CN114820526A - Detection management method, device and system for construction hidden danger of power transmission line - Google Patents
Detection management method, device and system for construction hidden danger of power transmission line Download PDFInfo
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Abstract
The invention discloses a method, a device and a system for detecting and managing construction hidden dangers of a power transmission line. The detection management device comprises an acquisition calculation unit, a mechanical identification unit and a detection judgment unit. The detection management system comprises a detection management module, a data storage module and a monocular camera. The height-limiting warning line is calculated and defined in advance, and the construction machinery detection model with the SSD-MobileNet neural network structure is used for detecting the construction image of the line to be detected and managed, so that the detection management method, the detection management device and the detection management system improve the monitoring efficiency and reduce the data transmission pressure; furthermore, the detection management method, the device and the system for the construction hidden danger of the power transmission line flexibly judge whether remote early warning is needed or not according to the detection result of the hidden danger, so that the data transmission pressure is further reduced.
Description
Technical Field
The invention relates to the field of detection and management of construction hidden dangers of power transmission lines, in particular to a method, a device and a system for detection and management of construction hidden dangers of power transmission lines.
Background
Because the power transmission lines are widely and densely distributed, a large number of roads, ports, building construction places and power transmission line channels are overlapped, a large number of machines with strong destructive power, large working radius and ultrahigh strength exist in a construction site, such as cranes, tower cranes and excavators, and in order to prevent the hidden danger equipment from damaging a power transmission system, the hidden danger targets need to be continuously monitored in real time.
In the prior art, because the image video equipment has the advantages of low manufacturing cost and capability of visually reflecting the field situation, the image video equipment is widely applied to a power grid monitoring system to manually detect, identify and early warn construction hidden dangers.
However, because the total amount of the monitoring terminal equipment is large, operation and maintenance personnel cannot track the state of the used line at the same time, so that the monitoring efficiency is low; meanwhile, the amount of data carried by the video image is large and most of the data is repeated data, so that the load of data transmission is large.
Therefore, a method, a device and a system for detecting and managing the hidden construction troubles of the power transmission line are needed at present.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a method, an apparatus, and a system for detecting and managing hidden troubles in power transmission line construction, so as to improve monitoring efficiency and reduce data transmission pressure.
The invention provides a detection management method for construction hidden dangers of a power transmission line, which comprises the following steps: calibrating an internal reference matrix of the monocular camera according to a Zhang Zhengyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix; acquiring a line construction image to be managed, and inputting the line construction image into a preset construction machinery detection model to obtain a detection result; the construction machinery detection model has an SSD-Mobile Net neural network structure; and acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
In one embodiment, before calibrating an internal reference matrix of a monocular camera according to the Zhang friend calibration method and calculating a limit-of-height alarm line from the internal reference matrix, the detection management method further includes: acquiring a plurality of historical construction hidden danger images, respectively marking out the external rectangles and the types of construction machinery in each historical construction hidden danger image, and correspondingly acquiring a first historical construction hidden danger image; respectively zooming each first historical construction hidden danger image to a preset size so as to correspondingly obtain a second historical construction hidden danger image; and inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training to obtain a construction machinery detection model.
In one embodiment, calibrating an internal reference matrix of a monocular camera according to a Zhang Zhengyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix, specifically comprises: determining an internal reference matrix of the camera by a Zhang-Yongyou calibration method and a preset four-parameter model; and calculating to obtain a height-limiting warning line according to the internal reference matrix and a preset height-limiting warning surface standard.
In one embodiment, the detection management method further includes: judging whether remote early warning is needed or not according to the detection result of the hidden danger; and if so, sending early warning data and storing the early warning data into a historical early warning data group.
In one embodiment, determining whether remote early warning is needed according to the detection result of the hidden danger specifically includes: judging whether the hidden danger detection result has ultrahigh hidden danger or not; if the potential hazards are ultrahigh, judging whether the historical early warning data group has early warning data or not; if no early warning data exists in the historical early warning data group, remote early warning is needed; if the historical early warning data group contains early warning data, calculating the time interval between first detection time corresponding to the hidden danger detection result and second detection time corresponding to the early warning data closest to the first detection time, and judging whether the time interval is greater than a preset interval threshold value; if the time interval is larger than a preset interval threshold, remote early warning is needed; if the time interval is not greater than a preset interval threshold, judging whether the first number of the ultra-high potential hazards in the potential hazard detection result is greater than the second number of the ultra-high potential hazards in the early warning data corresponding to the majority of second detection time; if the first number is larger than the second number, remote early warning is needed.
The invention also provides a detection management device for the construction hidden danger of the power transmission line, which comprises a calibration calculation unit, a mechanical identification unit and a detection judgment unit, wherein the calibration calculation unit is used for calibrating the internal reference matrix of the monocular camera according to a Zhang-Zhengyou calibration method and calculating the height-limiting warning line according to the internal reference matrix; the mechanical identification unit is used for acquiring a line construction image to be managed, inputting the line construction image into a preset construction mechanical detection model and acquiring a detection result; the construction machinery detection model has an SSD-Mobile Net neural network structure; the detection judgment unit is used for acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
In one embodiment, the detection management apparatus further comprises a model training unit configured to: acquiring a plurality of historical construction hidden danger images, respectively marking out the external rectangles and the types of construction machinery in each historical construction hidden danger image, and correspondingly acquiring a first historical construction hidden danger image; respectively zooming each first historical construction hidden danger image to a preset size so as to correspondingly obtain a second historical construction hidden danger image; and inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training to obtain a construction machinery detection model.
In one embodiment, the detection management apparatus further comprises a remote early warning unit configured to: judging whether remote early warning is needed or not according to the detection result of the hidden danger; and if so, sending early warning data and storing the early warning data into a historical early warning data group.
The invention also provides a detection management system for the construction hidden danger of the power transmission line, which comprises a detection management module, a data storage module and a monocular camera, wherein the detection management module, the data storage module and the monocular camera are in communication connection, the data storage module is used for storing all data, the detection management module is used for executing the detection management method for the construction hidden danger of the power transmission line, and the monocular camera is used for collecting and sending a line construction image to be detected and managed to the detection management module.
In one embodiment, the detection management system further includes a user interaction module, and the user interaction module is configured to receive the early warning data sent by the detection management module, and send the early warning data to a user.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the invention provides a method, a device and a system for detecting and managing construction hidden dangers of a power transmission line.
Furthermore, the detection management method, the device and the system for the construction hidden danger of the power transmission line flexibly judge whether remote early warning is needed or not according to the detection result of the hidden danger, so that the data transmission pressure is further reduced.
Drawings
The invention will be further described with reference to the accompanying drawings, in which:
fig. 1 shows a flowchart of an embodiment of a method for detecting and managing a construction hidden danger of a power transmission line according to the present invention;
FIG. 2 illustrates one embodiment of a spatial relationship diagram of a height-limiting warning surface and a camera;
fig. 3 is a flowchart illustrating another embodiment of a method for detecting and managing a construction hidden danger of a power transmission line according to the present invention;
fig. 4 is a structural diagram of an embodiment of a detection management device for a construction hidden danger of a power transmission line according to the invention;
fig. 5 is a structural diagram illustrating an embodiment of a system for detecting and managing a construction hidden danger of a power transmission line according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Detailed description of the preferred embodiment
The embodiment of the invention firstly describes a detection and management method for the construction hidden danger of the power transmission line. Fig. 1 shows a flowchart of an embodiment of a method for detecting and managing a construction hidden danger of a power transmission line according to the present invention.
As shown in fig. 1, the detection management method includes the following steps:
and S1, calibrating the internal reference matrix of the monocular camera according to the Zhangyingyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix.
Because the identification of the construction hidden danger relates to the detection of the height of the construction machinery in the image, and different camera internal parameters are different, after the line construction image to be managed is obtained, the internal parameters of the monocular camera need to be calibrated, so that the height limit warning line is calculated.
Fig. 2 illustrates one embodiment of a spatial relationship diagram of a height-limiting warning surface and a camera.
Specifically, the internal reference matrix K of the camera is determined using the zhangnyou calibration method. Wherein, the internal reference matrix adopts a four-parameter model:
wherein f is x ，f y The equivalent focal lengths of the camera in the x and y directions respectively, (u) 0 ，v 0 ) Is the principal point coordinate of the imaging of the camera optical axis on the picture. Then, according to the characteristics of geometric imaging of the camera, the image of the spatial plane passing through the optical axis is a straight line, the spatial plane perpendicular to the imaging plane passing through the optical axis of the camera is used as a height-limiting warning plane, and the image of the plane is used as a height-limiting warning line. According to the obtained principal point coordinates (u) 0 ，v 0 ) And calculating a warning line on the image: y-v 0 。
In one embodiment, calibrating an internal reference matrix of a monocular camera according to a Zhang Zhengyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix, specifically comprises: determining an internal reference matrix of the camera through a Zhang-Yongyou calibration method and a preset four-parameter model; and calculating to obtain a height-limiting warning line according to the internal reference matrix and a preset height-limiting warning surface standard.
After the height limit boundary line is obtained through calculation, the calibrated camera is installed on the tower, the optical axis of the camera is lower than the lowest point of the wire and is parallel to the direction of the wire as much as possible, and therefore the spatial relationship between the height limit warning surface standard and the camera is as shown in fig. 2.
And S2, acquiring a line construction image to be managed, and inputting the line construction image into a preset construction machine detection model to obtain a detection result.
The construction machinery detection model has an SSD-Mobile Net neural network structure. The detection result includes a type of the construction machine and a position of the construction machine. The construction machine position includes image coordinates of an upper left point and a lower right point of a circumscribed rectangle of the construction machine in the image.
Zooming the line construction image shot by the camera into a preset model input size: 300 × 300. Inputting the zoomed line construction image into a preset construction machine detection model, and detecting the normalized position and confidence of the construction machine on the zoomed image:
(x 1 ,y 1 ,x 2 ,y 2 ,s)；
wherein (x) 1 ,y 1 ) Normalized image coordinates for the upper left point of the rectangle, (x) 2 ,y 2 ) Normalized image coordinates of the lower right point of the rectangle, s is the confidence of the detection result, x 1 ,y 1 ,x 2 ,y 2 Is given a value of [0, 1 ]]。
Then, according to a preset confidence threshold T s Screening out all threshold values greater than T s The detection result of (1). The detected normalized coordinates are converted into image coordinates of the picture:
wherein W and H are respectively the width and height of the picture shot by the camera (x' 1 ,y′ 1 )、(x′ 2 ,x′ 2 ) Respectively, the upper left of the circumscribed rectangle of the construction machinePoint, bottom right point.
And S3, acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
After the detection result is obtained, the construction machinery can be classified into the ultra-high hidden danger and the non-ultra-high hidden danger according to the image coordinates of the upper left point and the lower right point of the circumscribed rectangle of the construction machinery in the image in the detection result and the height limiting warning line obtained by calculation in the previous step. Specifically, the highest point y 'of the construction machine in the image is calculated' 1 And a distance D from the image y-axis of the elevation limit warning line, thereby determining the type of the construction machine according to the distance D. In one embodiment, when the distance D is greater than or equal to 0, the corresponding construction machine is an ultra-high potential hazard; and when the distance D is less than 0, the corresponding construction machine is not ultra-high hidden trouble.
In one embodiment, the distance D is calculated as:
D＝y′ 1 -v 0 ；
of formula (II) to (III)' 1 Is an ordinate value, v, of an upper left point (or an upper right point) of a circumscribed rectangle of the construction machine 0 Is the ordinate value of the principal point coordinate.
The embodiment of the invention describes a detection management method for construction hidden dangers of a power transmission line, which is characterized in that a height limit warning line is calculated and defined in advance, and a construction machinery detection model with an SSD-Mobile Net neural network structure is used for detecting a construction image of a line to be detected and managed.
Detailed description of the invention
Furthermore, the embodiment of the invention also describes a detection and management method for the construction hidden danger of the power transmission line. Fig. 3 shows a flowchart of another embodiment of the detection management method for the construction hidden danger of the power transmission line according to the present invention.
As shown in fig. 3, the detection management method includes the following steps:
a1, obtaining a plurality of historical construction hidden danger images, respectively marking out the external rectangles and the types of the construction machines in the historical construction hidden danger images, and correspondingly obtaining a first historical construction hidden danger image.
The circumscribed rectangle uses a normalized four-dimensional vector (x) 1 ,y 1 ,x 2 ,y 2 ) Expression of (x) wherein 1 ,y 1 ) Normalized image coordinates for the upper left point of the rectangle, (x) 2 ,y 2 ) Normalized image coordinates of the lower right point of the rectangle.
And A2, zooming each first historical construction hidden danger image to a preset size respectively to correspondingly obtain a second historical construction hidden danger image.
In one embodiment, the predetermined size is 300 × 300.
A3, inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training to obtain a construction machinery detection model.
A4, calibrating an internal reference matrix of the monocular camera according to a Zhang Zhengyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix.
Because the identification of the construction hidden danger relates to the detection of the height of the construction machine in the image, and different camera internal parameters are different, the internal parameters of the monocular camera are calibrated before the construction machine detection is carried out on the construction image, so that the height limit warning line is calculated.
Fig. 2 illustrates one embodiment of a spatial relationship diagram of a height-limiting warning surface and a camera.
Specifically, the internal reference matrix K of the camera is determined using the zhangnyou calibration method. Wherein, the internal reference matrix adopts a four-parameter model:
wherein f is x ，f y The equivalent focal lengths of the camera in the x and y directions respectively, (u) 0 ，v 0 ) Is the principal point coordinate of the imaging of the camera optical axis on the picture. Then, according to the characteristics of the geometric imaging of the camera, the image of the spatial plane passing through the optical axis is a straight line, the spatial plane perpendicular to the imaging plane passing through the optical axis of the camera is used as a height-limiting warning plane, and the image of the plane is used as a height-limiting warning line. According to the obtained principalPoint coordinates (u) 0 ，v 0 ) And calculating a warning line on the image: y-v 0 。
In one embodiment, the calibrating an internal reference matrix of the monocular camera according to a Zhang-friend calibration method, and calculating a height-limiting warning line according to the internal reference matrix specifically includes: determining an internal reference matrix of the camera through a Zhang-Yongyou calibration method and a preset four-parameter model; and calculating to obtain a height-limiting warning line according to the internal reference matrix and a preset height-limiting warning surface standard.
After the height limit boundary line is obtained through calculation, the calibrated camera is installed on the tower, the optical axis of the camera is lower than the lowest point of the wire and is parallel to the direction of the wire as much as possible, and therefore the spatial relationship between the height limit warning surface standard and the camera is as shown in fig. 2.
A5, acquiring a line construction image to be managed, and inputting the line construction image into a preset construction machine detection model to obtain a detection result.
The construction machinery detection model has an SSD-Mobile Net neural network structure. The detection result includes a type of the construction machine and a position of the construction machine. The construction machine position includes image coordinates of an upper left point and a lower right point of a circumscribed rectangle of the construction machine in the image.
Zooming the line construction image shot by the camera into a preset model input size: 300 × 300. Inputting the zoomed line construction image into a preset construction machine detection model, and detecting the normalized position and confidence of the construction machine on the zoomed image:
(x 1 ,t 1 ,x 2 ,y 2 ,s)；
wherein (x) 1 ,y 1 ) Normalized image coordinates for the upper left point of the rectangle, (x) 2 ,y 2 ) Normalized image coordinates of the lower right point of the rectangle, s is the confidence of the detection result, x 1 ,y 1 ,x 2 ,y 2 And s has a value of [0, 1 ]]。
Then, according to a preset confidence threshold T s Screening out all threshold values greater than T s The detection result of (1). Detection ofThe measured normalized coordinates are converted into image coordinates of the picture:
wherein W and H are respectively the width and height of the picture shot by the camera (x' 1 ,y′ 1 )、(x′ 2 ,x′ 2 ) The image coordinates of the upper left point and the lower right point of the circumscribed rectangle of the construction machine are respectively.
A6: and acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
After the detection result is obtained, the construction machinery can be classified into the ultra-high hidden danger and the non-ultra-high hidden danger according to the image coordinates of the upper left point and the lower right point of the circumscribed rectangle of the construction machinery in the image in the detection result and the height limiting warning line obtained by calculation in the previous step. Specifically, the highest point y 'of the construction machine in the image is calculated' 1 And a distance D from the image y-axis of the elevation limit warning line, thereby determining the type of the construction machine according to the distance D. In one embodiment, when the distance D is greater than or equal to 0, the corresponding construction machine is an ultra-high potential hazard; and when the distance D is less than 0, the corresponding construction machine is not ultra-high hidden trouble.
In one embodiment, the distance D is calculated as:
D＝y′ 1 -v 0 ；
of formula (II) to (III)' 1 Is an ordinate value, v, of an upper left point (or an upper right point) of a circumscribed rectangle of the construction machine 0 Is the ordinate value of the principal point coordinate.
After the hidden danger detection result is obtained, whether remote early warning is needed or not can be determined according to the hidden danger detection result so that a user can take measures in time aiming at the corresponding hidden danger.
In one embodiment, the detection management method further includes: judging whether remote early warning is needed or not according to the detection result of the hidden danger; and if so, sending early warning data and storing the early warning data into a historical early warning data group.
In particular toThe judging method comprises the following steps: if the current early warning information is the first warning, performing remote early warning; otherwise, calculating the time interval delta t from the last report, and if delta t is not the last report, calculating the time interval delta t>T time If yes, performing remote early warning; otherwise, calculating the number N of the ultra-high hidden dangers in the current alarm data c And the number N of the medium-high potential hazards in the previous early warning data l Make a comparison if
Then a remote early warning is performed. Wherein, the early warning time threshold T time Is preset in advance.
In one embodiment, determining whether remote early warning is needed according to the detection result of the hidden danger specifically includes: judging whether the hidden danger detection result has ultrahigh hidden danger or not; if the potential hazards are ultrahigh, judging whether the historical early warning data group has early warning data or not; if no early warning data exists in the historical early warning data group, remote early warning is needed; if the historical early warning data group contains early warning data, calculating the time interval between first detection time corresponding to the hidden danger detection result and second detection time corresponding to the early warning data closest to the first detection time, and judging whether the time interval is greater than a preset interval threshold value; if the time interval is larger than a preset interval threshold, remote early warning is needed; if the time interval is not greater than a preset interval threshold, judging whether the first number of the ultra-high potential hazards in the potential hazard detection result is greater than the second number of the ultra-high potential hazards in the early warning data corresponding to the majority of second detection time; if the first number is larger than the second number, remote early warning is needed.
The embodiment of the invention describes a detection management method for construction hidden dangers of a power transmission line, which comprises the steps of calculating and defining a height-limiting warning line in advance, and detecting a construction image of the line to be detected and managed by using a construction machinery detection model with an SSD-Mobile Net neural network structure, wherein the detection management method improves the monitoring efficiency and reduces the data transmission pressure; furthermore, the detection management method for the construction hidden danger of the power transmission line described in the embodiment of the invention also flexibly judges whether remote early warning is needed or not according to the detection result of the hidden danger, so that the data transmission pressure is further reduced.
Detailed description of the preferred embodiment
Besides, the embodiment of the invention also describes a detection and management device for the construction hidden danger of the power transmission line. Fig. 4 is a structural diagram illustrating an embodiment of a device for detecting and managing a construction hidden trouble of a power transmission line according to the present invention.
As shown in fig. 4, the detection management apparatus includes a calibration calculation unit 11, a machine recognition unit 12, and a detection judgment unit 13.
The calibration calculation unit 11 is configured to calibrate an internal reference matrix of the monocular camera according to a Zhang Zhengyou calibration method, and calculate a height-limiting warning line according to the internal reference matrix.
The machine recognition unit 12 is configured to obtain a line construction image to be managed, and input the line construction image into a preset construction machine detection model, so as to obtain a detection result. The construction machinery detection model has an SSD-Mobile Net neural network structure.
The detection judgment unit 13 is configured to obtain a hidden danger detection result according to the detection result and the height-limiting warning line.
When the detection management of the construction hidden danger of the power transmission line is needed, firstly, calibrating an internal reference matrix of the monocular camera by the obtaining and calculating unit 11 according to a Zhang-Yongyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix; subsequently, a line construction image to be managed is acquired through the mechanical recognition unit 12, and the line construction image is input into a preset construction machine detection model, so that a detection result is obtained; and finally, acquiring a hidden danger detection result through a detection judgment unit 13 according to the detection result and the height limiting warning line.
In one embodiment, the detection management apparatus further comprises a model training unit configured to: acquiring a plurality of historical construction hidden danger images, and respectively marking out the external rectangles and the types of construction machinery in each historical construction hidden danger image, thereby correspondingly acquiring a first historical construction hidden danger image; respectively zooming each first historical construction hidden danger image to a preset size so as to correspondingly obtain a second historical construction hidden danger image; and inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training, thereby obtaining a construction machinery detection model.
In one embodiment, the detection management apparatus further comprises a remote early warning unit configured to: judging whether remote early warning is needed or not according to the detection result of the hidden danger; and if so, sending early warning data and storing the early warning data into a historical early warning data group.
The embodiment of the invention describes a detection management device for construction hidden dangers of a power transmission line, which detects a construction image of the line to be detected and managed by utilizing a construction machinery detection model with an SSD-Mobile Net neural network structure through calculating and defining a height limit warning line in advance, improves the monitoring efficiency and reduces the data transmission pressure; furthermore, the detection management device for the construction hidden danger of the power transmission line described in the embodiment of the invention also flexibly judges whether remote early warning is needed or not according to the detection result of the hidden danger, so that the data transmission pressure is further reduced.
Detailed description of the invention
Besides the method and the device, the invention also describes a detection and management system for the construction hidden danger of the power transmission line. Fig. 5 is a structural diagram illustrating an embodiment of a system for detecting and managing a construction hidden danger of a power transmission line according to the present invention.
As shown in fig. 5, the detection management system includes a detection management module 1, a data storage module 2, and a monocular camera 3, where the detection management module 1, the data storage module 2, and the monocular camera 3 are in communication connection, the data storage module 2 is configured to store all data, the detection management module 1 is configured to execute the detection management method for the construction hidden danger of the power transmission line, and the monocular camera 3 is configured to collect and send a line construction image to be managed to the detection management module.
In one embodiment, the detection management system further includes a user interaction module, and the user interaction module is configured to receive the early warning data sent by the detection management module, and send the early warning data to a user.
In one embodiment, the user interaction module is a remote monitoring backend.
Compared with the domestic prior art, the technical scheme of the invention has the following obvious advantages:
1. the SSD-Mobile Net network is used for identifying the hidden danger target in real time, and the identification rate of 30 frames per second can be achieved on the embedded processor.
2. A main point of the monocular camera is used for setting an ultrahigh warning line of the hidden danger, whether the hidden danger target is ultrahigh is determined, only the intrinsic parameters of the camera are used, the flexibility of the structured information of the scene is not needed, and the application range is wide.
3. And the distribution condition of the hidden danger is counted in real time, and alarm information is automatically reported according to the change condition of the hidden danger data distribution of adjacent monitoring frames, so that the operating pressure of the server and the workload of operation and maintenance personnel are effectively reduced.
The embodiment of the invention describes a detection management system for construction hidden dangers of a power transmission line, which detects a construction image of the line to be detected and managed by using a construction machinery detection model with an SSD-Mobile Net neural network structure through calculating and defining a height limit warning line in advance, improves the monitoring efficiency and reduces the data transmission pressure; furthermore, the detection management system for the construction hidden danger of the power transmission line described in the embodiment of the invention also flexibly judges whether remote early warning is needed or not according to the detection result of the hidden danger, so that the data transmission pressure is further reduced.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A detection management method for construction hidden dangers of a power transmission line is characterized by comprising the following steps:
calibrating an internal reference matrix of the monocular camera according to a Zhang Zhengyou calibration method, and calculating a height-limiting warning line according to the internal reference matrix;
acquiring a line construction image to be managed, and inputting the line construction image into a preset construction machinery detection model to obtain a detection result; the construction machinery detection model has an SSD-Mobile Net neural network structure;
and acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
2. The method for detecting and managing the construction hidden danger of the power transmission line according to claim 1, wherein before calibrating an internal reference matrix of a monocular camera according to a Zhang-Zhengyou calibration method and calculating a height-limiting warning line according to the internal reference matrix, the method for detecting and managing further comprises:
acquiring a plurality of historical construction hidden danger images, respectively marking out the external rectangles and the categories of construction machines in each historical construction hidden danger image, and correspondingly acquiring a first historical construction hidden danger image;
respectively zooming each first historical construction hidden danger image to a preset size so as to correspondingly obtain a second historical construction hidden danger image;
and inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training to obtain a construction machinery detection model.
3. The method for detecting and managing the construction hidden danger of the power transmission line according to claim 2, wherein an internal reference matrix of a monocular camera is calibrated according to a Zhang-Zhengyou calibration method, and a height-limiting warning line is calculated according to the internal reference matrix, and specifically comprises the following steps:
determining an internal reference matrix of the camera by a Zhang-Yongyou calibration method and a preset four-parameter model;
and calculating to obtain a height-limiting warning line according to the internal reference matrix and a preset height-limiting warning surface standard.
4. The method for detecting and managing the construction hidden danger of the power transmission line according to any one of claims 1 to 3, wherein the method for detecting and managing further comprises the following steps:
judging whether remote early warning is needed or not according to the detection result of the hidden danger;
and if so, sending early warning data and storing the early warning data into a historical early warning data group.
5. The method for detecting and managing the construction hidden danger of the power transmission line according to claim 4, wherein whether remote early warning is needed or not is judged according to the detection result of the hidden danger, and the method specifically comprises the following steps:
judging whether the hidden danger detection result has ultrahigh hidden danger or not;
if the potential hazards are ultrahigh, judging whether the historical early warning data group has early warning data or not;
if no early warning data exists in the historical early warning data group, remote early warning is needed;
if the historical early warning data group contains early warning data, calculating the time interval between first detection time corresponding to the hidden danger detection result and second detection time corresponding to the early warning data closest to the first detection time, and judging whether the time interval is greater than a preset interval threshold value;
if the time interval is larger than a preset interval threshold, remote early warning is needed;
if the time interval is not greater than a preset interval threshold, judging whether the first number of the ultra-high potential hazards in the potential hazard detection result is greater than the second number of the ultra-high potential hazards in the early warning data corresponding to the majority of second detection time;
if the first number is larger than the second number, remote early warning is needed.
6. The detection management device for the construction hidden danger of the power transmission line is characterized by comprising a calibration calculation unit, a mechanical identification unit and a detection judgment unit,
the calibration calculation unit is used for calibrating an internal reference matrix of the monocular camera according to a Zhang Zhengyou calibration method and calculating a height-limiting warning line according to the internal reference matrix;
the mechanical identification unit is used for acquiring a line construction image to be managed, inputting the line construction image into a preset construction mechanical detection model and acquiring a detection result; the construction machinery detection model has an SSD-Mobile Net neural network structure;
the detection judgment unit is used for acquiring a hidden danger detection result according to the detection result and the height limiting warning line.
7. The detection and management device for the hidden construction danger of the power transmission line according to claim 6, further comprising a model training unit, wherein the model training unit is used for:
acquiring a plurality of historical construction hidden danger images, respectively marking out the external rectangles and the types of construction machinery in each historical construction hidden danger image, and correspondingly acquiring a first historical construction hidden danger image;
respectively zooming each first historical construction hidden danger image to a preset size so as to correspondingly obtain a second historical construction hidden danger image;
and inputting the second historical construction hidden danger image into an SSD-Mobile Net network for training to obtain a construction machinery detection model.
8. The detection and management device for the hidden construction danger of the power transmission line according to claim 7, further comprising a remote early warning unit, wherein the remote early warning unit is used for:
judging whether remote early warning is needed or not according to the detection result of the hidden danger;
and if so, sending early warning data and storing the early warning data into a historical early warning data group.
9. The detection management system is characterized by comprising a detection management module, a data storage module and a monocular camera, wherein the detection management module, the data storage module and the monocular camera are in communication connection, the data storage module is used for storing all data, the detection management module is used for executing the detection management method for the construction hidden danger of the power transmission line according to any one of claims 1 to 5, and the monocular camera is used for collecting and sending a line construction image to be detected and managed to the detection management module.
10. The system for detecting and managing the hidden construction danger of the power transmission line according to claim 9, further comprising a user interaction module, wherein the user interaction module is used for receiving the early warning data sent by the detection management module and sending the early warning data to a user.
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| CN116597390A (en) * | 2023-07-18 | 2023-08-15 | 南方电网数字电网研究院有限公司 | Method and device for detecting construction hidden danger around power transmission line and computer equipment |
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| CN116597390A (en) * | 2023-07-18 | 2023-08-15 | 南方电网数字电网研究院有限公司 | Method and device for detecting construction hidden danger around power transmission line and computer equipment |
| CN116597390B (en) * | 2023-07-18 | 2023-12-12 | 南方电网数字电网研究院有限公司 | Method and device for detecting construction hidden danger around power transmission line and computer equipment |
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