CN111291648A - Tower image monitoring system - Google Patents
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Abstract
A tower image monitoring system, comprising: the detection device is used for acquiring tower detection data and the current geographic position; the data forwarding equipment receives the detection data of the plurality of detection devices and collects the detection data to the remote control subsystem; the remote control subsystem comprises a detection station client and a mobile client, wherein the detection station client processes detection data and visualizes a processing result, the detection station client acquires the positions of all the mobile clients and sends out warning information and scheduling information to a specific mobile client according to the abnormal tower position, and the mobile client rapidly guides a specific maintenance worker to carry out first-aid repair based on the existing information, so that the maintenance manpower is intelligently and automatically distributed, and the tower fault time is shortened. The shape of the tower is detected in real time through the detection device and the remote control subsystem, whether the tower is deformed or not and whether the accessories shift or other conditions are judged, comprehensive and accurate tower shape detection is achieved, early warning before failure is achieved, damage to a power transmission line caused by the tower is reduced, and the overall stability of a power grid is enhanced.
Description
Technical Field
The invention relates to the field of power transmission line monitoring, in particular to a tower image monitoring system.
Background
The safe operation of the power grid is an important guarantee for the normal operation of the society, and once a power grid accident occurs, the power grid accident can greatly affect the industrial and agricultural production and the life of residents. In various power grid safety accidents, tower faults are common and are more difficult to detect and maintain compared with faults such as broken lines, so that the towers need to be monitored to ensure normal operation and timely troubleshooting of the faults.
In the prior art, monitoring of towers mostly stays at the stage of monitoring of tower inclination, leakage current and transmission capacity, and monitoring of structures, shapes and accessory positions of the towers are ignored. When the tower is impacted by the outside, a certain position of the main body of the tower can be deformed, main parts of the tower can be separated, and the abnormality is hidden trouble of the tower failure; and the abnormity is often overlooked easily, and even if the abnormity is detected manually, the abnormity can be missed, and the abnormity can not be found until the tower breaks down or causes a safety accident. The shape of the tower cannot be monitored in real time in the prior art, and advance warning cannot be achieved. In addition, in a tower monitoring system in the prior art, detection information is often transmitted to a remote client by detection equipment on a tower, and then whether a fault occurs needs to be manually judged by a worker in front of the remote client, and the worker needs to confirm the fault of each tower through the remote client and contact a maintenance worker to maintain the tower. The mode seriously influences the efficiency of troubleshooting, manpower distribution and maintenance of the tower, and the maintenance information cannot be intelligently and automatically distributed to maintenance personnel according to the specific information of the abnormal tower.
Disclosure of Invention
The invention aims to overcome at least one defect of the prior art, and provides a tower image monitoring system, which can realize comprehensive detection of tower states including structures, shapes and positions of parts, improve the detection rate of potential safety hazards, timely send out warning information and scheduling information when a tower has potential safety hazards or fails, realize advanced or fastest rush repair and effectively reduce economic loss caused by tower faults.
The technical scheme adopted by the invention is that a tower image monitoring system comprises: the detection device is arranged on the tower and comprises image identification equipment and positioning equipment, wherein the image identification equipment acquires detection data by scanning the tower, shooting the tower and the tower environment, and the positioning equipment is used for acquiring the current geographic position of the tower; the data forwarding equipment is directly or indirectly connected with the detection devices of the towers, receives the detection data acquired by the detection devices and collects the detection data to the remote control subsystem; the remote control subsystem comprises more than one detection station client and more than one mobile client, the remote control subsystem processes detection data through the detection station client and visualizes processing results in a mode of establishing a tower model and marking warning information, the detection station client acquires the positions of all the mobile clients and sends warning information and scheduling information to more than one specific mobile client according to the positions of abnormal towers, and the mobile clients guide workers provided with the mobile clients to move to the specific towers for maintenance based on the existing warning and scheduling information. Preferably, the remote control subsystem further remotely controls the tower and the operation of the detection device on the tower through the data forwarding device.
The tower shape comprises a main body structure, a shape and a tower accessory position of the tower, a reference shape is preset in an image recognition device or a remote control subsystem in the detection device, the detection device acquires real-time shape detection data of the tower in real time, and the difference characteristics and the difference positions of the real-time shape detection data and the reference shape of the tower are obtained by comparing the real-time shape with the reference shape of the tower, so that whether the main body structure of the tower is deformed, the accessory is displaced, the accessory is lost or not is judged, and the remote control subsystem is facilitated to quickly acquire the abnormal position of the tower shape and make maintenance preparation. The detection device comprehensively detects the overall structure, parts and the like of the tower by acquiring detection data of the tower form, realizes comprehensive and accurate tower form detection, and judges the abnormal occurrence position and abnormal type of the specific tower by processing and judging the abnormality according to the detection data through the remote control subsystem; real-time monitoring of the tower body can be achieved through real-time operation of the detection device and the remote control subsystem, operation faults of the tower caused by potential safety hazards which are easy to omit are avoided, early warning and overhauling before faults are achieved, damage to a power transmission line caused by the tower is reduced, and the power transmission network formed by the tower and the line is enabled to be more stable. The detection device also obtains detection data of the position of the tower through the positioning equipment, the detection device presets or takes the geographical position of the tower at a certain time point as a reference position, and in the detection process, the reference position is automatically compared through the remote control subsystem to judge whether the real-time geographical position deviates or not besides transmitting the geographical position to the remote control subsystem.
The data forwarding equipment exists as a communication medium, receives information transmitted by the plurality of tower detection devices, collects all the information to one monitoring end, can enlarge the communication range by arranging the data forwarding equipment, and avoids direct communication between all the detection devices and the remote control subsystem, so that the communication stability is improved.
The remote control subsystem is the monitoring end of the whole monitoring system, collects and processes the detection data of all towers in the communication range through the data forwarding equipment, and then visualizes the processing result, for example, establishes a geographic model of a management area, the distribution of the towers on the geographic model and a specific tower three-dimensional model, and marks each tower according to the detection data and the processing result, wherein the marks comprise colors, figures, characters and the like, so that visual display is performed, and manual control is facilitated. And when manual operation is needed, judgment basis can be provided and areas needing important maintenance are highlighted, so that the time for remotely troubleshooting is saved, and the efficiency of power grid maintenance is improved. The remote control subsystem can also send control information to a specific tower or a detection device on the specific tower through the data forwarding equipment, so that more flexible detection control is realized, and the operation state of the tower can be acquired in real time. In addition, the remote control subsystem can automatically and intelligently distribute visual information, warning information and scheduling information to more than one specific mobile client according to the position of the tower with the abnormality and specific scheduling logic, so that maintenance personnel holding the specific mobile client can receive scheduling and can go to the abnormal tower for maintenance on the premise of existing information, if the scheduling information is sent to the mobile terminal which does not receive the warning information in real time and is close to the tower within a preset distance range of the position of the tower with the abnormality, the staff provided with the mobile terminal is guided to maintain, the patrol distribution of the maintenance personnel is optimized, and the maintenance time of each tower is shortened.
Preferably, the remote control subsystem can perform repeated operation on the towers in the whole power grid through the detection station client, is favorable for researching the damage conditions of a large number of towers caused by factors such as natural disasters and the like, and is favorable for realizing improvement of technology, distribution and maintenance.
Preferably, the image recognition device comprises a three-dimensional model imaging component and a camera device, the three-dimensional model imaging component is arranged on a tower and used for acquiring data for building a three-dimensional model, and the camera device is used for shooting a video of the tower or a scene comprising the tower. And the three-dimensional model imaging assembly sends data to the remote control subsystem, and the remote control subsystem generates the three-dimensional model through the client of the detection station. The potential safety hazard that exists often can't be perceived when the bending of major structure, spare part position are unusual for the shaft tower takes place, can only carry out the after-service maintenance until the shaft tower breaks down, is unfavorable for the normal operating of shaft tower. And by establishing the three-dimensional model, when data acquisition is carried out by using equipment with higher precision, the form detection of the tower can be realized by comparing the stored normal tower models. The camera equipment is used for shooting a tower video, when the remote control subsystem cannot perform abnormity identification and classification or cannot confirm abnormity, the visual video is helpful for manual video viewing, and further judgment and troubleshooting are realized manually.
Preferably, the three-dimensional model imaging component comprises a three-dimensional laser scanner and a support, wherein the three-dimensional laser scanner is movably arranged on the support, and the support is fixed on a tower; preferably, the support is fixed in the middle or at the bottom of the tower; the three-dimensional laser scanner carries out the removal of horizontal direction and the rotation on the vertical direction on the support to acquire the scanning data of the vertical each angle of shaft tower, combine horizontal migration can utilize single three-dimensional laser scanner to scan four sides of shaft tower, more preferably, set up four sides of a plurality of three-dimensional laser scanners at the shaft tower, thereby need not remove and keep firm scanning position and scan. And when the three-dimensional laser scanner is not connected with other data analysis equipment in the detection device, the three-dimensional laser scanner is connected with the remote control subsystem through the data forwarding equipment. The scanning measurement of the three-dimensional laser scanner can acquire point cloud data of the tower, a three-dimensional model is established through a detection station client of the remote control subsystem according to the point cloud data, and then the three-dimensional model is compared with a normal three-dimensional model reserved by the remote control subsystem, so that whether parts and other structural forms on the tower main body are abnormal or not is compared. The normal three-dimensional model is a three-dimensional model which is constructed by scanning the tower after the tower is built and keeping the tower when the tower is not abnormal; the client of the detection station builds a model according to the three-dimensional point cloud data through a three-dimensional modeling program in the prior art and compares the model with a normal three-dimensional model, and the comparison process comprises the following steps: visualizing a real-time three-dimensional model constructed by the three-dimensional point cloud data; then comparing the real-time three-dimensional model visual image with the normal three-dimensional model visual image; and an error threshold value is set, so that accurate detection of the shape of the tower is realized.
In addition, the three-dimensional point cloud data can be directly compared, so that accurate detection is achieved. Preferably, the invention can adopt infrared laser ranging equipment besides a three-dimensional laser scanner, the precision of the infrared laser ranging equipment is in centimeter level, and an accurate three-dimensional model can be constructed through the infrared laser scanning ranging equipment so as to achieve the aim of high-precision detection. Although the difference is obtained by identifying the tower through an image sensor or by presetting a tower reference image and then comparing the tower reference image with a real-time image in the prior art, the technology often cannot achieve accurate identification characteristics, and in the process of obtaining the image, factors including light interference, no light and the like can cause the whole image to be different or even cannot be used, so that an accurate result cannot be given according to the site, and complete and accurate image comparison cannot be realized; when the detection is not accurate, the waste of system resources and personnel resources is obviously caused. And the three-dimensional model is constructed firstly, and then the data is compared or the virtual image visualized according to the data is compared in the error range, so that the limitation of image shooting can be avoided, the comparison difficulty is reduced, and the high-precision identification and the abnormity analysis of the tower are achieved.
Preferably, the three-dimensional model imaging assembly further comprises a panoramic camera, the panoramic camera is movably arranged on the support and moves synchronously with the three-dimensional laser scanner, and the three-dimensional laser scanner and the panoramic camera move through a driving device arranged in the support; the panoramic camera is used for acquiring a 360-degree panoramic high-definition image with the three-dimensional model imaging assembly as the center and sending the panoramic image to the client of the detection station; the method comprises the steps that a remotely connected detection station client generates a three-dimensional model of a scene comprising the tower through an acquired panoramic high-definition image, the matching, correction and splicing of the three-dimensional model of the tower and the tower are carried out by combining the tower three-dimensional model constructed according to point cloud data and utilizing the prior art, and an accurate short-distance range scene three-dimensional model comprising the tower is further established, so that the shape of the tower in a specific scene is accurately monitored. In addition, when the shaft tower form changes greatly, even the scanning range of the three-dimensional laser scanner is influenced, and when a three-dimensional model cannot be generated, a visual image of a scene including the shaft tower can be directly obtained through a panoramic image, so that the position of the shaft tower form changing violently is judged, compared with the camera device, the data volume transmitted by the panoramic image is less, the shooting range is wider, and therefore the panoramic camera can provide instant, quick and wide image detection data when other scanners or camera devices cannot work.
Preferably, the detection device comprises an analysis device, and an environment detection device and an inclination detection device which are connected with the analysis device, wherein the environment detection device is used for detecting airflow, temperature and geological movement in the tower environment, and the inclination detection device is used for detecting whether the tower is inclined. The analysis equipment can be a single chip microcomputer or a computer provided with an analysis program, the analysis equipment is also connected with other equipment in the detection device, processing and preliminary judgment of detection data of each equipment in the detection device can be realized through the analysis device, repeated communication and data transmission quantity of the remote control subsystem and the detection device are reduced, the analysis equipment can also perform processing, modeling and preliminary processing of images on the detection data of the image recognition equipment, and an image comparison process can be completed when a normal three-dimensional model is prestored in the analysis equipment. The environment detection equipment is used for detecting airflow, temperature and geological motion in a tower environment, the detected airflow can give an early warning to strong wind, the analysis equipment can be combined to give an independent early warning, the early warning to the disaster of the strong wind can be guaranteed when weather forecast data cannot be acquired, and the damage to the tower caused by the strong wind can be effectively reduced through overhauling and stabilizing after the early warning. The temperature detection can be used for early warning of fire and other disasters causing great temperature change, and timely treatment of the fire can avoid collision of surrounding trees or buildings with towers due to collapse of the trees or the buildings. In addition to the above-mentioned environmental factors, when the ground installed on the tower is subjected to geological movement, such as vibration caused by construction, the uneven foundation is likely to be settled, and the tower is likely to be displaced or inclined, so that it is necessary to perform the geological movement detection. The inclination detection equipment can directly detect whether the tower is inclined or not, and is used for at least detecting the inclination and the disturbance degree of the concrete electric pole; the inclination of the iron tower; cross arm inclination; the tower is offset from the centerline of the line. And a threshold value is preset according to the power grid construction standard, and besides real-time monitoring of the inclination, early warning is also carried out when a detection value exceeds the threshold value. The tower inclination easily and directly causes the damage of the tower and the fault of a transmission line, and causes of the tower inclination comprise natural disasters, uneven settlement of a foundation and the like, although environment detection equipment for geological motion detection is already arranged, other factors causing the inclination still exist, so that specific inclination detection needs to be carried out on the tower; the inclination of the tower belongs to a typical invisible fault, and when a power transmission line operation and maintenance worker inspects a line, the worker often cannot timely notice the ground settlement or the tiny change of the tower. When the tower caused by factors such as tower footing settlement and the like is seriously inclined, the tower of the power transmission line is already in a dangerous state, and the safe operation of the line is seriously threatened. Therefore, in order to complete the whole monitoring system, it is necessary to perform inclination detection on the tower.
Preferably, the environment detection equipment comprises a vibration sensor, a temperature sensor and a wind speed and direction sensor which are arranged on a tower. The vibration sensor is arranged at the bottom of the tower, the analysis equipment is provided with a preset vibration threshold value, when the vibration detected by the vibration sensor exceeds the threshold value, the tower is in an abnormal environment, the early warning is sent, the remote control subsystem is helped to judge whether a potential possibility of failure exists through other detection information, and more preferably, the vibration sensor is arranged at the top of the tower. The temperature sensor is used for detecting temperature changes, and when the temperature rises violently or keeps high continuously, the temperature sensor sends out early warning to the remote control subsystem. The wind speed and direction sensor is used for detecting strong wind and can be combined with components in other environment detection equipment to realize real-time monitoring of the tower under the strong wind.
Preferably, the inclination detection device comprises a wireless inclination sensor and an infrared distance measurement sensor, the wireless inclination sensor monitors the horizontal or longitudinal inclination degree of the tower in real time, the infrared distance measurement sensor is arranged on a plurality of side faces of the tower and measures distance towards the ground, whether the ground on the corresponding side collapses is detected through the change of the ground distance in a specific time range, further inclination judgment can be realized by combining the inclination sensor and other components, and the probability of misjudgment is reduced.
Preferably, the data forwarding device comprises more than one router and a repeater, a plurality of towers are connected through the router to form a star structure, and the router is directly connected with the remote control subsystem or indirectly connected with the remote control subsystem through the repeater. The towers are connected through a route to form a star network, ad hoc networks can be formed among the routers connected with the towers, the routers are connected with a remote control subsystem directly or through a relay, and preferably, an LPR low-power-consumption long-distance wireless transmission technology is adopted. Facilitating rapid start-up monitoring and monitoring in continuous time and maintaining good communication. In addition, the communication between the detection devices on each tower and the remote control subsystem can also be realized by adopting a GSM/GPRS mode.
Preferably, the remote control subsystem further comprises a mobile terminal scheduling module, wherein the mobile terminal scheduling module performs fault classification and priority ranking on abnormal towers according to the visual information of the clients of the detection station, and sends warning information and scheduling information to specific mobile clients according to the priorities, the positions of the abnormal towers, the number and the positions of the mobile clients within a preset distance range. The mobile terminal scheduling module classifies the abnormal pole towers into faults according to the visual information of the detection station client, wherein the classifications include pole tower form faults, pole tower position abnormity, pole tower environment abnormity and multiple abnormity, operation and maintenance personnel receiving the mobile terminal information can conveniently conduct rapid targeted maintenance, and a basis is provided for quantity distribution of the operation and maintenance personnel; the method comprises the steps of setting priorities according to the number of lines connected with the towers and the importance of the lines, carrying out quick and efficient operation and maintenance personnel distribution according to the positions and the numbers of mobile clients in a preset distance range of the towers after the positions, the abnormal types and the priorities of the abnormal towers are known, and sending corresponding tower information, warning information, scheduling information and the like to guide the operation and maintenance personnel to overhaul the specific abnormal towers. Preferably, the mobile client receives the visual image of the client of the detection station, and further judgment and maintenance preparation are facilitated on the basis of the warning information.
Preferably, the remote control subsystem further comprises a recording and counting module, and the recording and counting module is used for recording and updating information of all towers, positions of abnormal towers and abnormal reasons in real time and counting abnormal occurrence rates of all towers. The recording and counting module is not only beneficial to recording tower information and realizing targeted detection and maintenance, but also beneficial to providing reference data during subsequent tower maintenance or tower assembly through recording and counting abnormal towers, so that the condition of causing abnormality is avoided, and the towers and a power grid are more stable.
Preferably, the detection device further comprises an identity recognition device, wherein the identity recognition device performs identity verification on the mobile client and sends a verification result to the detection station client; the remote control subsystem is provided with an external interface, and the external interface is used for transmitting all or part of monitoring data of the tower monitoring system to other systems or equipment. The identity recognition equipment carries out identity recognition on the mobile client, so that the safety of the monitoring system can be improved, and sign-in information and maintenance time can be sent to the client of the detection station in combination with the identity recognition, so that subsequent operation and maintenance arrangement is facilitated. The remote control subsystem is provided with an external interface, so that the transmission of power grid information formed by the tower and the tower to other databases or systems is facilitated, the research of power grids of other organizations is facilitated, and the development of the power grids is promoted.
Preferably, the remote monitoring subsystem further comprises a hardware management module, the hardware management module controls the operation of the detection device and the operation of the tower through the data forwarding device, and the hardware management module further collects state information of the tower, the data forwarding device and the detection device to the client of the detection station, wherein the state information comprises installation information and maintenance times. The hardware management module can monitor each intermediate component in the whole monitoring system, and is beneficial to long-term maintenance and use of each intermediate link in the monitoring system.
Compared with the prior art, the invention has the beneficial effects that: the monitoring system carries out form detection on the tower in real time through the detection device and the remote control subsystem, so that whether the tower is deformed by a main body structure, whether accessories are displaced, whether the accessories are lost and the like is judged, and comprehensive and accurate form detection of the tower is realized. Real-time monitoring of the tower body can be achieved through real-time operation of the detection device and the remote control subsystem, operation faults of the tower caused by potential safety hazards which are easy to omit are avoided, early warning and overhauling before faults are achieved, and damage to a power transmission line caused by the tower is reduced. And the early warning before the tower breaks down can be realized according to the real-time monitoring of the tower body, so that the cost and manpower for maintenance after the fault occurs are reduced. Meanwhile, after the detection data are processed and the abnormity is judged, by establishing a tower model and marking a visual processing result of the warning information, an extra manual operation mode is provided when the system automatically sends the warning information and the scheduling information according to the detection information, and further remote troubleshooting is realized. The positioning equipment can be combined with the position of a known mobile client to send specific scheduling information to the mobile client in real time, so that specific maintenance personnel can be quickly guided to carry out first-aid repair; (ii) a The intelligent management is realized, the maintenance efficiency is also improved, the circuit abnormal time caused by tower abnormity is reduced, and the economic loss caused by power failure in the transmission line area is also avoided. The combination of the detection device, the data forwarding equipment and the remote control subsystem can realize systematic and industrialized tower monitoring, and the stability of the whole system of the power grid is enhanced.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of an image recognition apparatus according to the present invention.
FIG. 3 is a schematic view of the detection device of the present invention.
Fig. 4 is a schematic diagram of a data forwarding network according to the present invention.
Fig. 5 is a visual tower warning page at the client of the detection station of the present invention.
Fig. 6 is a visual control page of the detection station client and the mobile client according to the present invention.
Detailed Description
The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Examples
As shown in fig. 1, a tower image monitoring system includes: the detection device is communicated with the remote control subsystem through the data forwarding equipment, the detection device sends detection data to the remote control subsystem through the data forwarding equipment, the remote control subsystem can also be connected with a tower through the data forwarding equipment, the remote control subsystem controls the operation of the detection device and the tower through the data forwarding equipment, and the tower is controlled to comprise parts controlled by electric signals in the tower.
The detection device in the embodiment comprises image recognition equipment, positioning equipment, environment detection equipment, inclination detection equipment and identity recognition equipment, the detection device further comprises analysis equipment connected with other equipment in the detection device, the analysis equipment is a small computer, data acquired by the other equipment in the detection device can be processed and preliminarily judged through the analysis equipment, and the analysis equipment sends original data and processed data results to the remote control subsystem through the data forwarding equipment. In the embodiment, the remote control subsystem comprises a detection station client and a plurality of mobile clients, analysis equipment sends data to the detection station client, the detection station client directly performs visualization operation according to a preliminary judgment result, visualizes in a mode of establishing a tower distribution model, a tower three-dimensional model and marking warning information according to the preliminary judgment result and a tower position, and intelligently and automatically sends warning information and scheduling information to a specific mobile client according to tower abnormity, an abnormal tower position and a known mobile terminal position; or the client side of the detection station processes the original data again or processes the processing result of the analysis equipment for secondary judgment, and then intelligently and automatically sends the warning information and the scheduling information to the specific mobile client side, so that the probability of false alarm is reduced. And the specific mobile client guides the operation and maintenance personnel correspondingly provided with the mobile client to move to the specific tower for overhauling based on the existing warning information and scheduling information.
As shown in fig. 2, the image recognition device in this embodiment includes a camera device (not shown in the figure) for capturing videos of the tower and a scene around the tower, and a three-dimensional model imaging component for acquiring data for building a three-dimensional model.
This embodiment camera equipment is the high definition camera, three-dimensional model imaging assembly sets up in the shaft tower bottom, including three-dimensional laser scanner, panoramic camera, and a support, wherein three-dimensional laser scanner, panoramic camera movable mounting is on the support, then the support is fixed in bottom on the shaft tower, this embodiment can realize three-dimensional laser scanner and scan a plurality of sides of shaft tower through three-dimensional laser scanner carries out the removal on the horizontal direction on the support, then can realize fore-and-aft scanning through the ascending rotation in vertical direction, thereby improve the comprehensive nature of the collection point cloud data. The panoramic camera is arranged on one side of the three-dimensional laser scanner and moves horizontally along with the three-dimensional laser scanner, and the panoramic camera can rotate to achieve 360-degree image acquisition directions, so that panoramic images at multiple positions and angles can be acquired. And when the three-dimensional laser scanner is not connected with other data analysis equipment in the detection device, the three-dimensional laser scanner is connected with the remote control subsystem through the data forwarding equipment. The scanning measurement of the three-dimensional laser scanner can acquire point cloud data of the tower, a three-dimensional model is established through a detection station client of the remote control subsystem according to the point cloud data, and then the three-dimensional model is compared with a normal three-dimensional model reserved by the remote control subsystem, so that whether parts and other structural forms on the tower main body are abnormal or not is compared. After the tower is built and when the tower is abnormal, the tower is scanned, and the built three-dimensional model is stored and recorded as a normal three-dimensional model; the client of the detection station builds a model according to the three-dimensional point cloud data through a three-dimensional modeling program in the prior art and compares the model with a normal three-dimensional model, and the comparison process comprises the following steps: visualizing a real-time three-dimensional model constructed by the three-dimensional point cloud data; then comparing the real-time three-dimensional model visual image with the normal three-dimensional model visual image; and an error threshold value is set, so that accurate detection of the shape of the tower is realized. In addition, a panoramic camera is used for acquiring a 360-degree panoramic high-definition image with the three-dimensional model imaging assembly as the center, and the panoramic image is sent to a client of the detection station; the method comprises the steps that a remotely connected detection station client generates a three-dimensional model of a scene comprising the tower through an acquired panoramic high-definition image, the matching, correction and splicing of the three-dimensional model of the tower and the tower are carried out by combining the tower three-dimensional model constructed according to point cloud data and utilizing the prior art, and an accurate short-distance range scene three-dimensional model comprising the tower is further established, so that the shape of the tower in a specific scene is accurately monitored. Influence the scanning range of three-dimensional laser scanner even when the shaft tower form takes place great change, when unable three-dimensional model that generates, also can directly obtain the visual image of scene including the shaft tower through panoramic image to judge the position that the shaft tower form takes place violent change, compare in camera equipment, the data bulk of panoramic image transmission is still less, and the shooting range is wider, so utilize panoramic camera can provide instant, quick, the wide image detection data when other scanners or camera equipment can't work.
In this embodiment, an analysis device (not shown in the figure) is provided, so that data acquired by the image acquisition device can also be directly modeled and compared by the analysis device, and a primary judgment result is given to the detection station client, and the detection station client receives the original data and the primary judgment result processed by the analysis device, so that the warning information and the scheduling information are intelligently and automatically sent, or the warning information and the scheduling information are sent after secondary judgment is performed based on the original data and the primary judgment result. When the detection device is not provided with the analysis equipment independently, the detection station client receives the detection data to process, model, compare and give a judgment result.
As shown in fig. 3, the image recognition device, the environment detection device, the inclination detection device, and the identity recognition device are all mounted on a tower, and preferably, the devices can be arranged around the tower or the tower in combination with the shape and the terrain of the tower and mounted at the most convenient angle for detection; the environment detection equipment is used for detecting air flow, temperature and geological motion in the tower environment and comprises a vibration sensor, a temperature sensor and a wind speed and direction sensor which are arranged on a tower. The vibration sensor is arranged at the bottom of the tower, the analysis equipment presets a vibration threshold value, when the vibration detected by the vibration sensor exceeds the threshold value, the tower is in an abnormal environment, namely geological motion occurs, and the warning is sent to help the remote control subsystem to judge whether the potential possibility of failure exists by combining with detection information of other equipment. The temperature sensor is arranged at the bottom of the tower and used for detecting the change of the ambient temperature of the tower, and when the temperature rises sharply and exceeds a preset temperature threshold value of the temperature sensor or the temperature keeps high continuously and exceeds a preset time threshold value, early warning is sent to the remote control subsystem. The wind speed and direction sensor is arranged at the top of the tower, detects the speed and direction of the airflow passing through the tower and sends the airflow to the analysis equipment for processing; the inclination detection device comprises a wireless inclination sensor and an infrared distance measurement sensor, the wireless inclination sensor is arranged at the bottom of the tower and monitors the horizontal or longitudinal inclination degree of the tower in real time, the infrared distance measurement sensor is arranged on a plurality of sides of the tower and measures distance towards the ground, the distance measurement is carried out at intervals, and the analysis device judges whether the ground on the corresponding side collapses or subsides by comparing the change of the ground measurement distance in a specific time range.
The detection device further comprises identity recognition equipment, the identity recognition equipment carries out identity verification on the mobile client and sends a verification result to the detection station client, the identity recognition equipment in the embodiment obtains information of the mobile client through magnetic stripe induction and verifies the information, and the identity recognition equipment is arranged at the bottom of the tower.
As shown in fig. 4, the data forwarding device includes more than one router and a repeater (not shown in the figure), a plurality of towers are connected through the routers to form a star structure, an ad hoc network is formed between the plurality of routers connected with the towers, and the routers are directly or indirectly connected with the remote control subsystem through the repeaters.
The remote control subsystem is provided with an external interface, and the external interface is used for transmitting all or part of monitoring data of the tower monitoring system to other systems or equipment; as shown in fig. 1, the remote control subsystem further includes a mobile terminal scheduling module, where the mobile terminal scheduling module performs fault classification and priority ranking on abnormal towers according to the visual information of the detection station client, and sends warning information and scheduling information to specific mobile clients according to the priorities, positions of the abnormal towers, the number and positions of the mobile clients within a preset distance range. In this embodiment, tower fault positions and types are visualized in the warning information, the mobile terminal scheduling module allocates high priority to the towers connected with the main line through known tower connection lines, and then sends specific warning information and scheduling information according to the mobile client which does not receive the warning information in the tower position pair 20kmm and has a relatively close position, so that idle operation and maintenance personnel are guided to move to a specific tower for maintenance. The tower priority can be identified and sorted manually, and the mobile terminal scheduling module can also automatically sort according to the number of lines or the geographical position and other conditions. The client of the detection station in the embodiment comprises a computer arranged in a working area, the mobile client is a mobile phone or other portable equipment capable of receiving visual information, and the mobile terminal scheduling module is scheduling software of the client of the detection station or external equipment containing the scheduling software.
As shown in fig. 5, one of the visual control interfaces of the client of the monitoring station in the monitoring system includes tower distribution, warning information, and detection time. Preferably, check-in records and management can be carried out on the maintainers by combining the identity recognition equipment, and the routing inspection path is recorded through the position of the mobile client.
The remote monitoring subsystem further comprises a hardware management module and a recording and counting module, wherein the hardware management module controls the operation of the detection device and the operation of tower parts through the data forwarding equipment, and collects the state information of the tower, the data forwarding equipment and the detection device to the client of the detection station, and the state information comprises installation information and maintenance times; the recording and counting module is used for recording and updating information of all towers, positions of abnormal towers and abnormal reasons in real time and counting abnormal occurrence rates of all towers.
As shown in fig. 6, one of the visual control pages of the detection station client can realize real-time monitoring in natural disasters by combining the detection device, tower monitoring early warning and re-coiling in disasters can be realized by using the detection station client and the recording and counting module, the line patrol process can be managed by scheduling the mobile client, positioning the mobile client and the identity recognition device, and the tower with faults can be recorded and analyzed by using the recording and counting module, so that the tower distribution and other settings can be optimized. And the hardware management module can manage a plurality of pieces of hardware in the whole monitoring system. In addition, the client of the detection station can realize multiple functions and monitoring and maintenance of multiple processes based on the existing information and software. As shown in fig. 6, one of the visual control pages of the mobile client can at least realize early warning monitoring, fault monitoring and line patrol guiding by combining the warning information obtained from the client of the detection station, the relative position between the tower and the mobile client, and the identity recognition device.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.
Claims (10)
1. A tower image monitoring system, comprising:
the detection device is arranged on the tower and comprises image identification equipment and positioning equipment, wherein the image identification equipment acquires detection data by scanning the tower, shooting the tower and the tower environment, and the positioning equipment is used for acquiring the current geographic position of the tower;
the data forwarding equipment is connected with the detection devices of the towers, receives the detection data acquired by the detection devices and collects the detection data to the remote control subsystem;
the remote control subsystem comprises more than one detection station client and more than one mobile client, the remote control subsystem processes detection data through the detection station client and visualizes processing results in a mode of establishing a tower model and marking warning information, the detection station client acquires the positions of all the mobile clients and sends warning information and scheduling information to a specific mobile client according to the positions of abnormal towers, and the mobile client guides workers provided with the mobile clients to move to the specific towers for maintenance based on the existing information.
2. The tower image monitoring system according to claim 1, wherein the image recognition device comprises a three-dimensional model imaging component and a camera device, the three-dimensional model imaging component is arranged on the tower, the three-dimensional model imaging component is used for acquiring data for building a three-dimensional model, and the camera device is used for taking a tower video or a scene video including the tower.
3. The tower image monitoring system according to claim 2, wherein the three-dimensional model imaging component comprises a three-dimensional laser scanner and a support, the three-dimensional laser scanner is movably mounted on the support, the support is fixed on the tower, and the three-dimensional laser scanner moves in the horizontal direction and rotates in the vertical direction on the support.
4. The tower image monitoring system according to claim 3, wherein the three-dimensional model imaging assembly further comprises a panoramic camera, and the panoramic camera is movably arranged on the support and moves synchronously with the three-dimensional laser scanner.
5. The tower image monitoring system according to claim 1, wherein the detection device further comprises an analysis device, and an environment detection device and an inclination detection device connected with the analysis device, wherein the environment detection device is used for detecting air flow, temperature and geological motion in the environment including the tower, and the inclination detection device is used for detecting whether the tower is inclined.
6. The tower image monitoring system according to claim 5, wherein the tilt detection device comprises a wireless tilt sensor and infrared distance measurement sensors, the wireless tilt sensor monitors the horizontal or longitudinal tilt degree of the tower in real time, and the infrared distance measurement sensors are arranged on a plurality of sides of the tower and measure distance towards the ground to detect whether the ground on the corresponding side is collapsed.
7. The tower image monitoring system according to claim 1, wherein the detection device further comprises an identity recognition device, and the identity recognition device performs identity verification on the mobile client and sends a verification result to the detection station client; the remote control subsystem is provided with an external interface, and the external interface is used for transmitting all or part of monitoring data of the tower monitoring system to other systems or equipment.
8. The tower image monitoring system according to claim 1, wherein the data forwarding device comprises more than one router and a repeater, a plurality of towers are connected through the router to form a star structure, an ad hoc network is formed among the plurality of routers connected with the towers, and the routers are connected with the remote control subsystem directly or indirectly through the repeater.
9. The tower image monitoring system according to claim 1, wherein the remote control subsystem further comprises a mobile terminal scheduling module, the mobile terminal scheduling module performs fault classification and priority ranking on abnormal towers according to the visual information of the detection station client, and sends warning information and scheduling information to specific mobile clients according to the priority, the positions of the abnormal towers, the number and the positions of the mobile clients within a preset distance range.
10. The tower image monitoring system according to claim 9, wherein the remote monitoring subsystem further comprises a recording and counting module, and the recording and counting module is configured to record and update operation information of all towers, positions of abnormal towers, and abnormal reasons in real time, and count abnormal occurrence rates of all towers.
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| PCT/CN2020/114541 WO2021143164A1 (en) | 2020-01-19 | 2020-09-10 | Tower image monitoring system |
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| CN113284182A (en) * | 2021-04-30 | 2021-08-20 | 浙江中控太阳能技术有限公司 | Camera-based heat absorption tower swing amplitude monitoring method and device |
| CN113221733A (en) * | 2021-05-10 | 2021-08-06 | 国网山东省电力公司鄄城县供电公司 | Power equipment monitoring method and device based on night environment and electronic equipment |
| CN113298937A (en) * | 2021-06-02 | 2021-08-24 | 广州广日电梯工业有限公司 | Method for monitoring elevator door system and device for monitoring elevator door system |
| CN113538847A (en) * | 2021-07-13 | 2021-10-22 | 金华高等研究院 | Artificial intelligence monitoring device that can automatically regulated |
| CN114486925B (en) * | 2021-12-25 | 2023-10-31 | 国网四川省电力公司电力科学研究院 | Intelligent detection method for corrosion on inner side of power transmission line pole tower based on panoramic information |
| CN114486925A (en) * | 2021-12-25 | 2022-05-13 | 国网四川省电力公司电力科学研究院 | Panoramic information-based intelligent detection system and method for corrosion of inner side of power transmission line tower |
| CN114511301A (en) * | 2022-02-28 | 2022-05-17 | 华侨大学 | Method and system for rapidly identifying potential safety hazards in construction site typhoon early warning period |
| CN115358634A (en) * | 2022-10-13 | 2022-11-18 | 国网浙江宁波市鄞州区供电有限公司 | Real-time monitoring method, server and system based on power line pole state |
| CN115900832A (en) * | 2022-12-26 | 2023-04-04 | 国网河北省电力有限公司电力科学研究院 | Multi-dimensional online monitoring system and method for power transmission line tower |
Also Published As
| Publication number | Publication date |
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| WO2021143164A1 (en) | 2021-07-22 |
| CN111291648B (en) | 2020-12-18 |
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