measurement methods are:
1. and (4) measuring by an isometric method. The isometric method is also called parallelogram method, which is the most common method for observing sag, the selected sag observation value is measured vertically downwards from the suspension points of overhead lines at two sides of an observation gear, an arc sag plate is bound, the tension of the overhead line is adjusted, and when the overhead line is tangent to the connecting line of the arc sag plate, the middle sag is the sag required by use.
The equal-length method is suitable for measuring the sag of the tower in plain and open areas, and the measuring personnel is required to climb to the upper part of the tower, so that the labor intensity is high.
2. Abnormal method sag measurement technique. The arc sag observation method for observing unequal lengths of binding positions of arc sag plates on two sides of a gear is an abnormal method, also called an unequal length method. The arc sag observed by the abnormal method is suitable for tower arc sag measurement in hilly areas and hilly areas with relatively low gradient. The measuring personnel need to climb to the upper part of the tower for measurement, and the abnormal method has too many measuring steps and is easy to generate errors.
3. Angle method sag measurement technique. The angle method is a method for observing sag by using a theodolite, and is used for observing the sag angle of an overhead power line instead of observing the vertical distance, so that the sag of the overhead power line is directly controlled on the ground by using the theodolite. The method of angle of the end stop is often adopted in the construction of the transmission line. And (3) observing the sag: (1) the position of the theodolite is determined, and the height difference between the suspension points of the overhead line of the observation gear and the theodolite is rechecked. (2) The sag observation angle θ was calculated at the same temperature. (3) And adjusting the sag of the stringing to ensure that the axis of the overhead line is tangent to the sight line of the transverse wire of the theodolite, wherein the sag of the midpoint of the overhead line is the sag of the stringing. (4) And horizontally deflecting the telescope tube to ensure that the sideline is tangent with the transverse wire, namely the sideline sag. Although the measuring personnel do not need to climb to the upper part of the tower to carry out measuring work, the time and the labor are saved. But the displacement times of the instrument are large, which is very easy to cause errors.
In summary, the conventional method for measuring the sag point of the power line firstly requires that a measuring person must go to the field to observe. Secondly, the proficiency of the measurer for operating the instrument and the identification capability of sense organs have certain limitations, and the subjective judgment of each person is different in the observation processes of selecting a measurement position, an angle, reading a measurement value and the like, so that the observation value is easy to generate subjective errors.
Because high voltage transmission line is mostly in the field, and the intensity and the complexity of the sag measurement work are very big, so personnel can not measure the radian change on the spot often. At present, line operation and maintenance personnel mainly monitor the sag points of the high-voltage transmission lines through manual regular inspection. In the interval period of inspection, the change state of the circuit sag point cannot be grasped in time. Therefore, it is desirable to have a device and a method, which can monitor the change of the sag point of the transmission line in real time, and when the change range of the sag point exceeds the early warning value, can actively remind the line operation and maintenance personnel to go to the site to perform accurate measurement on the spot, thereby avoiding the serious and enlarged potential safety hazard of line operation caused by untimely detection.
Disclosure of Invention
The invention aims to provide a novel device and a novel method for monitoring the change of the sag point of an extra-high voltage transmission line, aiming at the defects of the existing sag point measuring technology and method. The invention fully develops the application of an image analysis technology in the monitoring of the state of the transmission line, so as to realize the autonomous monitoring of the change range of the sag point of the ultra-high voltage transmission line, actively early warn, discover the potential safety hazard of overlarge change of the sag point in time and lighten the working strength.
In order to achieve the purpose of the invention, the technical scheme provided by the invention patent is as follows:
the invention firstly provides a device for monitoring the sag point change of an extra-high voltage transmission line. The device supplies power through a direct current power supply, can be installed on a tower of an extra-high voltage transmission line or at a proper observation position below the tower, is accessed into a cvbs analog video signal or an SDI digital video signal, and performs image analysis and processing on the video signal.
The utility model provides an ultra-high voltage transmission line sag point variation range's early warning monitoring devices which characterized in that, this early warning monitoring devices including:
the video image analysis module is connected with the wide-angle fixed-focus camera for use and used for detecting and identifying curve points of the ultra-high voltage transmission line, calculating the position of a sag point, tracking the change of the position of the sag point and transmitting monitoring information to the communication module;
the communication module is used for transmitting the image, the video and the early warning information input by the video image analysis module to the monitoring center in a wireless communication mode;
the power supply management module is respectively connected with the video image analysis module and the communication module and is used for providing power supply management work for the video image analysis module and the communication module;
the video image analysis module comprises a video image core processor circuit, a cvbs video acquisition circuit and an SDI video acquisition circuit, wherein the cvbs video acquisition circuit and the SDI video acquisition circuit respectively acquire data of a cvbs analog video signal or an SDI high-definition digital video signal input through a BNC interface and respectively output a BT656 signal and a BT1120 signal to the video image core processor circuit; the video image core processor circuit analyzes the input output BT656 signal or BT1120 signal, and outputs an analysis result and a video image to the communication module through image processing including image filtering, region enhancement, characteristic value extraction, curve point detection, curve identification, mode identification, image coding and image compression.
In the early warning and monitoring device for the sag point change range of the ultra-high voltage transmission line, the power supply management module comprises a power supply protection circuit and a power supply management circuit, the power supply management circuit carries out shunt switch management on the video image analysis and module communication module and an external power supply, and the power supply protection circuit carries out lightning protection and electromagnetic interference protection under a complex electromagnetic environment.
The invention provides a method for detecting sag points of the ultra-high voltage transmission line. The method comprises the steps of firstly realizing curve point detection and curve identification of a power line, then calculating the position of a sag point according to an identified curve track, and analyzing and judging whether the change range of the sag point exceeds a preset safety value.
The method for early warning and monitoring the sag point change range of the ultra-high voltage transmission line based on the early warning and monitoring device is characterized in that the method is used for detecting the sag point change range in ultra-high voltage transmission line monitoring, and the method comprises the following steps of: a. curve point detection, b curve identification, c sag point detection, d sag point deviation value analysis:
the curve point detection comprises the following steps:
a1, filtering the current image by adopting a Gaussian smoothing function to obtain a smoothed image, wherein the current image is either the image received in real-time operation or the current frame image in the video;
a2, constructing a Hessian matrix by using the second-order gradient value of the gray value of each point of the smooth image of the current image, and analyzing the characteristic value and the characteristic vector of the Hessian matrix to obtain the detection points in the smooth image of the current image;
a3, taking the maximum characteristic value of the Hessian matrix of the detection point as the curvature intensity of the detection point, and taking the detection point with the maximum curvature intensity as an initial search point;
a4, determining the angle of the extension direction of the detection point;
a5, judging whether the detection point is a curve point, determining n detection points in the surrounding neighborhood along the extension direction of the current curve point, respectively calculating the angle difference between each detection point and the extension direction of the current curve point in a4 x 4 pixel module with the current point as the center, and taking the detection point corresponding to the minimum angle difference, if the curvature intensity of the detection point is greater than the threshold value T, considering the detection point as a suspected next curve point, and taking the initial value of the current curve point as an initial search point;
the curve identification comprises the following steps:
b1, detecting curve points based on a Hessian matrix curve point detection algorithm, taking the maximum characteristic value of the Hessian matrix of the detection points as the curvature strength of the detection points, and taking the detection points with the maximum curvature strength as initial search points;
b2, obtaining curve points of the binary image of the current smooth image and connecting the curve points to form a curve;
b3, judging whether the current curve is interrupted, and connecting the interrupted curve; judging whether the current curve has curve fading or not, and connecting the fading curves
b4, judging whether the current curve is accurately connected, judging whether the curve in the current image is detected completely and outputting a curve which is connected correctly;
the detection of the sag point is to determine the position of the sag point in the image by utilizing symmetry analysis, and comprises the following steps:
c1, scanning along the horizontal x-axis in the rectangular area for calibrating the edge detection image, and keeping two curve points with the distribution distance larger than the curve edge distance;
c2, repeating the process of the step c1 on the next adjacent horizontal line of the image, storing the obtained two curve point positions in the same way until the corresponding two curve points can not be detected, and entering c 3;
c3, analyzing the scanned symmetrical points, and statistically constructing a symmetrical axis by calculating the midpoint position of the symmetrical pair, wherein the point where the symmetrical axis intersects with the edge image is the position of the corresponding sag point;
the analysis of the sag point deviation value refers to calculating the current sag point position of the power line through image processing, comparing the current sag point position with the original sag point position, calculating the deviation value of the sag point, comparing the deviation value with a sag deviation value preset by a user, marking the current sag point position as an event with overlarge deviation if the current sag point position exceeds the preset deviation value, meanwhile, counting the continuous occurrence time of the event with overlarge deviation of the sag point, marking the current sag point position as an event with overlarge final sag point change range if the current sag point position exceeds a preset time threshold value, and actively sending an alarm, so that the change of the sag point is early-warned.
The early warning monitoring method for the sag point change range of the ultra-high voltage transmission line analyzes the eigenvalue and the eigenvector of the Hessian matrix, and comprises the following steps:
firstly, acquiring the maximum eigenvalue and normal direction of a Hessian matrix of each point;
secondly, a hypothesis method is adopted to judge whether each point of the smooth image of the current image is a detection point, and the point is assumed
A point on the curve is set
Adjacent edge points of
Along the normal direction
Is 0, can be calculated
If it is satisfied
Then, it is considered as a point
Is a detection point, otherwise, is considered as a point
Is not a detection point;
and finally, constructing a binary image corresponding to the current smooth image, wherein the gray value of the detection point in the binary image is set to be 255, and the gray value of the non-detection point is set to be 0.
In the method for early warning and monitoring the change range of the sag point of the ultra-high voltage transmission line, on the basis of finishing the detection of the curve point, noise filtering is firstly carried out, and then edge detection and interference removal are carried out: the noise filtering adopts a median filtering algorithm to process; the edge detection algorithm adopts a Canny edge detection operator, and extracts the edge information of the image to provide guarantee for symmetry analysis; the interference elimination is based on the characteristic that the distance between the edges of the curves is within a certain fixed range and is relatively small, while the distance between the edges of the interferents may be represented as a single edge or relatively large in a calibration area, and the interference elimination is carried out by utilizing the characteristic.
Based on the above invention content, the patent application of the invention has the following technical advantages compared with the prior art:
1. the invention fully exploits the application of the image analysis technology in the transmission line state monitoring, and the invention can determine the position of the sag point by detecting the curve point and identifying the curve of the power line, track the change of the monitoring sag point and judge whether the change range exceeds the range of the preset safe region, thereby realizing the measurement of the change range of the sag point of the ultra-high voltage transmission line, being capable of automatically monitoring and actively early warning and outputting, and avoiding the occurrence of the events to bring great loss to the electricity consumption of national economy, industrial agriculture and people's life
2. The invention adopts video image processing to detect and identify the curve points of the video scene of the transmission line for the extra-high voltage transmission line sag point monitoring device, is a sag point monitoring method based on the video monitoring technology and the image analysis technology, greatly reduces the artificial measurement error of a main pipe, and lightens the working intensity of line maintenance personnel.
Drawings
Fig. 1 is an internal schematic illustration of the monitoring device for the sag point of the ultra-high voltage transmission line.
FIG. 2 is a flow chart of sag point detection signal processing in the method for monitoring sag points of the ultra-high voltage transmission line.
Detailed Description
The invention is further described in detail with reference to the drawings and specific embodiments, so as to understand the structural connection manner and the processing method flow more clearly, but the invention is not limited to the protection scope of the patent application.
Fig. 1 is an internal schematic illustration diagram of the monitoring device for the sag point of the ultra-high voltage transmission line. The sag point change early warning monitoring device is internally composed of 3 modules, wherein a video image analysis module 1 is used for detecting and identifying curve points of an ultra-high voltage transmission line, calculating sag point positions and tracking changes of the sag point positions. The communication module 2 provides wireless network communication modes such as 3G, WIFI and the like, and can transmit alarm information, related images and video data of the early warning monitoring device to a monitoring center in a wireless communication mode. The power management module 3 provides power management work for the other two modules.
The video image processing module 1 is composed of a video image core processor circuit 11, a cvbs video acquisition circuit 12 and an SDI video acquisition circuit 13. Wherein the core processor of the core processor circuit 11 employs DM8127 of the american company TI. The video image processing module 2 firstly performs data acquisition on an input video signal, and the circuits of the part comprise a cvbs video acquisition circuit 12 and an sdi video acquisition circuit 13. The input interface of the video image processing module 2 is a BNC interface, and can access cvbs analog video signals or SDI high-definition digital video signals. The Cvbs video acquisition circuit 12 is compatible with analog video input, and the SDI video acquisition circuit 13 is compatible with high-definition digital SDI video input. The output of the cvbs video acquisition circuit 12 is a BT656 signal; the output of the SDI video capture circuit 13 is a BT1120 signal. The BT656 signal and the BT1120 signal are both fed into the core processor circuit 11.
The core processor circuit 11 analyzes the BT656 or BT1120 digital video signal, and sends the analysis result and the video image data to the communication module 2 after a series of signal processing such as image filtering, region enhancement, feature value extraction, curve point detection, curve recognition, pattern recognition, image coding, image compression, and the like.
In the communication module 2 there is a network communication circuit 21 supporting 3G, WIFI. The communication module 2 is responsible for establishing a wireless communication channel from the video image processing module 1 to the background monitoring center, uploading data and information of the monitoring and early warning device to the background monitoring center, and receiving instructions from the background monitoring center.
The power management module 3 mainly comprises a power protection circuit 31 and a power management circuit 32. The power management circuit 32 performs shunt switch management of the power supply to the entire device. The power protection circuit 31 takes into account the requirement that the monitoring device is applied to a complex electromagnetic environment in an ultra-high voltage transmission line environment, and protects the power management circuit from lightning and electromagnetic interference.
As shown in fig. 2, fig. 2 is a flow chart of processing a sag point detection signal in the method for monitoring the sag point of the ultra-high voltage transmission line according to the present invention. The intelligent early warning device realizes the detection of the curve in the monitoring of the power transmission line by the following method. The method mainly comprises the following implementation steps:
the method comprises the following steps:
and filtering the current image (wherein the current image can be an image received in real-time operation or a current frame image in a section of video) by adopting a Gaussian smoothing function to obtain a smoothed image.
Step two:
and constructing a Hessian matrix by using the second-order gradient value of the gray value of each point of the smooth image of the current image, and analyzing the characteristic value and the characteristic vector of the Hessian matrix to obtain the detection points in the smooth image of the current image.
Firstly, the maximum eigenvalue and normal direction of the Hessian matrix of each point are obtained.
Then, a hypothesis method is adopted to determine whether each point of the smooth image of the current image is a detection point. Supposition point
A point on the curve is set
Adjacent edge points of
Along the normal direction
Is 0, can be calculated
If it is satisfied
Then, it is considered as a point
Is a detection point, otherwise, is considered as a point
Is not a detection point. And constructing a binary image corresponding to the current smooth image, wherein the gray value of the detection point in the binary image is set to be 255, and the gray value of the non-detection point is set to be 0.
Step three:
and taking the maximum characteristic value of the Hessian matrix of the detection point as the curvature strength of the detection point, and taking the detection point with the maximum curvature strength as an initial search point.
Step four:
determining the angle of the extension direction of the detection point, wherein the angle of the extension direction of the detection point is
Searching the next curve detection point according to the direction angle;
step five:
and judging whether the detection point is a curve point.
Determining n detection points in the surrounding neighborhood along the extension direction of the current curve point, namely the detection points existing in a4 x 4 pixel module taking the current point as the center along the extension direction of the current detection point, respectively calculating the angle difference between each detection point and the extension direction of the current curve point, taking the detection point corresponding to the minimum angle difference, and if the curvature intensity of the detection point is greater than a threshold value T, considering the detection point as a suspected next curve point, and taking the initial value of the current curve point as an initial search point.
The method has the advantages that the method has certain resistance to noise and environmental interference, the algorithm calculation speed is high, curve information can be accurately detected, and useful curve point detection points are provided for power line identification.
The intelligent early warning device realizes the curve identification of the power line in the power transmission line monitoring in the following mode.
The specific implementation process is as follows:
the method comprises the following steps:
and detecting curve points based on a Hessian matrix curve point detection algorithm, taking the maximum characteristic value of the Hessian matrix of the detection points as the curvature strength of the detection points, and taking the detection point with the maximum curvature strength as an initial search point.
Step two:
this step takes the curve points of the binary image of the current smoothed image and connects these curve points to form a curve.
Step three:
judging whether the current curve is interrupted or not, and connecting the interrupted curve; and judging whether the current curve is subjected to curve fading or not, and connecting the fading curves.
Step four: and judging whether the current curve is accurately connected or not, judging whether the curve in the current image is detected completely or not, and outputting a curve which is connected correctly.
The intelligent early warning device realizes the detection of the sag point of the power line in the power transmission line monitoring in the following mode.
The axis where the sag point is located is generally a symmetrical line on both sides of the power transmission line, and the intersection point position of the symmetrical line and the curve is the real position of the sag point. Therefore, the sag point can be detected based on curve symmetry analysis.
On the basis of completing the curve point detection of the image, noise filtering is firstly carried out, and then edge detection and interference removal are carried out. The noise filtering adopts a median filtering algorithm to process, so that the interference noise points can be removed while the texture information is not smooth. The edge detection algorithm adopts a Canny edge detection operator to extract the edge information of the image; the Canny edge detection operator has the advantages that the threshold value can be adjusted in a self-adaptive mode, required edge information can be effectively extracted, and the later symmetry analysis is guaranteed. The interference removal mainly considers the detected edge information, and comprises the edge information of some interferents besides the edge information of curves, and if the interference is not removed, the later curve symmetry analysis is easy to obtain wrong results; the interference elimination is mainly based on a mechanism that the distance between the edges of the curves is within a certain fixed range and is relatively small, while the distance between the edges of the interferents may be represented as a single edge or relatively large in a calibration area, and the interference elimination is carried out by utilizing the characteristic.
The symmetry analysis is used for determining the position of the sag point in the image so as to track the position condition of the sag point in time and correspondingly judge whether the conditions such as abnormity occur; the symmetry analysis is based on curve edge image processing, the edge points of the curve are symmetrically distributed through a straight line of the arc point positions to judge the positions of the arc points, and the method is concretely realized by the following steps:
the method comprises the following steps: scanning along a horizontal x axis in a rectangular area marked by an edge detection image user, and storing two curve points with the distribution distance greater than the curve edge distance;
step two: repeating the process of the first step on the next adjacent horizontal line of the image, storing the obtained two curve point positions in the same way until the corresponding two curve points can not be detected, and entering the third step;
step three: and analyzing the scanned symmetrical points, and statistically constructing a symmetrical axis by calculating the midpoint position of the symmetrical pair, wherein the point where the symmetrical axis intersects with the edge image is the position of the corresponding sag point.
And calculating the current sag point position of the power transmission line through image processing, comparing the current sag point position with the original sag point position, and calculating the deviation value of the sag point. And comparing the deviation value with a sag deviation value preset by a user, and marking the event with an excessive deviation if the deviation value exceeds the preset deviation value. And meanwhile, counting the continuous occurrence time of the event with the overlarge sag point deviation, if the continuous occurrence time exceeds a time threshold preset by a user, marking the event with the overlarge final sag point change range, and actively sending an alarm, thereby realizing the early warning monitoring of the sag point change.
The method can adopt the following steps to finish the early warning and monitoring work of the change of the sag point of the ultra-high voltage transmission line in the specific application process:
firstly, the intelligent early warning device is installed, an external power supply is connected, and a video signal is accessed.
The intelligent early warning device can be arranged on a high-voltage transmission line iron tower or on a ground area between two iron towers, and the position at which the fixed-focus camera can form the best observation effect on the aerial posture of a power line between the two towers is selected. The external power supply input of the intelligent early warning device is direct current 12v, and the external power supply input is generally provided by a solar power supply. The intelligent early warning device can acquire a video scene image of the high-voltage transmission line by installing the wide-angle fixed-focus lens camera, and a video signal output by the fixed-focus lens camera is connected with the video image processing module 1 in the intelligent early warning device through the BNC connector.
And secondly, the sag point early warning monitoring device can automatically start to work after being powered on.
After the monitoring device is electrified and started to work, equipment registration information can be actively sent to a rear-end management platform center to indicate that the equipment starts to work online and the communication between the device and a rear-end management software platform is established. The staff can see the information of the registered early warning monitoring device on the back-end management platform software and see the video scene of the on-site power transmission line returned by the device. The positions of the sag points of the power transmission lines in the video scene detected by the monitoring device can be displayed on the video image in an overlapping mode.
And thirdly, entering a detection rule setting page on a software interface of the rear-end management platform, and setting a safe region of the variation range of the sag point, wherein the setting mode is that a closed rectangular region is directly drawn on a video picture to be the safe region range, the position coordinate information of the rectangular region is sent to a front-end early warning monitoring device through wireless communication, and the early warning monitoring device stores the information.
And fourthly, the front-end monitoring device starts to monitor the position of the sag point of the wire in real time, if the position information of the major coordinate of the sag point in the video scene exceeds the range of the rectangular area set in the third step, early warning information is generated, and the real-time video and the image at the moment are transmitted back to the rear-end management central software platform, so that the early warning monitoring process is completed.
The video image analysis module analyzes and processes video image signals in real time, and mainly comprises video scene calibration, power line curve point detection, power line curve identification and sag point detection, then judges the change range of sag points, and uploads early warning information and related video image data to a monitoring management center in real time if the change range exceeds a preset range. The device disclosed by the invention is used for monitoring the change condition of the sag point of the power transmission line in real time by applying a video image intelligent analysis technology aiming at the characteristics of the ultra-high voltage power transmission line, and actively alarming to a management center when the change range of the sag point exceeds a preset safe region range.
The foregoing is illustrative of the principles of the present invention and, therefore, it is to be understood that this invention is not limited to the precise construction and arrangement of parts so described and illustrated herein.
Claims (3)
1. The early warning monitoring method of the early warning monitoring device adopting the sag point change range of the ultra-high voltage transmission line is characterized in that the early warning monitoring device comprises the following steps:
the video image analysis module is connected with the high-speed ball camera and used for detecting and identifying curve points of the ultra-high voltage transmission line, calculating the position of a sag point, tracking the change of the position of the sag point and transmitting monitoring information to the communication module;
the communication module is used for transmitting the image, the video and the alarm information input by the video image analysis module to the monitoring center in a wireless communication mode;
the power supply management module is respectively connected with the video image analysis module and the communication module and is used for providing power supply management work for the video image analysis module and the communication module;
the video image analysis module comprises a video image core processor circuit, a cvbs video acquisition circuit and an SDI video acquisition circuit, wherein the cvbs video acquisition circuit and the SDI video acquisition circuit respectively acquire data of a cvbs analog video signal or an SDI high-definition digital video signal input through a BNC interface and respectively output a BT656 signal and a BT1120 signal to the video image core processor circuit; after the video image core processor circuit performs image analysis processing on the input BT656 signal or BT1120 signal, detecting a curve point, and outputting a video image and a real-time analysis result to a communication module;
the method realizes detection of the sag point change range in monitoring of the ultra-high voltage transmission line, and comprises the following steps of: a. curve point detection, b curve identification, c sag point detection, d sag point deviation value analysis:
the curve point detection comprises the following steps:
a1, filtering the current image by adopting a Gaussian smoothing function to obtain a smoothed image, wherein the current image is either the image received in real-time operation or the current frame image in the video;
a2, constructing a Hessian matrix by using the second-order gradient value of the gray value of each point of the smooth image of the current image, and analyzing the characteristic value and the characteristic vector of the Hessian matrix to obtain the detection points in the smooth image of the current image, wherein the analyzing step comprises the following steps:
firstly, acquiring the maximum eigenvalue and normal direction of a Hessian matrix of each point;
secondly, a hypothesis method is adopted to judge whether each point of the smooth image of the current image is a detection point, and the point is assumed
A point on the curve is set
Adjacent edge points of
Along the normal direction
Is 0, can be calculated
If it is satisfied
Then, it is considered as a point
Is a detection point, otherwise, is considered as a point
Is not a detection point;
finally, constructing a binary image corresponding to the current smooth image, wherein the gray value of a detection point in the binary image is set to be 255, and the gray value of a non-detection point is set to be 0;
a3, taking the maximum characteristic value of the Hessian matrix of the detection point as the curvature intensity of the detection point, and taking the detection point with the maximum curvature intensity as an initial search point;
a4, determining the angle of the extension direction of the detection point;
a5, judging whether the detection point is a curve point, comprising the following steps: determining n detection points in a surrounding neighborhood along the extension direction of the current curve point, respectively calculating the angle difference of each detection point and the extension direction of the current curve point in a4 x 4 pixel module taking the current point as the center, taking the detection point corresponding to the minimum angle difference, and if the curvature intensity of the detection point is greater than a threshold value T, considering the detection point as a suspected next curve point and taking the initial value of the current curve point as an initial search point;
the curve identification comprises the following steps:
b1, detecting curve points based on a Hessian matrix curve point detection algorithm, taking the maximum characteristic value of the Hessian matrix of the detection points as the curvature strength of the detection points, and taking the detection points with the maximum curvature strength as initial search points;
b2, obtaining curve points of the binary image of the current smooth image and connecting the curve points to form a curve;
b3, judging whether the current curve is interrupted, and connecting the interrupted curve; judging whether the current curve is subjected to curve regression or not, and connecting the regression curves;
b4, judging whether the current curve is accurately connected, judging whether the curve in the current image is detected completely and outputting a curve which is connected correctly;
the detection of the sag point is to determine the position of the sag point in the image by utilizing symmetry analysis, and comprises the following steps:
c1, scanning along the horizontal x-axis in the rectangular area for calibrating the edge detection image, and keeping two curve points with the distribution distance larger than the curve edge distance;
c2, repeating the process of the step c1 on the next adjacent horizontal line of the image, storing the obtained two curve point positions in the same way until the corresponding two curve points can not be detected, and entering c 3;
c3, analyzing the scanned symmetrical points, and statistically constructing a symmetrical axis by calculating the midpoint position of the symmetrical points, wherein the point where the symmetrical axis intersects with the edge image is the position of the corresponding sag point;
the analysis of the sag point deviation value refers to calculating the current sag point position of the power line through image processing, comparing the current sag point position with the original sag point position, calculating the deviation value of the sag point, comparing the deviation value with a sag deviation value preset by a user, marking the current sag point position as an event with overlarge primary deviation if the current sag point position exceeds the preset deviation value, meanwhile, counting the continuous occurrence time of the event with overlarge sag point deviation, marking the current sag point position as an event with overlarge final sag point change range if the current sag point position exceeds a preset time threshold value, and actively sending an alarm, so that the change of the sag point is early-warned.
2. The warning monitoring method according to claim 1, wherein the power management module comprises a power protection circuit and a power management circuit, the power management circuit performs shunt switch management on the video image analysis and communication module and an external power supply, and the power protection circuit performs lightning protection and electromagnetic interference protection in a complex electromagnetic environment.
3. The warning monitoring method according to claim 1, wherein on the basis of completing the curve point detection, noise filtering is performed, and then edge detection and interference removal are performed: the noise filtering adopts a median filtering algorithm to process; the edge detection algorithm adopts a Canny edge detection operator, and extracts the edge information of the image to provide guarantee for symmetry analysis; the interference elimination is based on the characteristic that the distance between the edges of the curves is within a certain fixed range and is relatively small, while the distance between the edges of the interferents may be represented as a single edge or relatively large in a calibration area, and the interference elimination is carried out by utilizing the characteristic.
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| CN109798971A (en) * | 2018-11-06 | 2019-05-24 | 国网河南省电力公司郑州供电公司 | Across the high-speed rail ultra-high-tension power transmission line chatter trajectory measurement method of one kind |
| CN110887447A (en) * | 2019-11-16 | 2020-03-17 | 浙江维思无线网络技术有限公司 | Tower deformation detection sensor and detection method thereof |
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