CN111541188A - Power transmission line detection device and method - Google Patents
Power transmission line detection device and method Download PDFInfo
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- CN111541188A CN111541188A CN202010342505.1A CN202010342505A CN111541188A CN 111541188 A CN111541188 A CN 111541188A CN 202010342505 A CN202010342505 A CN 202010342505A CN 111541188 A CN111541188 A CN 111541188A
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- H—ELECTRICITY
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- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/54—Testing for continuity
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- G—PHYSICS
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- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00001—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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- H04N7/00—Television systems
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- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/70—Smart grids as climate change mitigation technology in the energy generation sector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/12—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation
- Y04S10/123—Monitoring or controlling equipment for energy generation units, e.g. distributed energy generation [DER] or load-side generation the energy generation units being or involving renewable energy sources
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Abstract
A power transmission line detection device and method specifically comprise that an inspection robot obtains electric energy through a solar energy and power supply module, stores the electric energy into an internal energy storage module, utilizes the energy storage module to drive the inspection robot to move on a preset power transmission line according to a preset track according to a control instruction, and acquires video image data in a preset direction through at least one image acquisition element; the routing inspection analysis module positions a wire image area of the power transmission line in the video image data through a Hough transformation algorithm according to the video image data; obtaining the position information of the wire in the wire image area through the spectral characteristics and the geometric characteristics of the wire; obtaining wire image data in a wire image area by morphological filtering using the position information of the wire; comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result; the power supply module is arranged on the tower poles at the two ends of the power transmission line and used for charging the inspection robot.
Description
Technical Field
The invention relates to the technical field of power transmission line monitoring, in particular to a power transmission line detection device and method.
Background
The construction of high-voltage power transmission lines inevitably spans large rivers or strait estuaries. Since the span of the power transmission lines across a wide water surface is large, many rivers or straits have navigation requirements, and thus the power transmission lines need to be specially designed. Generally, a power transmission line with a span of more than 1000 meters and a straight line spanning a tower height of more than 100m has a navigation requirement, and needs to be specially designed is called a large-span power transmission line.
Generally, power transmission lines are applied to important power transmission return nodes due to the reasons of complex installation, high cost and the like, and therefore the operation stability of the power transmission lines becomes an important evaluation index; due to the requirements of the fairway mentioned by the reasons, the power transmission line is not only guaranteed not to be scraped by passing ships in design, but also cannot be guaranteed to be supported by a related tower seat at a short distance as a conventional power transmission line due to the fact that the power transmission line is long and the terrain of rivers and strait sections is; therefore, compared with a common power transmission line, the power transmission line has poor stability, but due to the importance and geographical limitation, the power transmission line cannot be maintained frequently by workers, and after all, when the power transmission line is maintained, the potential hazards that the workers climb to a high platform to hang and hang to the power transmission line are all hidden for overhead maintenance, so that the risk is extremely high, and the cost is high.
Moreover, due to the importance of the power transmission line, if the power transmission line is repaired after being damaged, the power transmission line obviously causes great trouble to related downstream power utilization producers, and the power supply producers have insufficient time to make effective adjustment and arrangement; aiming at the situation, the robot is adopted in the industry to carry out risk alarm and carry out detection reminding on some common risks; however, based on the particularity of the power transmission line, the conventional inspection strategies of the robots obviously cannot effectively complete the safety detection of the power transmission line; therefore, a safe and effective inspection device and strategy are needed in the industry to meet the special environmental requirements of the power transmission line.
Disclosure of Invention
The invention aims to provide a power transmission line detection device and a power transmission line detection method, which can realize all-weather monitoring of a power transmission line by replacing a manual maintenance mode, and remind a power supply manufacturer before the power transmission line has a fault risk so as to facilitate the arrangement and the processing of the power supply manufacturer in advance, thereby reducing the unnecessary loss of a downstream power consumption producer.
In order to achieve the purpose, the power transmission line detection device provided by the invention specifically comprises an inspection robot, an inspection analysis module and a power supply module; the inspection robot is used for acquiring electric energy through the solar energy and power supply module, storing the electric energy into an internal energy storage module, driving the inspection robot to move on a preset power transmission line according to a preset track by using the energy storage module according to a control instruction, and acquiring video image data in a preset direction through at least one image acquisition element; the inspection analysis module is in communication connection with the inspection robot and is used for positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm according to the video image data; obtaining the position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire; obtaining wire image data in the wire image area by morphological filtering using the position information of the wire; comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result; and the power supply module is arranged on the tower poles at the two ends of the power transmission line and used for supplying power to the inspection robot.
In the above power transmission line detection device, preferably, the inspection analysis module further includes a monitoring unit, and the monitoring unit is configured to obtain information of electric quantity in the energy storage module, position information of the inspection robot, and an electric energy output quantity of the solar power supply unit within a cycle time; and generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot.
In the above power transmission line detection device, preferably, the device further includes an early warning module, where the early warning module is configured to acquire position information of the inspection robot in real time, and compare the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range.
In the above power transmission line detection apparatus, preferably, the early warning module further includes a weather monitoring device, where the weather monitoring device is configured to obtain current weather data of the power transmission line, and adjust the preset moving range according to the weather data; and the early warning module compares the position information with the adjusted preset moving range.
In the above power transmission line detection device, preferably, the inspection robot further includes an eddy current sensor, and the eddy current sensor is configured to detect a wire in a predetermined power transmission line and generate a strand breakage detection signal; and sending the broken strand detection signal to the inspection analysis module, comparing the broken strand detection signal with a preset broken strand detection threshold value by the inspection analysis module, and generating a broken strand detection result according to a comparison result.
The invention also provides a power transmission line detection method, which comprises the following steps: the method comprises the steps that electric energy is obtained through a solar power supply unit arranged on an inspection robot and power supply modules arranged on tower poles at two ends of a power transmission line, and the electric energy is stored in an energy storage module in the inspection robot; the energy storage module is used for driving the inspection robot to move on a preset power transmission line according to a preset track according to a control instruction, and video image data in a preset direction are collected through at least one image collecting element; according to the video image data, positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm; obtaining the position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire; obtaining wire image data in the wire image area by morphological filtering using the position information of the wire; and comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result.
In the above power transmission line detection method, preferably, the method further includes: acquiring electric quantity information in the energy storage module, position information of the inspection robot and electric energy output quantity of the solar power supply unit in a period time; and generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot.
In the above power transmission line detection method, preferably, the method further includes: acquiring the position information of the inspection robot in real time, and comparing the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range.
In the above power transmission line detection method, preferably, the method further includes: acquiring current meteorological data of the power transmission line, and adjusting the preset moving range according to the meteorological data; and comparing the position information with the adjusted preset moving range.
In the above power transmission line detection method, preferably, the inspection robot further includes: detecting the state of a wire in a preset power transmission line through an eddy current sensor to generate a broken strand detection signal; and comparing the broken strand detection signal with a preset broken strand detection threshold value, and generating a broken strand detection result according to the comparison result.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method when executing the computer program.
The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.
The transmission line detection device and method provided by the invention can replace a manual maintenance mode to realize all-weather monitoring of the transmission line, can effectively reduce the maintenance frequency of workers, and can accurately acquire the lead state of the transmission line and give an alarm in time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of a power transmission line detection apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an inspection robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an inspection analysis module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an inspection analysis module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a power transmission line detection apparatus according to an embodiment of the present invention;
fig. 6A is a schematic structural diagram of a power transmission line detection apparatus according to an embodiment of the present invention;
FIG. 6B is a schematic diagram illustrating the detection principle of the eddy current sensor according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a power transmission line detection method according to an embodiment of the present invention;
FIG. 8 is a flow chart illustrating a power supply strategy according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, unless otherwise specified, the embodiments and features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention.
Additionally, the steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions and, although a logical order is illustrated in the flow charts, in some cases, the steps illustrated or described may be performed in an order different than here.
Referring to fig. 1, the power transmission line detection apparatus provided by the present invention specifically includes: the system comprises a patrol robot, a patrol analysis module and a power supply module; the inspection robot is used for acquiring electric energy through the solar energy and power supply module, storing the electric energy into an internal energy storage module, driving the inspection robot to move on a preset power transmission line according to a preset track by using the energy storage module according to a control instruction, and acquiring video image data in a preset direction through at least one image acquisition element; the inspection analysis module is in communication connection with the inspection robot and is used for positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm according to the video image data; obtaining the position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire; obtaining wire image data in the wire image area by morphological filtering using the position information of the wire; comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result; and the power supply module is arranged on the tower poles at the two ends of the power transmission line and used for supplying power to the inspection robot. Therefore, the inspection robot is used for completing the safety inspection of the line to reduce the inspection work of the staff;
the method for judging whether the damage exists according to the representation image of the power transmission line has the following main principles: the robot can shoot the electric transmission line lead downwards from the ground wire, and the broken strand of the lead is detected by adopting an image processing method; the wire is usually a steel-cored aluminum strand, and has specific spectral attributes under visible light, namely, the gray value of a metal wire in an image is low, and the image of the wire basically penetrates through the whole picture, so that the straight line of the picture is detected according to a Hough transformation algorithm, and the position of the wire in the picture can be identified according to the spectral characteristics and the geometric characteristics of the wire. Through morphological filtering, a complete image of the wire can be obtained. Extracting a connected region of each wire image, fitting a straight line of each connected region, wherein a fitted straight line equation is that y is Kx + B (k represents a slope, and B represents an intercept), calculating the distance from all points in the connected region to the straight line, the sign of the distance above the straight line is positive, the sign of the distance below the straight line is negative, and finally calculating the average value of all the distances, wherein the formula is as follows:
in the above formula, DisiSgn () is a step function for signed distance values from all points in a certain communication region to a straight line;
the threshold value is:
when | a of a certain wireie_disjIf the | is larger than the threshold value, the wire is considered to have the strand breaking defect.
It should be noted that there are other ways to determine the representation image of the power transmission line, and those skilled in the art can also apply the method to the present invention, which is not limited by the present invention.
In actual work, the inspection robot can be hung on a ground wire of a power transmission line by using the existing sliding component, and the image acquisition element at the lower end can be a panoramic high-definition camera, so that image information of roads, rivers, sea areas, the power transmission line and the like can be shot on the power transmission line in a reciprocating manner, so that a worker can know whether the power transmission line has risks such as strand breakage or galloping and relevant data of transport carriers such as passing ships and the like in real time and analyze whether the risk of touching the power transmission line exists in time; meanwhile, the inspection robot is driven by combining the solar energy and the power supply module for power supply, so that the inspection robot has longer working time and can fully realize the purpose of all-weather monitoring; moreover, the power supply mode can effectively reduce the volume and the weight of the energy storage module, namely the battery pack of the robot, so that the inspection efficiency of the robot is improved, and the service efficiency of the robot is improved on the premise of reducing energy loss; the power supply modules arranged at the two ends assist in charging the robot on the basis of keeping the original charging module, so that the robot can obtain working electric energy in a time period when electric energy cannot be provided by solar energy, and the robot can be ensured to have enough electric energy at any time to realize normal operation; furthermore, in the above embodiment, the inspection analysis module may further analyze the effective moving distance of the robot according to the energy storage state of the robot and the supply state of the solar energy to the electric energy, so as to change the control strategy in time, thereby preventing the robot from being on the power transmission line due to power failure and causing the staff to take back the charging manually. Specifically, in an embodiment of the present invention, the inspection analysis module may further be configured to obtain information of an electric quantity in the energy storage module, position information of the inspection robot, and an electric energy output quantity of the solar power supply unit within a cycle time; and generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot, wherein the detailed generation step of the control instruction is explained in the following fig. 3, and the detailed description is not repeated.
Referring to fig. 2, in an embodiment of the present invention, the inspection robot may include a traveling mechanism (not shown), a solar power supply unit, an energy storage module, a collection unit, and a charging slot; the walking mechanism is used for hanging the inspection robot on a power transmission line to be monitored in a sliding mode and controlling the inspection robot to move according to a preset track according to a control instruction; the acquisition unit is used for acquiring video image data in a preset direction through at least one image acquisition element; the solar power supply unit is used for converting solar energy into electric energy and then storing the electric energy to the energy storage module; the charging slot is used for obtaining electric energy through the power supply module and storing the electric energy to the energy storage module. The walking mechanism is the sliding component, the structure can be realized by the prior art, and the invention is not detailed in detail herein; the acquisition unit can also be a plurality of image acquisition elements in the actual work, and then the specific parameters of the shot object are judged by comparing and analyzing the plurality of image acquisition elements, so that the result is more accurate in the subsequent analysis and early warning; the charging slot is a charging component matched with the power supply module, when the power supply module is charged in a contact mode, the charging slot can be a contact socket, when the power supply module is charged in a wireless mode, the charging slot can be a wireless charging induction component, and related technical personnel in the field can select the charging assembly according to actual needs.
Referring to fig. 3, in an embodiment of the present invention, the inspection analysis module may further include a monitoring unit, where the monitoring unit is configured to monitor an electric energy output of the solar power supply unit; when the electric energy output quantity of the solar power supply unit in the period time is lower than a first preset threshold value, outputting the electric quantity information in the energy storage module, the position information of the inspection robot and the electric energy output quantity of the solar power supply unit in the period time to the inspection analysis module; and when the electric energy output of the solar power supply unit in the period time is higher than a second preset threshold value, adjusting the conversion rate of converting solar energy into electric energy by the solar power supply unit according to the energy storage state of the energy storage module. The monitoring unit is used for informing the inspection analysis module to analyze the control strategy in time when the solar energy is not supplied enough, and detecting whether the robot needs to supplement the electric energy or not; when the solar energy is supplied excessively, the conversion rate of the solar energy can be determined according to the energy storage state of the energy storage module, for example, the default conversion rate of the solar power supply unit is the maximum, and at the moment, the electric quantity of the energy storage module is close to a full value, the conversion rate of the solar power supply unit for converting the solar energy into the electric energy is correspondingly reduced, so that the electric energy converted by the solar power supply unit is enough for the robot to operate; when the electric quantity of the energy storage module is low, the conversion rate of the solar power supply unit can be kept unchanged, the excess electric energy is used for charging the energy storage module, and a corresponding controllable instruction is output, so that the purpose of self-adaptive power supply is achieved.
Referring to fig. 4, in an embodiment of the present invention, the inspection analysis module may further include a distance determination unit and an environmental data detection unit, where the distance determination unit is configured to calculate, according to the position information of the inspection robot, a first distance value at which the inspection robot moves to a next power supply module according to a preset track and a second distance value from a nearest power supply module; and calculating the effective moving distance of the inspection robot according to the information of the electric quantity in the energy storage module, comparing the moving distance with a first distance value and a second distance value respectively, and outputting a control instruction according to the comparison result to control the inspection robot to move according to a preset track. Further, the environment data detection unit may further perform compensation calculation reference on the distance determination unit, and specifically, the environment data detection unit is configured to obtain temperature and humidity data of the power transmission line, and obtain a power consumption coefficient of the inspection robot according to the temperature and humidity data; calculating the effective moving distance of the inspection robot according to the power consumption coefficient and the electric quantity information in the energy storage module; therefore, the effective moving distance of the robot is accurately calculated by utilizing the power consumption coefficient calculated by a test in advance and combining the current temperature and humidity conditions, so that the current robot is judged not to have the risk of no power supply without reaching the power supply module, and a power supply strategy is given to enable the robot to continuously move to a subsequent power supply module for charging or return to a power supply module at a close point for charging; the robot can be more effectively ensured not to be powered off in the operation process.
Referring to fig. 5, in an embodiment of the present invention, the apparatus further includes an early warning module, where the early warning module is configured to obtain position information of the inspection robot in real time, and compare the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range. Therefore, when the early warning module finds that the position of the robot is not the conventional position area of the power transmission line, the robot represents that the power transmission line is waved, and the power transmission line is damaged at the moment, so that whether the power transmission line is waved or not can be judged by utilizing the position information of the robot running on the power transmission line in the embodiment; it should be noted that the preset movement range can be set by related staff in the field according to actual situations, and the present invention is not limited herein; further, in order to avoid false alarm caused by normal swing of the power transmission line due to weather, in the above embodiment, the early warning module may further include a weather monitoring device, where the weather monitoring device is configured to obtain current weather data of the power transmission line, and adjust the preset moving range according to the weather data; the early warning module compares the position information with the adjusted preset activity range, so that weather data are further applied to reduce the occurrence of misjudgment; as for how to adjust the preset activity range according to the meteorological data in the embodiment, a common advance test can be adopted to give out a correlation coefficient, a corresponding table is established according to the corresponding relation among the meteorological data, the correlation coefficient and the activity range, and then the activity range is adjusted according to the corresponding correlation coefficient obtained by the meteorological data; of course, other calculation methods may be used, and the present invention is not further limited herein.
Referring to fig. 6A and 6B, in an embodiment of the present invention, the inspection robot may further include an eddy current sensor, where the eddy current sensor is configured to detect a wire in a predetermined power transmission line to generate a strand breakage detection signal; and comparing the broken strand detection signal with a preset broken strand detection threshold value, and generating a prompt signal according to a comparison result. Specifically, the broken strand detection principle adopted by the eddy current sensor is as follows: when the ground wire is broken, starting the eddy current sensor to detect the broken strands of the ground wire when the robot walks along the ground wire; the eddy current sensor generates an alternating magnetic field through an exciting coil of alternating current, so that the surface of a transmission line generates an eddy current, and the eddy current can generate a magnetic field to act on the coil, so that the electrical parameters of the coil are changed, and the impedance and the voltage of the coil are changed. Therefore, when the eddy current is distorted due to a strand break of the ground wire, the defect position can be specified based on the position information of the robot when the distortion occurs.
Referring to fig. 7, the present invention further provides a method for detecting a power transmission line, the method including: s701, electric energy is obtained through a solar power supply unit arranged on the inspection robot and power supply modules arranged on tower poles at two ends of a power transmission line, and the electric energy is stored in an energy storage module in the inspection robot; s702, driving the inspection robot to move on a preset power transmission line according to a preset track by using the energy storage module according to a control instruction, and acquiring video image data in a preset direction through at least one image acquisition element; s703, positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm according to the video image data; s704, obtaining position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire; s705 obtaining conducting wire image data in the conducting wire image area through morphological filtering by utilizing the position information of the conducting wire; s706, conducting wire image data in two adjacent frames of images in the video image data are compared, and a strand breakage detection result is generated according to the comparison result.
In an embodiment of the invention, the method can also obtain the electric quantity information in the energy storage module, the position information of the inspection robot and the electric energy output quantity of the solar power supply unit in the period time; generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot; specifically, please refer to fig. 8, which includes: s801, monitoring the electric energy output quantity of the solar power supply unit; s802, when the electric energy output quantity of the solar power supply unit in the period time is lower than a first preset threshold value, outputting the electric quantity information in the energy storage module, the position information of the inspection robot and the electric energy output quantity of the solar power supply unit in the period time to the inspection analysis module; s803, when the electric energy output of the solar power supply unit in the period time is higher than a second preset threshold value, adjusting the conversion rate of the solar power supply unit for converting solar energy into electric energy according to the energy storage state of the energy storage module; the specific application of this embodiment has been described in detail in the foregoing embodiments, and therefore, the present invention is not described in detail herein.
In the above embodiment, generating a control instruction according to the electric quantity information, the position information, and the electric energy output quantity, and outputting the control instruction to the inspection robot includes: calculating a first distance value of the inspection robot moving to the next power supply module according to a preset track and a second distance value of the inspection robot from the nearest power supply module according to the position information of the inspection robot; and calculating the effective moving distance of the inspection robot according to the information of the electric quantity in the energy storage module, comparing the moving distance with a first distance value and a second distance value respectively, and outputting a control instruction according to the comparison result to control the inspection robot to move according to a preset track. Wherein, according to electric quantity information calculation in the energy storage module effective displacement who patrols and examines the robot still contains: acquiring temperature and humidity data of a power transmission line, and acquiring a power consumption coefficient of the inspection robot according to the temperature and humidity data; and calculating the effective moving distance of the inspection robot according to the power consumption coefficient and the electric quantity information in the energy storage module.
In an embodiment of the present invention, the method may further include: acquiring the position information of the inspection robot in real time, and comparing the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range. Specifically, comparing the position information with a preset moving range further includes: acquiring current meteorological data of the power transmission line, and adjusting the preset moving range according to the meteorological data; and comparing the position information with the adjusted preset moving range.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method when executing the computer program.
The present invention also provides a computer-readable storage medium storing a computer program for executing the above method.
The power transmission line detection device and method provided by the invention can replace a manual maintenance mode to realize all-weather monitoring of the power transmission line, can effectively reduce the maintenance frequency of workers, and can be convenient for ships to know possible risks to avoid in advance.
As shown in fig. 9, the electronic device 600 may further include: communication module 110, input unit 120, audio processing unit 130, display 160, power supply 170. It is noted that the electronic device 600 does not necessarily include all of the components shown in FIG. 9; furthermore, the electronic device 600 may also comprise components not shown in fig. 9, which may be referred to in the prior art.
As shown in fig. 9, the central processor 100, sometimes referred to as a controller or operational control, may include a microprocessor or other processor device and/or logic device, the central processor 100 receiving input and controlling the operation of the various components of the electronic device 600.
The memory 140 may be, for example, one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, or other suitable device. The information relating to the failure may be stored, and a program for executing the information may be stored. And the central processing unit 100 may execute the program stored in the memory 140 to realize information storage or processing, etc.
The input unit 120 provides input to the cpu 100. The input unit 120 is, for example, a key or a touch input device. The power supply 170 is used to provide power to the electronic device 600. The display 160 is used to display an object to be displayed, such as an image or a character. The display may be, for example, an LCD display, but is not limited thereto.
The memory 140 may be a solid state memory such as Read Only Memory (ROM), Random Access Memory (RAM), a SIM card, or the like. There may also be a memory that holds information even when power is off, can be selectively erased, and is provided with more data, an example of which is sometimes called an EPROM or the like. The memory 140 may also be some other type of device. Memory 140 includes buffer memory 141 (sometimes referred to as a buffer). The memory 140 may include an application/function storage section 142, and the application/function storage section 142 is used to store application programs and function programs or a flow for executing the operation of the electronic device 600 by the central processing unit 100.
The memory 140 may also include a data store 143, the data store 143 for storing data, such as contacts, digital data, pictures, sounds, and/or any other data used by the electronic device. The driver storage portion 144 of the memory 140 may include various drivers of the electronic device for communication functions and/or for performing other functions of the electronic device (e.g., messaging application, address book application, etc.).
The communication module 110 is a transmitter/receiver 110 that transmits and receives signals via an antenna 111. The communication module (transmitter/receiver) 110 is coupled to the central processor 100 to provide an input signal and receive an output signal, which may be the same as in the case of a conventional mobile communication terminal.
Based on different communication technologies, a plurality of communication modules 110, such as a cellular network module, a bluetooth module, and/or a wireless local area network module, may be provided in the same electronic device. The communication module (transmitter/receiver) 110 is also coupled to a speaker 131 and a microphone 132 via an audio processor 130 to provide audio output via the speaker 131 and receive audio input from the microphone 132 to implement general telecommunications functions. Audio processor 130 may include any suitable buffers, decoders, amplifiers and so forth. In addition, an audio processor 130 is also coupled to the central processor 100, so that recording on the local can be enabled through a microphone 132, and so that sound stored on the local can be played through a speaker 131.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. The power transmission line detection device is characterized by comprising an inspection robot, an inspection analysis module and a power supply module;
the inspection robot is used for acquiring electric energy through the solar energy and power supply module, storing the electric energy into an internal energy storage module, driving the inspection robot to move on a preset power transmission line according to a preset track by using the energy storage module according to a control instruction, and acquiring video image data in a preset direction through at least one image acquisition element;
the inspection analysis module is in communication connection with the inspection robot and is used for positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm according to the video image data; obtaining the position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire; obtaining wire image data in the wire image area by morphological filtering using the position information of the wire; comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result;
and the power supply module is arranged on the tower poles at the two ends of the power transmission line and used for supplying power to the inspection robot.
2. The power transmission line detection device according to claim 1, wherein the inspection analysis module further comprises a monitoring unit, and the monitoring unit is used for acquiring electric quantity information in the energy storage module, position information of the inspection robot and electric energy output quantity of the solar power supply unit within a period time; and generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot.
3. The power transmission line detection device according to claim 1, further comprising an early warning module, wherein the early warning module is used for acquiring the position information of the inspection robot in real time and comparing the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range.
4. The power transmission line detection device of claim 3, wherein the early warning module further comprises a weather monitoring device, the weather monitoring device is configured to obtain current weather data of the power transmission line, and adjust the preset movement range according to the weather data; and the early warning module compares the position information with the adjusted preset moving range.
5. The power transmission line detection device according to claim 1, wherein the inspection robot further comprises an eddy current sensor, and the eddy current sensor is used for detecting a wire in a preset power transmission line and generating a broken strand detection signal; and sending the broken strand detection signal to the inspection analysis module, comparing the broken strand detection signal with a preset broken strand detection threshold value by the inspection analysis module, and generating a broken strand detection result according to a comparison result.
6. A method for detecting a power transmission line, the method comprising:
the method comprises the steps that electric energy is obtained through a solar power supply unit arranged on an inspection robot and power supply modules arranged on tower poles at two ends of a power transmission line, and the electric energy is stored in an energy storage module in the inspection robot;
the energy storage module is used for driving the inspection robot to move on a preset power transmission line according to a preset track according to a control instruction, and video image data in a preset direction are collected through at least one image collecting element;
according to the video image data, positioning a wire image area of the power transmission line in the video image data through a Hough transformation algorithm;
obtaining the position information of the conducting wire in the conducting wire image area through the spectral characteristics and the geometric characteristics of the conducting wire;
obtaining wire image data in the wire image area by morphological filtering using the position information of the wire;
and comparing the wire image data in two adjacent frames of images in the video image data, and generating a strand breakage detection result according to the comparison result.
7. The method of claim 6, further comprising: acquiring electric quantity information in the energy storage module, position information of the inspection robot and electric energy output quantity of the solar power supply unit in a period time; and generating a control instruction according to the electric quantity information, the position information and the electric energy output quantity, and outputting the control instruction to the inspection robot.
8. The method of claim 7, further comprising: acquiring the position information of the inspection robot in real time, and comparing the position information with a preset moving range; and generating an alarm signal when the position information exceeds a preset moving range.
9. The method of claim 8, further comprising: acquiring current meteorological data of the power transmission line, and adjusting the preset moving range according to the meteorological data; and comparing the position information with the adjusted preset moving range.
10. The power transmission line detection method according to claim 6, wherein the inspection robot further comprises: detecting the state of a wire in a preset power transmission line through an eddy current sensor to generate a broken strand detection signal; and comparing the broken strand detection signal with a preset broken strand detection threshold value, and generating a broken strand detection result according to the comparison result.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 6 to 10 when executing the computer program.
12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 6 to 10.
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Application publication date: 20200814 |