CN114219696A - Line galloping real-time video monitoring system based on FPGA and DSP - Google Patents
Line galloping real-time video monitoring system based on FPGA and DSP Download PDFInfo
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Abstract
The invention discloses a line galloping real-time video monitoring system based on an FPGA and a DSP. The system is based on the FPGA and the DSP, and realizes the functions of image acquisition, image caching, image processing, wireless communication and the like. The system completes complex image processing operation at a data acquisition end by means of the parallel processing capacity of the FPGA and the strong calculation power of the DSP, and finally calculates the target position data of each frame of image; the system uses the 4G module to complete data transmission, and does not need to be paved with line cables for data transmission, so that the system is not complicated, and meanwhile, the data redundancy of transmission is greatly reduced; and the system integrates the image processing operation at the data acquisition end, and does not need to rely on a PC (personal computer) to perform the image processing operation at the data receiving end, thereby greatly enhancing the real-time performance of the monitoring system.
Description
Technical Field
The invention belongs to the field of power transmission lines, and relates to a real-time line galloping video monitoring system based on an FPGA and a DSP.
Background
With the development of social economy and the progress of industry, the demand of various industries in China for electric energy is increased greatly, and the scale of the transmission line of the national power grid is also increased continuously. The normal operation of the transmission line is related to national economic life lines, and is closely related to all walks of life. However, in recent years, natural disasters related to the power transmission line often occur due to various extreme weather bursts, and normal operation of the power transmission line is threatened.
The galloping of the power transmission line is a disaster seriously threatening the operation of the power grid. Once the transmission line is waved, the line is tripped if the transmission line is light, hardware fittings and insulators are damaged, and serious consequences such as strand breakage of a lead, collapse of a tower pole and the like can be caused if the transmission line is heavy. At present, the mainstream line galloping monitoring methods mainly include a galloping monitoring method based on an inertial sensor, a galloping monitoring method based on an optical fiber sensor, a galloping monitoring method based on an image sensor and the like.
In the traditional galloping monitoring method based on the inertial sensor, a series of sensor monitoring nodes are required to be installed on a power transmission line, the installation and maintenance are inconvenient, the periodic calibration is required, and the endurance is insufficient, so that the long-term monitoring is not facilitated. In the traditional galloping monitoring method based on the optical fiber sensor, a large number of optical fiber cables need to be laid, the manufacturing cost is high, the traditional galloping monitoring method is only limited to monitoring of galloping frequency parameters, and the whole-aspect monitoring is not facilitated. The traditional galloping monitoring method based on the image sensor can realize 24-hour all-weather monitoring and all-dimensional monitoring of parameters such as galloping amplitude, frequency and the like. However, the traditional waving monitoring method based on the image sensor needs to transmit image data to a remote PC end for image processing operation, and has the problems of insufficient real-time performance, large data transmission redundancy, complicated cable laying, insufficient portability and the like.
The FPGA has the parallel processing characteristic and can control and finish the functions of acquisition, transmission and the like of mass data. The DSP has strong computing power, and the computing power can be competent for real-time image processing operation. Based on the method, the FPGA and the DSP are combined, and a set of real-time power transmission line galloping video monitoring system is designed.
Disclosure of Invention
The invention discloses a real-time line galloping video monitoring system based on an FPGA and a DSP, aiming at the defects of the existing power transmission line galloping video monitoring system in the aspects of insufficient real-time performance, insufficient convenience, large data receiving and transmitting redundancy and the like. The system is based on the FPGA and the DSP, and realizes the functions of image acquisition, image caching, image processing, wireless communication and the like. The system completes complex image processing operation at a data acquisition end by means of the parallel processing capacity of the FPGA and the strong calculation power of the DSP, and finally calculates the target position data of each frame of image; the system uses the 4G module to complete data transmission, and does not need to be paved with line cables for data transmission, so that the system is not complicated, and meanwhile, the data redundancy of transmission is greatly reduced; and the system integrates the image processing operation at the data acquisition end, and does not need to rely on a PC (personal computer) to perform the image processing operation at the data receiving end, thereby greatly enhancing the real-time performance of the monitoring system.
The invention provides a line galloping real-time video monitoring system based on an FPGA and a DSP; comprises a galloping monitoring target point, a galloping data monitoring part and a galloping data processing part; the galloping data processing part takes the data returned by the galloping data monitoring part as a calculation basis.
The galloping monitoring target point is installed on the power transmission line through the clamp, the appearance characteristics of the galloping monitoring target point are greatly distinguished from the surrounding environment, and the galloping monitoring target point has a self-luminous characteristic under the condition of poor light at night and the like, so that the target identification is conveniently realized.
The galloping data monitoring part comprises an image acquisition module, an FPGA control module, a DSP data processing module, an SDRAM data caching module, a 4G communication module, a power supply module and the like, and all the modules work in a cooperative mode to complete functions of acquisition, caching, processing, data wireless communication and the like of galloping images of the power transmission line.
The image acquisition module adopts a CMOS type digital image sensor, is configured to have high-resolution imaging quality of 1024 multiplied by 720, and transmits field image data of the power transmission line to the FPGA control module for further processing after acquiring the field image data.
The functions to be completed by the FPGA control module are as follows: 1. the system is responsible for controlling the acquisition of image data; 2, the DSP is responsible for data communication with the DSP and controlling the DSP data processing module to carry out a series of processing on the image data; and 3, controlling the 4G communication module to wirelessly send out the target point position information obtained by the DSP processing.
The DSP data processing module is responsible for carrying out series processing on the image data acquired by the image acquisition module, calculating to obtain the coordinate position of the target point finally, and transmitting the coordinate data back to the FPGA control module. The image processing flow comprises the following steps in sequence: image denoising, image enhancement, image graying, threshold segmentation, morphological filtering calculation (erosion filtering), target contour extraction and centroid position calculation.
The SDRAM data caching module is responsible for controlling read-write operation of the SDRAM and finishing temporary caching of image data, and is a bridge for data interaction between the FPGA and the SDRAM.
The 4G communication module wirelessly transmits the centroid position of the target to the data processing terminal based on the 4G network so as to calculate the waving parameters.
Foretell power module comprises lithium cell group and solar panel, and it is mainly responsible for supplying power to all the other modules of waving data monitoring module, ensures the normal development of monitoring work. The lithium battery is matched with the solar power generation panel, so that the cruising ability of the waving data monitoring module is greatly enhanced.
The dance data processing part mainly comprises a data receiving module and an upper computer. The galloping data processing part is responsible for completing wireless receiving, processing, three-dimensional simulation and other works of galloping data.
The data receiving module receives the centroid position data from the dance monitoring module. The data receiving module is based on a 4G network, and is stable in transmission and free of sight distance; after the data are received, the data are transmitted to the upper computer through the RS485 bus.
The LabView platform-based development completed by the upper computer has the characteristics of quick development period, strong flexibility, excellent calculation capacity and complete functions. The functions of the device are as follows: 1. calculating to obtain information such as the frequency, amplitude and the like of the waving on the basis of the centroid position of the target point; 2. performing three-dimensional model restoration simulation of line galloping based on galloping frequency and amplitude; 3. and the data storage, retrieval and filing are carried out. The upper computer is developed based on a LabView platform and has the characteristics of quick development period, strong flexibility, excellent calculation capacity and complete functions. Based on the FPGA and DSP, the line galloping real-time video monitoring system is based on the FPGA and the DSP.
The invention relates to a line galloping real-time video monitoring system based on an FPGA and a DSP.A data acquisition part acquires video image data on the site of a power transmission line and processes a series of complete images through the cooperation of a galloping data monitoring part and a galloping data processing part; the calculation of the waving parameters, the three-dimensional model simulation of the waving state, the storage, calling, filing and the like of the data are completed in the waving data processing part; finally, the system can meet all-weather and all-dimensional monitoring requirements on the galloping of the power transmission line.
Compared with the traditional galloping video monitoring system, the galloping video monitoring system has the remarkable advantages that: 1. by means of the parallel processing advantage of the FPGA and the strong computing capability of the DSP, the system has strong data processing capability, can finish the rapid processing of the image data and has good real-time performance; 2. the system does not need to transmit a large amount of image data, and only needs to send the centroid data of the target point per frame after processing. A large amount of communication cables are not required to be arranged, and the system is simpler and more flexible; 3. a small-volume large-capacity lithium battery is matched with a solar power generation panel to supply power to the waving data monitoring part, so that the cruising ability of the system is greatly enhanced; 4. and carrying out wireless data communication based on the 4G network. The transmission is stable and the distance is considerable; 4. the upper computer developed based on the LabView platform has excellent calculation power and strong functions, and integrates simulation, storage, calling and filing.
Drawings
FIG. 1 is a structural diagram of a real-time line waving video monitoring system based on an FPGA and a DSP;
FIG. 2 is a schematic diagram of a line galloping real-time video monitoring system based on an FPGA and a DSP;
FIG. 3 is an appearance schematic diagram of a galloping monitoring target of the line galloping real-time video monitoring system based on the FPGA and the DSP;
FIG. 4 is a schematic diagram of the working flow of the galloping data acquisition part of the line galloping real-time video monitoring system based on FPGA and DSP;
FIG. 5 is an image processing flow of the line galloping real-time video monitoring system based on FPGA and DSP;
fig. 6 is a frequency amplitude calculation demonstration diagram of the line galloping real-time video monitoring system based on the FPGA and the DSP.
In the figure: 1. a waving monitoring target point; 2. a waving data collecting section; 3. a dance data processing section; 4. an image acquisition module; 5. an FPGA control module; 6. a DSP data processing module; 7. a 4G communication module; 8. SDRAM data buffer module; 9. a power supply module; 10. a data receiving module; 11. and (4) an upper computer.
Detailed Description
The following describes in detail a specific embodiment of the line galloping real-time video monitoring system based on the FPGA and the DSP with reference to the drawings.
As shown in fig. 1 and 2, the line galloping real-time video monitoring system based on the FPGA and the DSP comprises a galloping monitoring target point 1, a galloping data acquisition part 2 and a galloping data processing part 3. The waving data processing part 3 takes the data returned by the waving data acquisition part 2 as a calculation basis. The waving data acquisition part 2 mainly comprises an image acquisition module 4, an FPGA control module 5, a DSP data processing module 6, a 4G communication module 7, an SDRAM data cache module 8 and a power supply module 9. The waving data processing part 3 mainly comprises a data receiving module 10 and an upper computer 11.
As shown in fig. 3, the waving monitoring target point 1 is a square aluminum plate shaped like a "target" and fixed to the power transmission line by a heat clamp. The pattern on the board is a group of black and white rings coated with reflective materials, and has obvious visual characteristics; in addition, the LED infrared light with ultra-low power consumption is arranged on the boundary line of each ring, so that images can be shot in the environment with poor light at night, and the LED infrared light can be controlled to emit light only at night by setting a timer.
The image acquisition module 4 of the patent is an OV5640 camera module, and the FPGA control module 5 consists of a Cyclone IV series EP4E10F17C8 chip of Altera company and Verilog codes written inside; the DSP data processing module 6 consists of a C6748 chip and an internal C language code; the 4G communication module 7 consists of a module of WH-G401tf produced by the company of the people's Internet of things and a mobile traffic card; the SDRAM data buffer module 8 is an MT48LC16M16A2 chip manufactured by magnesium optical company; the power module 9 is a large-capacity lithium battery which is matched with the solar power generation panel to ensure the cruising ability. The modules are connected with other electric components such as resistance and capacitance in a welding way on the PCB to form a waving data acquisition part 2.
The data receiving module 10 of this patent is the module and the mobile traffic card of WH-G401tf that someone thing networking company produced, and host computer 11 is based on Labview development, and data interaction is carried out through serial ports 232 bus to data receiving module 10 and host computer 11. The upper computer 11 is operated and used on a PC computer, and the data receiving module 10 is connected with the PC computer through a USB interface and is powered by the PC computer.
A line galloping real-time video monitoring system based on an FPGA and a DSP can realize real-time monitoring of power transmission line galloping. Before the system works, firstly, firmly installing a galloping monitoring target point 1 and a galloping data acquisition part 3 on a line and a tower pole respectively; setting the working frame rate of the image acquisition module 4, determining the time interval Ts of each frame of image, and calibrating the image acquisition module 4 to obtain an imaging scale, namely the actual displacement of the galloping monitoring target point 1 mapped by each pixel is changed; and finally, after all the devices are installed and detected to be correct, the system is electrified to work.
As shown in fig. 4, after the system is powered on to work, the power module 9 inside the waving data acquisition part 2 supplies power to the image acquisition module 4, the FPGA control module 5, the DSP data processing module 6, the 4G communication module 7, and the SDRAM data cache module 8, and each module is powered on to be initialized first.
After the system is powered on and initialized, the FPGA control module 5 starts to work and controls the image acquisition module 4 to acquire the video data of the power transmission line site.
Because the storage space inside the FPGA is limited, the FPGA control module 5 controls the real-time video data to be stored in the SDRAM data cache module 8 for temporary caching. Meanwhile, the FPGA control module 5 controls the SDRAM data caching module 8 to read cached image data and transmit the image data to the DSP data processing module 6 for calculation processing;
and the DSP data processing module 6 calculates and processes the image data to obtain the position of the centroid of the target point in each frame of image. The processing flow sequentially comprises image denoising, image graying, threshold segmentation, morphological filtering calculation (erosion expansion), target contour extraction and centroid position calculation, as shown in fig. 5. The DSP data processing module 6 is composed of a DSP chip and a peripheral circuit.
The data processing algorithm of the DSP is compiled based on c language, wherein the median filtering algorithm is used for realizing image denoising; converting RGB image data into a gray format to realize image graying, wherein an image graying conversion formula is shown as the following formula:
in the above equation, R, G, B represents the values of the three components of RGB of the pixel, and Y represents the calculated gray-scale value;
the threshold segmentation is implemented as follows: if x and y represent the coordinate positions of pixel points in an image, the gray value of a pixel at a certain frame of image (x and y) can be represented by f (x and y), a threshold range is set to be T, and the image with the pixel value in the threshold range, namely the image after threshold segmentation, is represented by G (x and y), then:
the image after threshold segmentation has salt and pepper noise, which reduces the accuracy of target identification. Therefore, the open operation (firstly corrosion and then expansion) is selected for morphological filtering and denoising; the 'open operation' refers to that the image data is firstly 'corroded' to 'swelled', salt and pepper noise can be well inhibited, the edge information of the image is enhanced, and the accuracy of target detection is favorably enhanced.
And finally, after threshold segmentation and morphological filtering, the pixel values of the target area are true values, and according to the true values, the contour range of the target is extracted. The contour extraction calculation principle is as follows: the upper, lower, left and right boundary points of the target area are found to form a rectangular frame, and the center position of the rectangular frame can be approximate to the centroid position of the substitute target contour. At this point, the calculation of the target position of one frame of image is completed.
After the calculation is finished, the DSP data processing module 6 transmits the centroid position of the target point back to the FPGA control module 5 through the EMIF interface again. The PGA control module 5 controls the 4G communication module 7 to wirelessly transmit the target point centroid position data to the 4G communication module 7 of the data processing part 3.
The data receiving module 10 in the data processing section 3 has the following work flow: the 4G-based network receives the position data of the galloping target point from the 4G communication module 7 and transmits the position data of the galloping target point to the upper computer 11 through an RS485 bus.
The upper computer 11 is developed based on a Labview platform, and an operation interface of the upper computer receives data, calculates the data, saves the data, calls the data, reconstructs operation buttons such as a model and the like; and display controls such as wave diagrams. After receiving the data of the data receiving module 10, the upper computer 11 can complete the following functions:
one is as follows: calculating to obtain parameter information such as amplitude, frequency and the like of line galloping based on the time sequence and numerical value of the data of the galloping target point position;
the second step is as follows: performing three-dimensional model reconstruction on the line galloping based on the amplitude value and the frequency parameter value of the previous step;
and thirdly: and storing, calling, filing and classifying data such as the position of the waving target point, the waving amplitude, the waving frequency and the like.
The upper computer 11 is the most important step for calculating the amplitude and the frequency of the waving, and the calculation process is as follows: and connecting a series of coordinate positions, and connecting a series of coordinate position points transmitted by the data receiving module 10 to restore the motion trail of the waving.
For the calculation of the dancing amplitude: as in fig. 6, each small box represents the position of the dancing monitoring target point 1 in each frame of image, and according to the analysis, we can know that the maximum amplitude of the dancing is the vertical distance between the 6 th and 13 th boxes;
for the calculation of the waving frequency, the time interval Ts of each coordinate position is obtained according to the frame rate of the camera. The 13 th box is set as a reference point, and the lowest point box is found towards the two sides of the field, because the position of the box 17 is not as low as that of the box 6, the time interval between the box 6 and the box 13 can be considered as half of the period, and the waving frequency is the reciprocal of the period. At this point, the amplitude and frequency of the waving are calculated, and the upper computer 11 can perform subsequent work.
In summary, under the cooperative work of the dance monitoring target point 1, the dance data acquisition part 2 and the dance data processing part 3. The FPGA and DSP based real-time line galloping video monitoring system can meet the real-time monitoring requirement on the power transmission line. The system performs data control and processing based on the FPGA and the DSP, and has excellent calculation power and strong real-time performance; the system embeds complex image processing into a data acquisition end to realize, thereby greatly simplifying the complexity of the system and simultaneously reducing the redundancy of data transmission; the upper computer of the system has complete functions, simple operation and good human-computer interaction. Experiments prove that the system is stable in operation and excellent in performance, and finally the design requirements are met.
The technical solutions of the present invention are only illustrated in conjunction with the above-mentioned embodiments, and not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a line galloping real-time video monitoring system based on FPGA and DSP which characterized in that: comprises a waving monitoring target point, a waving data monitoring part and a data processing part; the data processing part takes the data returned by the waving data monitoring part as a calculation basis.
2. The real-time line dancing video monitoring system based on the FPGA and the DSP as set forth in claim 1, wherein: the galloping monitoring target point is installed on the power transmission line through a special clamp, the appearance characteristics of the galloping monitoring target point are distinguishable from the surrounding environment, and the galloping monitoring target point has self-luminous characteristics under the condition of poor light at night and the like, so that the target identification is conveniently realized.
3. The real-time line dancing video monitoring system based on the FPGA and the DSP as set forth in claim 1, wherein: the galloping data monitoring part comprises an image acquisition module, an FPGA control module, a DSP data processing module, a 4G communication module, a power module and the like, and all the modules work cooperatively to complete the functions of acquisition and processing of galloping images of the power transmission line, position calculation of a target point and the like.
4. The line galloping video monitoring system based on the FPGA and the DSP as claimed in claim 1, wherein: the data processing part consists of a 4G receiving module and an upper computer and is responsible for wireless receiving, processing and three-dimensional simulation functions of the waving data.
5. The FPGA and DSP based line galloping real-time video monitoring system of claim 3, wherein: the image acquisition module of the waving data monitoring part adopts a CMOS type digital image sensor, is configured to have high-resolution imaging quality of 1024 x 720 and is responsible for acquiring image data of a power transmission line site.
6. The FPGA and DSP based line galloping real-time video monitoring system of claim 3, wherein: the FPGA control module of the waving data monitoring part is responsible for controlling the collection of image data, controlling the DSP module to perform image processing operation on the image data, and controlling the 4G communication module to send the data after calculation processing to the data processing part.
7. The FPGA and DSP based line galloping real-time video monitoring system of claim 3, wherein: the DSP data processing module of the waving data monitoring part mainly has the functions of: the image data collected by the image collecting module is subjected to a series of processing, the centroid position of a target point is finally obtained and transmitted back to the FPGA module, and the image processing flow sequentially comprises the following steps: image denoising, image enhancement, image graying, threshold segmentation, morphological filtering calculation, target contour extraction and centroid position calculation.
8. The FPGA and DSP based line galloping real-time video monitoring system of claim 3, wherein: the 4G communication module of the dance data monitoring part is responsible for passing through the 4G network with the centroid position of target, wireless transmission gives the data processing end, the power module of the dance monitoring part constitute by lithium cell group and solar panel, be responsible for supplying power to all the other modules of the dance data monitoring module, ensure the normal development of monitoring work.
9. The FPGA and DSP based line galloping real-time video monitoring system of claim 4, wherein: the 4G receiving module of the data processing part can receive data from the waving data monitoring part without viewing distance and transmit the data to the upper computer through the RS485 bus.
10. The FPGA and DSP based line galloping real-time video monitoring system of claim 4, wherein: the upper computer of the data processing part is developed based on a LabView platform, calculates the centroid position of the monitoring point to obtain the galloping frequency and amplitude information, and performs three-dimensional model restoration simulation of line galloping based on the galloping frequency and amplitude to realize the functions of storing, calling and filing data.
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| CN116046076A (en) * | 2023-03-09 | 2023-05-02 | 合肥工业大学 | Online detection system for power transmission line galloping based on machine vision technology |
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