CN110954541A - Device and method for detecting cracks of porcelain insulator of power transmission line of 10kV or below - Google Patents
Device and method for detecting cracks of porcelain insulator of power transmission line of 10kV or below Download PDFInfo
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- CN110954541A CN110954541A CN201911113039.3A CN201911113039A CN110954541A CN 110954541 A CN110954541 A CN 110954541A CN 201911113039 A CN201911113039 A CN 201911113039A CN 110954541 A CN110954541 A CN 110954541A
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Abstract
The invention provides a porcelain bottle crack detection device used for 10kV and below, which comprises a supporting rod, a foot rest arranged at the bottom of the supporting rod, a main control guide rail arranged at the middle part of the supporting rod, an information acquisition module arranged at the top of the supporting rod, and a main control module sliding in the main control guide rail; the information acquisition module comprises a camera unit, an acquisition wireless unit and a three-dimensional rotating holder; the camera unit further comprises a first camera and a second camera which are arranged side by side, the first camera and the second camera synchronously rotate on the three-dimensional rotating holder and have the same image center; the first camera is a telephoto black and white lens and the second camera is a wide-angle color lens. The invention adopts a mode of combining the support rod and the holder camera, automatically positions, identifies, collects images and detects cracks on the porcelain insulator by the detection device through manually selecting a proper observation point, and solves the problems that the inspection by an unmanned aerial vehicle is difficult and the ground observation angle is poor.
Description
Technical Field
The invention relates to the technical field of automatic detection, in particular to a device and a method for detecting cracks of porcelain bottles of power transmission lines of 10kV or below.
Background
Insulation isolation of insulating porcelain bottles on power transmission lines of 10kV or below is generally finished by a single porcelain bottle, the porcelain bottles are generally arranged vertically to the ground, early cracks of the porcelain bottles generally appear on umbrella skirts at the tops in actual operation, the ground is difficult to find, the cracks, the defects and the like of the insulating porcelain bottles generally appear when the faults occur, and power failure faults are often caused; because 10kV and following transmission line are many in the place that the population is more, and the circuit is alternately more around, and hindrance such as building, trees in addition adopts the scheme that unmanned aerial vehicle patrolled and examined not to be suitable for, causes this type of trouble discovery difficulty in earlier stage, because the power failure accident that insulating porcelain insulator trouble arouses takes place occasionally. At present, the insulation porcelain bottle is generally detected by an inspector who carries equipment such as a telescope and the like to inspect along the line, cracks are difficult to discover due to poor observation angles, and whether the cracks exist is mainly judged by the experience of the inspector.
Disclosure of Invention
The invention provides a porcelain bottle crack detection device for a power transmission line of 10kV or below, aiming at solving the problem that porcelain bottles of the power transmission line of 10kV or below are difficult to detect, and the porcelain bottle crack detection device is characterized by comprising a support rod, a foot rest arranged at the bottom of the support rod, a main control guide rail arranged in the middle of the support rod, an information acquisition module arranged at the top of the support rod and a main control module sliding in the main control guide rail;
the supporting rod is a cylindrical telescopic supporting rod with a multi-section sleeve structure, and the height can be adjusted and locked;
the main control guide rail comprises a fixing part and a guide rail part, the fixing part is an installation plate with a circular arc structure in cross section, the circular arc radius is the same as that of the support rod, and the fixing part can be tightly attached to the surface of the support rod and is fixedly connected with the support rod through a bolt;
the information acquisition module adopts a packaging form and comprises a camera unit, an acquisition wireless unit and a three-dimensional rotating holder;
the camera unit further comprises a first camera and a second camera which are arranged side by side, the first camera and the second camera synchronously rotate on the three-dimensional rotating holder, and the optical axes of the two cameras are parallel;
the first camera is a long-focus black and white lens and is used for acquiring a clear porcelain bottle image and carrying out crack detection;
the second camera is a wide-angle color lens and is used for identifying and positioning the porcelain insulator by utilizing a wide visual field;
the acquisition wireless unit is connected with the main control module through a wireless network, sends the image data acquired by the camera unit to the main control module, and simultaneously transmits a control command sent by the main control module to the camera unit and the three-dimensional rotating holder;
the main control module comprises a main control shell, a display unit, a main control wireless unit and a mobile terminal artificial intelligence module;
the display unit is used for displaying the pictures collected by the camera unit;
the mobile terminal artificial intelligence module identifies a porcelain bottle in an image acquired by a second camera of the information acquisition module, and after the first camera is aligned with the porcelain bottle, crack identification is carried out on the image shot by the first camera;
the main control wireless unit is used for being connected with the acquisition wireless unit through a wireless network.
Furthermore, the display unit is a touch screen display and is used for displaying the pictures collected by the camera unit and performing man-machine interaction.
Furthermore, the main control shell further comprises a guide rail connecting part, the guide rail connecting part further comprises a sliding block and a universal joint, and the size of the sliding block is matched with that of the main control guide rail and can slide in the main control guide rail; the universal joint is used for connecting the sliding block and the main control shell.
The method is characterized in that a porcelain insulator crack detection device for 10kV or below is adopted for crack detection, and the method comprises the following steps:
s1, selecting a proper observation position near the porcelain bottle to be detected, and arranging a porcelain bottle crack detection device at an observation point;
s2, adjusting the height of the supporting rod to enable the information acquisition module to reach the height suitable for observing the porcelain insulator, and adjusting the direction of the three-dimensional rotating holder to enable the porcelain insulator to be detected to enter an image acquisition picture of the camera unit;
s3, the second camera collects images containing the porcelain insulator in real time, the moving end artificial intelligence module identifies and positions the porcelain insulator in the images, and the three-dimensional rotating holder is controlled to enable the center of the first camera to move to the center of the porcelain insulator;
and S4, the mobile terminal artificial intelligence module carries out crack recognition on the processed image and displays the detection result on the display unit.
Further, in step S3, the second camera and the first camera rotate synchronously, the optical axes of the two cameras are parallel, and the controlling the three-dimensional rotating platform to move the image center of the first camera to the center of the china bottle includes the following steps:
s31, establishing a coordinate system on the collected image, wherein the central coordinate of the second camera image is (0,0), and the central coordinate (x) of the porcelain insulator is initially0,y0) The coordinate after moving by a unit angle theta in the horizontal direction is (x)1,y1) The coordinate after the rotation of the unit angle theta in the vertical direction is (x)2,y2) Calculating the relationship between the rotation unit angle theta of the three-dimensional rotating holder and the image displacement for rough calibration, and horizontally rotating the unit angle theta and then horizontally displacing Wx＝x1-x0Perpendicular displacement Wy＝y1-y0(ii) a Horizontal displacement H after vertical rotation by unit angle thetax＝x2-x1Vertical displacement HY＝y2-y1；
S32, taking the absolute value of the central coordinate of the porcelain bottle as the expected displacement distance Dx、DyThe sign is the moving direction, and an allowable error value epsilon is set; a single movement of
Where K is a positive integer greater than 1, calculating the amount of one-time shift dx、dy。
S33, calculating the current horizontal movement d through the rough calibration of the relation between the three-dimensional rotating holder rotation unit angle theta and the image displacementxAnd the current vertical movement amount dyCorresponding to the angle of rotation in the horizontal direction
Angle of rotation from vertical
The following relationships exist:
the current horizontal movement d is obtained by the formulaxAnd the current vertical movement amount dyCorresponding to the angle of rotation in the horizontal direction
Angle of rotation from vertical
And controlling the three-dimensional rotating holder to rotate;
s34, repeating the steps S31-S33 until the expected displacement distance Dx、DyAnd stopping the adjustment when the error value is less than the allowable error value epsilon.
The invention has the beneficial effects that:
1. the invention discloses a method for detecting cracks of porcelain bottles, which is difficult to detect by using an unmanned aerial vehicle for power transmission lines of 10kV or below, and has the advantages that the cracks of the porcelain bottles are difficult to detect in early stage due to the fact that the ground observation angle is poor, the proper observation point is manually selected by adopting a mode of combining a support rod and a holder camera, the support rod is adjusted to enable the holder camera to reach the proper detection height, and further the better crack detection angle is obtained. The problem of be difficult to patrol and examine with unmanned aerial vehicle and ground observation angle is not good is solved.
2. The invention realizes the identification and positioning of the insulating porcelain bottle by using the portable mobile-end artificial intelligence module, and controls the rotation of the three-dimensional rotating holder and the alignment of the porcelain bottle by using the adjustment ideas of gradual adjustment and infinite approximation. Compared with the traditional fine rotation control method, the adjusting method has the advantages of small development difficulty and high adjusting speed; distortion correction and calibration are not needed, and the complicated distortion correction and calibration process is skipped; meanwhile, the method of automatically adjusting the cloud deck is adopted, and the problem that fine adjustment of the long-focus camera is difficult to accurately achieve when the cloud deck is manually controlled is solved.
3. According to the invention, by adopting an image acquisition scheme combining a black-and-white telephoto camera and a color wide-angle camera, the effect similar to optical focusing is achieved while the target is rapidly searched, so that the acquired information quality is better, and the defects of the traditional single-camera acquisition mode are avoided; the problems that the image acquisition unit is heavy in weight and the cradle head is difficult to accurately adjust in the traditional optical focusing are solved, and the gravity center of the porcelain bottle crack detection device is reduced, so that the operation difficulty of the cradle head camera is reduced.
4. In the invention, the main control module is fixed on the support rod through the main control guide rail, the height can be adjusted in the guide rail, and the angle of the display device can be adjusted through the universal joint, so that a worker can obtain the optimal height and angle to operate the main control module, and the human-computer interaction efficiency is greatly improved.
5. In the invention, the main control guide rail is fixed on the support rod through the mounting plate with the arc section with the same radius as that of the support rod, so that the main control guide rail is attached to the outer edge of the support rod, the main control guide rail is prevented from rotating on the support rod, and the direction of the main control guide rail is kept vertical and vertical; meanwhile, the main control guide rail and the support rod are convenient to fix.
6. The foldable foot rest is adopted, so that the detection device has smaller volume in a non-working state, does not have a protruding part, and is convenient to store and preserve; and the braces are arranged on the supporting rods and used for facilitating detection personnel to carry the detection device to the detection position when detection is carried out.
Drawings
Fig. 1 is a schematic structural diagram of a 10kV and below transmission line porcelain insulator crack detection device provided by an embodiment of the present invention;
fig. 2 is a schematic diagram of a main control module of a 10kV and below transmission line porcelain insulator crack detection device provided by the embodiment of the invention;
FIG. 3 is a schematic diagram of a method for detecting cracks in porcelain bottles of a power transmission line of 10kV or below according to an embodiment of the invention;
fig. 4 is a schematic diagram of controlling a three-dimensional rotating holder to move the center of an acquired image to the center of a porcelain bottle in the method for detecting cracks of 10kV and below transmission lines provided by the embodiment of the invention;
fig. 5 is a schematic diagram of the prediction of the rotation angle of the three-dimensional rotating holder in the method for detecting cracks of 10kV and below transmission line porcelain bottles provided by the embodiment of the invention;
fig. 6 is a schematic diagram of a three-dimensional rotating holder rotation control algorithm in the method for detecting cracks of 10kV and below transmission line porcelain bottles provided by the embodiment of the invention.
101-supporting rod, 102-foot rest, 103-main control guide rail, 104-shoulder strap, 200-information acquisition module, 210-camera unit, 211-first camera, 212-second camera, 220-acquisition wireless unit, 230-three-dimensional rotating holder, 310-main control shell, 311-guide rail connecting part, 320-display unit, 330-main control wireless unit and 340-mobile terminal artificial intelligence module.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments with reference to fig. 1 to 6.
As shown in fig. 1, the porcelain bottle crack detection device for the power transmission line of 10kV and below comprises a support rod 101, a foot rest 102, a main control guide rail 103, an information acquisition module 200 and a main control module; the foot rest 102 is arranged at the bottom of the support rod 101, is fixedly connected with the support rod 101 and is used for fixing the porcelain bottle crack detection device in detection; the information acquisition module 200 is arranged at the top of the support rod 101, the bottom of the information acquisition module 200 is fixedly connected with the support rod 101, and the information acquisition module 200 can rotate in the horizontal and vertical directions; the main control guide rail 103 is vertically arranged in the middle of the support rod 101, and the main control module can slide in the main control guide rail 103.
In this embodiment, the support rod 101 is a cylindrical telescopic support rod having a multi-section sleeve structure, and is made of an insulating material with high strength such as glass fiber as a framework, and an insulating material with high insulating performance such as epoxy resin as an external insulating layer, and the support rod 101 can adjust the telescopic height and lock; the bottom of the information acquisition module 200 is fixed on the top of the support rod 101 through a bolt; the bottom of the support rod 101 is fixedly connected with a foot rest 102 through a bolt, and the foot rest 102 is a tripod with a recoverable structure and is used for stabilizing the support rod 101 and the information acquisition module 200; the main control guide rail 103 comprises a fixing part and a guide rail part, wherein the fixing part is a mounting plate with a circular arc structure in cross section, the circular arc radius is the same as the radius of the support rod 101 at the mounting position, the main control guide rail 103 can be tightly attached to the outer wall of the support rod 101, the guide rail part is kept in the vertical direction, rotation is avoided, and the guide rail part is fixedly connected with the support rod 101 through a bolt and cannot rotate around the support rod 101. Still be equipped with braces 104 on the bracing piece 101, these braces 104 both ends are fixed respectively at two points that bracing piece 101 is close to top and bottom, and the staff of being convenient for carries this vase crack detection device, improves vase crack detection device's convenience.
The information acquisition module 200 comprises a camera unit 210, an acquisition wireless unit 220 and a three-dimensional rotating cloud deck 230, wherein the camera unit 210 and the wireless unit 220 are arranged on the three-dimensional rotating cloud deck 230; the camera unit 210 is used for collecting image information of the porcelain insulator; the three-dimensional rotating holder 230 is used for bearing the camera unit 210 and the wireless unit 220 and driving the camera unit 210 to rotate in the horizontal and vertical directions; the acquisition wireless unit 220 is connected to the camera unit 210 and the three-dimensional rotating pan/tilt head 230, and is configured to send image information acquired by the camera unit 210 to the main control module through a wireless network, receive control information sent by the main control module, and transmit the control information to the camera unit 210 and the three-dimensional rotating pan/tilt head 230.
In this embodiment, the information collecting module 200 is packaged to package the camera unit 210, the collecting wireless unit 220 and the three-dimensional rotating platform 230 together. The camera unit 210 adopts a double-camera form, two cameras are arranged side by side, and lens optical axes of the two cameras are parallel; the first camera 211 is a long-focus black-and-white lens and is used for acquiring a clearer porcelain bottle image and finally identifying a porcelain bottle crack, and the black-and-white picture can acquire more brightness information and more detail information due to the fact that the difference between the gray value of the crack and the porcelain bottle is larger, so that the crack characteristic can be acquired; the second camera 212 is a wide-angle color lens, and is used for identifying and positioning the vase by using the wide field of view of the color wide-angle lens; the arrangement of the colored wide-angle lens and the telephoto black-and-white lens is adopted, the effect similar to optical zooming can be realized, after the porcelain bottle is placed in the middle of the image, the image of the porcelain bottle can be placed to the maximum in proportion by fusing the zooming mode, the image quality caused by zooming is reduced little, the image acquisition unit is small in size and light in weight while the zooming effect can be effectively guaranteed, the gravity center of the porcelain bottle crack detection device is reduced as much as possible, and the porcelain bottle crack detection device is convenient to operate after being lifted. The three-dimensional rotating cloud deck 230 is electrically controlled, and can rotate in the horizontal and vertical directions through control information of the main control unit.
As shown in fig. 2, the main control module includes a main control housing 310, a display unit 320, a main control wireless unit 330 and a mobile terminal artificial intelligence module 340, wherein the main control housing 310 is used for accommodating the rest of the main control module and fixing the main control module on the main control guide rail 103; the display unit 320 is used for displaying the image information acquired by the information acquisition module 200 and the crack detection result to the staff; the main control wireless unit 330 is connected with the display unit 320 and the mobile terminal artificial intelligence module 340, receives the image information sent by the acquisition wireless unit 220 through a wireless network, and sends the control information issued to the camera unit 210 and the three-dimensional rotating cloud deck 230 to the acquisition wireless unit 220; the mobile terminal artificial intelligence module 340 comprises an artificial intelligence chip and a central processor chip, wherein the artificial intelligence chip is a GPU (graphics processing unit) or NPU (neutral processing unit) chip and is used for operating an identification method based on deep learning, and the identification method comprises the steps of identifying and positioning a porcelain insulator and a crack by an improved SSD (solid State disk) model and an improved YOLOv3 model; the artificial intelligence chip extracts characteristic graphs from the porcelain bottles and cracks and trains the porcelain bottles and the cracks, and the porcelain bottles and crack sample expansion data of random cutting, color change, distortion or other angles are added, so that the recognition performance is improved, and the positions of the porcelain bottles and the cracks are finally accurately predicted; the central processing unit chip is used for logic analysis and control.
In this embodiment, the main control housing 310 further includes a guide rail connection portion 311, and the guide rail connection portion 311 includes a slider and a gimbal; the sliding block is also provided with a locking device, the size of the sliding block is matched with that of the main control guide rail, and the sliding block can freely slide and lock in the vertical direction along the main control guide rail 103; one end of the universal joint is fixedly connected with the main control housing 310, and the other end of the universal joint is fixedly connected with the sliding block, so that a user can obtain a proper height and angle when using the main control module. The display unit 320 is a touch screen display, and is configured to display the image information and the crack detection result acquired by the information acquisition module 200, and enable an operator to perform human-computer interaction.
As shown in the attached figure 3, the invention also provides a method for detecting cracks of 10kV and below transmission line porcelain bottles, which comprises the following steps:
s1, selecting a proper observation position near the porcelain bottle to be detected, and arranging a porcelain bottle crack detection device at an observation point;
s2, adjusting the height of the supporting rod to enable the information acquisition module to reach the height suitable for observing the porcelain insulator, and adjusting the direction of the three-dimensional rotating holder to enable the porcelain insulator to be detected to enter an image acquisition picture of the camera unit;
s3, the second camera collects images containing the porcelain insulator in real time, the mobile terminal artificial intelligence module 340 identifies and positions the porcelain insulator in the images, and the three-dimensional rotating holder is controlled to enable the center of the first camera to move to the center of the porcelain insulator;
s4, the mobile terminal artificial intelligence module 340 identifies the cracks of the processed images and displays the detection results on the display unit.
Specifically, in step S1, a suitable observation position is selected near the vase to be detected, the foot rest 102 and the support rod 101 are unfolded at the observation position, the main control module is fixed on the support rod 101, and the main control module and the information acquisition module 200 are started.
In step S2, the height of the supporting rod 101 is adjusted by the observation display unit 320, so that the three-dimensional rotating platform 230 on the top of the supporting rod 101 reaches a height suitable for the observation angle, and the rotation angle of the three-dimensional rotating platform 230 is adjusted, so that the vase to be detected enters the image picture acquired by the camera unit 210.
As shown in fig. 4, in step S3, the second camera collects an image containing a porcelain bottle in real time, the mobile terminal artificial intelligence module 340 identifies and locates the porcelain bottle in the image, and controls the three-dimensional rotating pan-tilt to move the image center of the first camera to the center of the porcelain bottle, and the method specifically includes the following steps:
as shown in FIG. 5, step S31 is to establish a coordinate system on the captured image, defining the width and height of the image to be 2M and 2N, respectively, the center coordinates to be (0,0), and the center coordinates (x) of the porcelain bottle at the beginning0,y0) The coordinate after moving by a unit angle theta in the horizontal direction is (x)1,y1) Because the wide-angle camera has serious distortion, the porcelain bottle can move in the horizontal and vertical directions at the moment, and the horizontal displacement W of the porcelain bottle caused by the rotation theta angle in the horizontal direction can be calculatedx＝x1-x0(1) Perpendicular displacement Wy＝y1-y0(2) (ii) a Similarly, the three-dimensional rotating platform 230 is rotated by a unit angle theta to (x) in the vertical direction2,y2) Horizontal displacement Hx＝x2-x1(3) Vertical displacement HY＝y2-y1(4) (ii) a The formulas (1) to (4) realize the rough calibration of the relationship between the rotation unit angle of the three-dimensional rotating holder 230 and the image displacement, that is, the horizontal displacement W after the horizontal rotation unit angle thetaxPerpendicular displacement Wy(ii) a Horizontal displacement H after vertical rotation by unit angle thetaxVertical displacement HY。
In step S32, since the wide-angle camera has a relatively severe distortion, the error of the calculation result of the formula is relatively large as the insulator moves toward the center of the image, and therefore, the adjustment concept of gradual adjustment and infinite approximation is introduced. The absolute value of the central coordinate of the porcelain bottle is the expected displacement, the sign of the displacement is the moving direction, if the expected moving displacement is D respectivelyx、DyThen, let the current movement amount be
Wherein K is a positive integer greater than 1; meanwhile, the allowable error is ∈ which indicates the distance from the image center to the current position, and the allowable error ∈ should be larger than the maximum displacement amount generated by the three-dimensional rotating holder 230 rotating by the unit angle θ in the horizontal or vertical direction.
Step S33, calculating the current horizontal movement d according to the relationship between the rotation unit angle of the three-dimensional rotating platform 230 and the image displacementxAnd the current vertical movement amount dyCorresponding three-dimensional rotating platform 230 rotating in horizontal direction by angle
Angle of rotation from vertical
Current horizontal movement amount dx＝dWx+dHx(5) Current amount of vertical movement dy＝dWy+dHy(6) Wherein the three-dimensional rotating platform 230 rotates horizontally by an angle
Horizontal displacement of dWxPerpendicular displacement dWyAngle of vertical rotation
So that the horizontal displacement is dHxPerpendicular displacement dHyThen there is
From equations (5) to (10), it follows:
the current horizontal movement amount d can be calculatedxAnd the current vertical movement amount dyCorresponding three-dimensional rotating platform 230 rotating in horizontal direction by angle
Angle of rotation from vertical
Step S34, repeating steps S31 to S33 until the expected displacement Dx、DyLess than the allowable error epsilon.
As shown in fig. 6, specifically, the expected displacement is calculated according to the current coordinates of the center of the porcelain bottle
And the direction is compared with the allowable error epsilon, if the expected displacement is smaller than the allowable error epsilon, the adjustment is finished, otherwise, the three-dimensional rotating holder 230 is adjusted; firstly, determining the rough calibration of the relationship between the rotation unit angle theta of the three-dimensional rotating holder 230 and the image displacement under the current condition, and selecting the K value to calculate the current movement amount of the current movement
Calculating the current movement according to the relationship between the rotation unit angle theta and the image displacement by rough calibrationMeasurement of
The angle that the three-dimensional rotating platform 230 needs to rotate
Controlling the three-dimensional rotating pan/tilt head 230 to perform an angle
After rotation, a new expected displacement is obtained
Repeating the above process until the desired displacement
Less than the allowable error epsilon.
The K value is a positive integer larger than 1, and the smaller the K value is, the fewer the adjustment times are; on the contrary, the larger the K value is, the smaller the adjustment distance is, the more the adjustment times are, and the higher the precision is. However, even if the value of K is 2, the expected displacement D after multiple adjustments can still be ensuredx、DyLess than the allowable error epsilon. At the same time, the value of K should also take into account the current movement dx、dyShould be greater than the image displacement at the unit angle of rotation theta, if the amount of forward movement dx、dyWhen the image displacement is smaller than the unit rotation angle θ, the three-dimensional rotating platform 230 cannot be adjusted.
In step S4, the mobile-end artificial intelligence module 340 controls the wide-angle color lens and the telephoto black-and-white lens through the wireless network to simultaneously acquire images at the center of the china bottle, and the china bottle images acquired by the two lenses are fused by using an image processing technique to obtain complete and clear china bottle images with comprehensive detailed information such as brightness and contrast. And carrying out gap identification detection on the generated fusion image, and displaying the detection result and the image on a display unit.
Although the present invention has been described in terms of the preferred embodiment, it is not intended that the invention be limited to the embodiment. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. The scope of the invention should therefore be determined with reference to the appended claims.
Claims (5)
1. The porcelain bottle crack detection device for the power transmission line of 10kV or below is characterized by comprising a support rod (101), a foot rest (102) arranged at the bottom of the support rod (101), a main control guide rail (103) arranged in the middle of the support rod (101), an information acquisition module (200) arranged at the top of the support rod (101), and a main control module sliding in the main control guide rail (103);
the supporting rod (101) is a cylindrical telescopic supporting rod with a multi-section sleeve structure, and can adjust the height and lock the telescopic height;
the main control guide rail (103) comprises a fixing part and a guide rail part, the fixing part is an installation plate with a circular arc structure in cross section, the radius of the circular arc is the same as that of the support rod (101), and the fixing part can be tightly attached to the surface of the support rod (101) and is fixedly connected with the support rod (101) through a bolt;
the information acquisition module (200) is in a packaging form and comprises a camera unit (210), an acquisition wireless unit (220) and a three-dimensional rotating holder (230);
the camera unit (210) further comprises a first camera (211) and a second camera (212) which are arranged side by side, the first camera (211) and the second camera (212) synchronously rotate on the three-dimensional rotating holder, and the optical axes of the two cameras are parallel;
the first camera (211) is a long-focus black and white lens and is used for acquiring a clear porcelain bottle image and carrying out crack detection;
the second camera (212) is a wide-angle color lens and is used for identifying and positioning the porcelain insulator by utilizing a wide visual field;
the acquisition wireless unit (220) is connected with the main control module through a wireless network, sends the image data acquired by the camera unit (210) to the main control module, and simultaneously transmits the control command sent by the main control module to the camera unit (210) and the three-dimensional rotating holder (230);
the main control module comprises a main control shell (310), a display unit (320), a main control wireless unit (330) and a mobile terminal artificial intelligence module (340);
the display unit (320) is used for displaying the pictures collected by the camera unit (210);
the mobile terminal artificial intelligence module (340) identifies a porcelain bottle in an image acquired by a second camera (212) of the information acquisition module (200), and after the first camera (211) is aligned to the porcelain bottle, crack identification is carried out on the image shot by the first camera (211);
the main control wireless unit (330) is used for being connected with the acquisition wireless unit (220) through a wireless network.
2. The porcelain bottle crack detection device according to claim 1, wherein the display unit (320) is a touch screen display for displaying pictures collected by the camera unit (210) and performing human-computer interaction.
3. The porcelain bottle crack detection device according to claim 1, wherein the main control housing (310) further comprises a guide rail connection part (311), the guide rail connection part (311) further comprises a slider and a universal joint, the slider is matched with the main control guide rail (103) in size and can slide in the main control guide rail; the universal joint is used for connecting the sliding block and the main control shell (310).
4. A crack detection method for porcelain bottles of power transmission lines of 10kV and below is characterized in that a crack detection device for porcelain bottles of 10kV and below is adopted for crack detection, and the method comprises the following steps:
s1, selecting a proper observation position near the porcelain bottle to be detected, and arranging a porcelain bottle crack detection device at an observation point;
s2, adjusting the height of the supporting rod (101) to enable the information acquisition module (200) to reach the height suitable for observing the porcelain insulator, and adjusting the direction of the three-dimensional rotating holder (230) to enable the porcelain insulator to be detected to enter an image acquisition picture of the camera unit (210);
s3, the second camera (212) collects images containing the porcelain bottles in real time, the moving end artificial intelligence module (340) identifies and positions the porcelain bottles in the images, and the three-dimensional rotating holder is controlled to enable the image center of the first camera (211) to move to the center of the porcelain bottles;
s4, the mobile terminal artificial intelligence module (340) identifies the cracks of the processed image and displays the detection result on the display unit.
5. The porcelain bottle crack detection method according to claim 4, wherein in step S3, the second camera (212) and the first camera (211) rotate synchronously, the lens optical axes of the two cameras are parallel, and the controlling the three-dimensional rotating platform to move the image center of the first camera (211) to the porcelain bottle center comprises the following steps:
s31, establishing a coordinate system on the acquired image, wherein the central coordinate of the second camera (212) image is (0,0), and the central coordinate (x) of the porcelain insulator is initially0,y0) The coordinate after moving by a unit angle theta in the horizontal direction is (x)1,y1) The coordinate after the rotation of the unit angle theta in the vertical direction is (x)2,y2) Calculating the relationship between the rotation unit angle theta of the three-dimensional rotating holder (230) and the image displacement for rough calibration, and horizontally rotating the unit angle theta and then horizontally displacing Wx＝x1-x0Perpendicular displacement Wy＝y1-y0(ii) a Horizontal displacement H after vertical rotation by unit angle thetax＝x2-x1Vertical displacement HY＝y2-y1；
S32, taking the absolute value of the central coordinate of the porcelain bottle as the expected displacement distance Dx、DyThe sign is the moving direction, and an allowable error value epsilon is set; a single movement of
Where K is a positive integer greater than 1, calculating the amount of one-time shift dx、dy。
S33, byThe relation between the rotation unit angle theta of the three-dimensional rotating holder (230) and the image displacement is roughly calibrated to calculate the current horizontal movement dxAnd the current vertical movement amount dyCorresponding to the angle of rotation in the horizontal direction
Angle of rotation from vertical
The following relationships exist:
the current horizontal movement d is obtained by the formulaxAnd the current vertical movement amount dyCorresponding to the angle of rotation in the horizontal direction
Angle of rotation from vertical
And controls the three-dimensional rotating cradle head (230) to rotate;
s34, repeating the steps S31-S33 until the expected displacement distance Dx、DyAnd stopping the adjustment when the error value is less than the allowable error value epsilon.
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