CN114894091A - Circuit monitoring device and system with binocular vision ranging function - Google Patents
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Abstract
The invention relates to the field of galloping detection of a transmission line wire, and provides a line monitoring device with a binocular vision distance measuring function. The invention combines binocular vision technology and gesture sensing galloping technology to realize real-time monitoring of galloping tracks and distance detection of obstacles. The invention can measure the distance from a dangerous object to the wire by combining the binocular three-dimensional vision distance measuring function and can further judge the waving danger degree by combining the waving amplitude of the wire. The invention adopts an advanced digital filtering technology, can effectively reduce the measurement noise and improve the measurement precision, integrates an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. The track curve fitting calculation of conductor galloping is carried out through the algorithm, when galloping is serious, a camera on the device can be used for capturing pictures and shooting video records of the field situation, and line maintenance personnel can check galloping early warning information, field pictures, real-time videos and the like in time according to APP software.
Description
Technical Field
The invention belongs to the technical field of transmission line wires, and particularly relates to a line monitoring device and system with a binocular vision ranging function.
Background
At present, galloping is a serious disaster form in the related dangerous phenomena of the overhead transmission line conductor. Its formation depends mainly on 3 factors, i.e. ice coating, wind excitation and the structure and parameters of the line. In ice and snow weather, the line galloping phenomenon harm caused by wind excitation of the non-uniform ice-coated wire mainly comprises two types of mechanical damage and electrical fault; the mechanical damage comprises bolt loosening and falling, damage of hardware fittings, insulators and jumper wires, strand breakage and wire breakage of a lead, damage of tower materials and foundations and the like; the electrical faults mainly comprise inter-phase tripping, flashover, conductor ablation, line breakage, phase-ground short circuit, mixed line tripping and the like, and conductor galloping affects transmission safety, can cause long-time shutdown of an important transmission channel and affect safe and stable operation of a severe power system.
At present, the power transmission line galloping detection is mainly based on the following 3 technical principles: 1) the conductor galloping condition of a plurality of points on the conductor is obtained by loading a plurality of sensors on the conductor of the power transmission line, a conductor galloping model is established, and characteristic data of conductor galloping is obtained through calculation; 2) the galloping detection is realized through a video acquisition technology, namely a camera is installed, and the extraction of a characteristic value is completed by acquiring the galloping image information of the power transmission line; 3) the longitude, latitude and space three-dimensional coordinates of the transmission line to be detected are obtained through a Differential Global Positioning System (DGPS), and then are converted into space curves in a corresponding coordinate system.
High tension transmission line covers in remote places such as field and mountain area mostly, and traditional wired monitoring network is very inconvenient in the topography of reality is used, lays the engineering volume greatly, and equipment is impaired easily, and can monitor the scope for a short time. In the aspect of waving track monitoring, the technical scheme of video analysis has the advantages of non-contact measurement and dynamic real-time monitoring, and has the defects of being limited by a power supply and a communication network of equipment, being more difficult to implement in a severe environment area, poor in reliability, high in cost, and extremely easy to be influenced by weather, rain, snow, visibility and the like. The multi-point acceleration sensor has the advantages that the state of the lead can be relatively accurately obtained, the influence of meteorological conditions is avoided, the defects that field image information is not available, and the structure needs to be verified on site are overcome. The differential global positioning system scheme has the problems of large power consumption, large error, difficult implementation and the like.
Disclosure of Invention
The invention provides a line monitoring device with a binocular vision ranging function and a system thereof, wherein in the aspect of galloping track monitoring, the technical scheme of video analysis has the advantages of non-contact measurement and dynamic real-time monitoring, and has the defects of being limited by a power supply and a communication network of equipment, being more difficult to implement in a severe environment area, poor in reliability, high in cost, and extremely easy to be influenced by the conditions of weather, rain, snow, visibility and the like. The multi-point acceleration sensor has the advantages that the state of the lead can be relatively accurately obtained, the influence of meteorological conditions is avoided, the defects that field image information is not available, and the structure needs to be verified on site are overcome. The differential global positioning system scheme has the problems of large power consumption, large error, difficult implementation and the like.
A line monitoring device with a binocular vision ranging function comprises:
binocular vision range finding module: the system is used for identifying dangerous objects near the electric transmission line conductor and determining the real-time distance between the dangerous objects and the electric transmission line conductor after identification;
an attitude detection module: the system comprises a posture sensor, a wire position sensor and a wire position sensor, wherein the posture sensor is used for detecting the posture change data of the wire of the power transmission line and determining the galloping track of the wire of the power transmission line;
the detection alarm module: and the real-time distance and the galloping track are used for judging whether the electric transmission line lead is abnormal or not and giving an alarm.
Preferably, the binocular vision ranging module includes:
a left vision detection unit: the system comprises a first double-purpose camera, a second double-purpose camera and a display screen, wherein the first double-purpose camera is used for acquiring a left view of a transmission line lead on the left side of the transmission line lead;
a right vision detection unit: the right view of the transmission line conductor is acquired on the right side of the transmission line conductor through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
a calibration unit: after the elements are identified, the scene elements on the left view and the right view are calibrated to generate calibration pictures;
a three-dimensional model unit: the binocular three-dimensional distance measurement model is constructed according to the left view and the right view;
a distance calculation unit: and the distance calculation module is used for calculating the real-time distance between the transmission line lead and the target dangerous object according to the three-dimensional distance measurement model.
Preferably, the element identification unit includes:
a scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
the elements include: environmental elements, cable elements, and threat elements;
a database subunit: the method is used for building an element database, building an identification model and determining the quantity of stored element information; wherein,
the element information comprises an element identification and corresponding first characteristic information;
identifying the subunit: acquiring element features according to the left view and the right view, and inputting the element features into a recognition model to determine an element recognition result; wherein,
the element recognition result includes: identifying dangerous substance elements and conventional elements;
the element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
a hazardous substance element-recognizing subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the recognition result according to the element recognition result, wherein,
the multiple element matching results comprise at least one element information, and the matching degree of the multiple element matching results and the characteristic information of the dangerous material element meets a preset condition; wherein,
the predetermined conditions include: defining the matching degree of the characteristics of the element information and the dangerous object elements to be more than fifty percent as a preset condition of the dangerous object elements;
a hazardous substance identification unit: and using the scene elements meeting the preset conditions as the dangerous object elements according to the preset conditions.
Preferably, the calibration unit includes:
element attribute identification subunit: receiving the left view and the right view, and acquiring image attribute parameter values; wherein,
the image attribute parameter values comprise color parameter values and contour parameter values;
a comparison subunit: comparing the color parameter values and the contour parameter values with a preset color parameter set and a preset contour parameter set respectively: wherein,
if the color parameter value and the contour parameter value respectively have matched color and contour parameters, calibrating scene elements capable of being matched to generate a calibration picture.
Preferably, the distance calculation unit includes:
the relationship determination subunit: determining a first relation between two cameras in the first binocular camera and a second relation between two cameras in the second binocular camera according to the generated calibration picture;
a projection subunit: the binocular three-dimensional distance measurement model is used for determining internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and constraining points corresponding to the images to a straight line to generate a binocular three-dimensional distance measurement model;
a distance value calculation unit: and the binocular three-dimensional distance measurement module is used for matching pixels through a preset algorithm according to the binocular three-dimensional distance measurement model, determining the corresponding relation and the parallax value between the pixels, and determining the real-time distance between the transmission line conductor and the target dangerous object according to the parallax value.
Preferably, the gesture detection module includes:
a data acquisition unit: the attitude sensor is used for acquiring real-time attitude data according to the attitude sensor; wherein,
the pose data includes: acceleration values and angular velocity values of the transmission line conductor in the horizontal direction, the transverse direction and the vertical direction;
calculating a track: the system comprises a gesture data acquisition unit, a data processing unit and a data processing unit, wherein the gesture data acquisition unit is used for acquiring gesture data of a transmission line lead; wherein,
the fitting calculation is a least squares method;
a grade judgment unit: the wire galloping value of the power transmission line is determined according to the fitting calculation result, and the early warning grade of the galloping value is judged; wherein,
and determining the amplitude value of the waving of the early warning level.
Preferably, the pose fitting calculation includes the following steps:
discretizing the posture data on a three-dimensional coordinate axis, determining the waving period with the period number of N, and obtaining a three-dimensional coordinate (x) i ，y i ，z i ) I has a value range of 1, 2, 3 or 4; x is the number of i Represents the ith horizontal coordinate; y is i Represents the ith longitudinal coordinate; z is a radical of i Represents the ith vertical coordinate;
performing least square method fitting curve on the three-dimensional coordinates to obtain a least square method fitting curve equation, and calculating to obtain the maximum value and the minimum value of the least square method fitting curve equation through the least square method fitting curve equation;
and determining the fitting calculation results in different periods according to the maximum value and the minimum value of the least square method fitting curve equation.
Preferably, the detection alarm module includes:
an acquisition unit: acquiring a galloping track and a real-time distance, and generating a monitoring table based on a time axis by corresponding the galloping track and the real-time distance; wherein,
the monitoring table comprises N galloping tracks and N distance values of real-time distances, the galloping tracks correspond to the distance values one by one to generate a period group, and N is a positive integer;
a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage equipment and a preset threshold value; wherein,
if the galloping track and the real-time distance in the periodic group are smaller than or equal to the preset threshold value, indicating no abnormity, not giving an alarm;
and if the numerical values of the waving track and the real-time distance in the period group are larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
Preferably, the apparatus further comprises:
a distance acquisition unit: acquiring a real-time distance between the conducting wire of the power transmission line and a dangerous object, wherein the acquired image contains the dangerous object;
a judging unit: judging that the position of the dangerous object is a fixed position/a moving position;
when the dangerous object is a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is at a moving position, judging that the moving position is far away or close; wherein,
when the moving positions are close, the maximum galloping value of the transmission line conductor is calculated, whether contact risks exist or not is judged, and real-time alarming is carried out
Preferably, the apparatus further comprises:
a calibration unit: calibrating a coordinate transformation matrix between the transmission line and the attitude sensor coordinate system;
a measurement unit: measuring the attitude of the transmission line conductor to obtain a three-dimensional coordinate set of the transmission line conductor, establishing a global coordinate system, and integrating a marked coordinate transformation matrix into the global coordinate system;
a three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the power transmission line conductor according to the global coordinate system.
The invention has the beneficial effects that: the invention combines binocular vision technology and gesture sensing galloping technology to realize real-time monitoring of galloping tracks and distance detection of obstacles. The invention can measure the distance from a dangerous object to the wire by combining the binocular three-dimensional vision distance measuring function and can further judge the waving danger degree by combining the waving amplitude of the wire. The invention adopts an advanced digital filtering technology, can effectively reduce the measurement noise and improve the measurement precision, integrates an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. The track curve fitting calculation of conductor galloping is carried out through the algorithm, when galloping is serious, a camera on the device can be used for capturing pictures and shooting video records of the field situation, and line maintenance personnel can check galloping early warning information, field pictures, real-time videos and the like in time according to APP software.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram of a line monitoring apparatus with binocular vision ranging function according to an embodiment of the present invention;
FIG. 2 is a model diagram of the spatial relationship between the left and right cameras and the measured point p according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a binocular three-dimensional ranging system in an embodiment of the invention;
FIG. 4 is a schematic diagram illustrating distance calculations according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the fitting of the waving trajectory in the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1:
a line monitoring device with a binocular vision ranging function comprises:
binocular vision range finding module: the system is used for identifying dangerous objects near the electric transmission line conductor and determining the real-time distance between the dangerous objects and the electric transmission line conductor after identification;
an attitude detection module: the system comprises a posture sensor, a wire position sensor and a wire position sensor, wherein the posture sensor is used for detecting the posture change data of the wire of the power transmission line and determining the galloping track of the wire of the power transmission line;
the detection alarm module: and the real-time distance and the galloping track are used for judging whether the electric transmission line lead is abnormal or not and giving an alarm.
In the invention: according to the binocular vision module, after the images are shot through the binocular camera, when objects influencing insulation safety, such as trees and other dangerous objects, exist near the line and are detected through a target detection technology, the distance between the dangerous objects and the wires can be measured through the terminal by combining a binocular three-dimensional vision distance measuring function, and the galloping danger degree can be further judged by combining the galloping amplitude of the wires. The whole process of line galloping is displayed through the extraction of various sensing characteristic parameters; and researching a grading early warning strategy based on the galloping analysis result and the binocular vision three-dimensional distance measurement value of the object in the channel. The attitude sensing module integrates a gyroscope and an accelerometer with high precision, adopts a high-performance microprocessor and an advanced dynamics resolving and Kalman dynamic filtering algorithm, can rapidly solve the current real-time motion attitude of the module, adopts an advanced digital filtering technology, can effectively reduce measurement noise, improves the measurement precision, integrates an attitude resolving device in the module, cooperates with the dynamic Kalman filtering algorithm, and can accurately output the current attitude of the module in a dynamic environment.
The acceleration signal acquired by the vibration of the conducting wire contains a direct current component and a serious trend term, the existence of the direct current component and the trend term has great influence on integral conversion, an obtained displacement curve can be distorted or even distorted, and the direct current component is eliminated by adopting an averaging method. And then, carrying out interpolation correction on the integrated numerical value by adopting a least square method so as to eliminate the influence of the trend term on the final displacement result. And (3) fitting the acceleration values and the angular velocity values of the conductor in X, Y and Z-axis 3 directions to the motion state of the model by using the trajectory curve of conductor galloping.
The invention combines binocular vision technology and gesture sensing galloping technology to realize real-time monitoring of galloping tracks and distance detection of obstacles. The invention can measure the distance from a dangerous object to the wire by combining the binocular three-dimensional vision distance measuring function and can further judge the waving danger degree by combining the waving amplitude of the wire. The invention adopts an advanced digital filtering technology, can effectively reduce the measurement noise and improve the measurement precision, integrates an attitude resolver in the module, and can accurately output the current attitude of the module in a dynamic environment. The track curve fitting calculation of conductor galloping is carried out through the algorithm, when galloping is serious, a camera on the device can be used for capturing pictures and shooting video records of the field situation, and line maintenance personnel can check galloping early warning information, field pictures, real-time videos and the like in time according to APP software.
Preferably, the binocular vision ranging module includes:
a left vision detection unit: the system comprises a first double-purpose camera, a second double-purpose camera and a display screen, wherein the first double-purpose camera is used for acquiring a left view of a transmission line lead on the left side of the transmission line lead;
a right vision detection unit: the right view of the transmission line conductor is acquired on the right side of the transmission line conductor through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
a calibration unit: after the elements are identified, the scene elements on the left view and the right view are calibrated to generate calibration pictures;
a three-dimensional model unit: the binocular three-dimensional distance measurement model is constructed according to the left view and the right view;
a distance calculation unit: and the distance calculation module is used for calculating the real-time distance between the transmission line lead and the target dangerous object according to the three-dimensional distance measurement model.
In the technical scheme, the device provided by the invention mainly realizes the detection of the transmission line conductor from two directions, in the monitoring process, the device can be a binocular vision camera device arranged on two sides of a roadside transmission and transformation line to realize the camera shooting on the left side and the right side, and can also be a device connected in series on the transmission line conductor, and a group of binocular vision cameras are respectively arranged in front of and behind the device to realize the identification of obstacles. The binocular three-dimensional distance measurement model is built according to the principle of binocular stereo vision, the attached figure 2 is a space relation model of pictures shot by the left camera and the right camera and measured points, and the attached figure 3 is a schematic diagram of a binocular three-dimensional distance measurement system. In FIG. 3, z is the distance from the measured point P to the camera, O L And O R The optical centers of the left camera and the right camera respectively, and b is the distance between the two optical centers, commonly called the length of a base line. P L And P R Are the imaging points of the measured point P on the left and right images respectively. f is the focal length of the camera, u L And u R Is the distance of the imaged point relative to the image midpoint.
Preferably, the element identification unit includes:
a scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
the elements include: environmental elements, cable elements, and threat elements;
a database subunit: the method is used for building an element database, building an identification model and determining the quantity of stored element information; wherein,
the element information comprises an element identification and corresponding first characteristic information;
identifying the subunit: acquiring element features according to the left view and the right view, and inputting the element features into a recognition model to determine an element recognition result; wherein,
the element recognition result includes: identifying dangerous substance elements and conventional elements;
the element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
a hazardous substance element-recognizing subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the recognition result according to the element recognition result, wherein,
the multiple element matching results comprise at least one element information, and the matching degree of the multiple element matching results and the characteristic information of the dangerous object element meets a preset condition; wherein,
the predetermined conditions include: defining the matching degree of the characteristics of the element information and the dangerous object elements to be more than fifty percent as a preset condition of the dangerous object elements;
a hazardous substance identification unit: and using the scene elements meeting the preset conditions as the dangerous object elements according to the preset conditions.
In the above technical solution, if it is determined that dangerous obstacles, such as an overhead, a bridge, trees, etc., exist in different binocular vision pictures. The premise of identifying the dangerous barrier is that all elements are within the identification range, and then whether dangerous elements exist is judged by all element ranges, in the process, the characteristics of the dangerous elements need to be input into corresponding characteristic models, and what are dangerous elements is determined by matching of the characteristic models.
Preferably, the calibration unit includes:
element attribute identification subunit: receiving the left view and the right view, and acquiring image attribute parameter values; wherein,
the image attribute parameter values comprise color parameter values and contour parameter values;
a comparison subunit: comparing the color parameter values and the contour parameter values with a preset color parameter set and a preset contour parameter set respectively: wherein,
if the color parameter value and the contour parameter value respectively have matched color and contour parameters, calibrating scene elements capable of being matched to generate a calibration picture.
In the technical scheme, the distance can be calculated by using two images shot by two eyes under the ideal condition, but when a video camera images, a certain degree of distortion phenomenon almost appears, the phenomenon has a small degree on an industrial camera and has a large degree on a wide angle and a fisheye lens. The wide-angle fisheye camera is adopted in the project, in order to eliminate distortion and obtain internal parameters of the camera, the camera for ranging is calibrated before ranging, and the most common method used in the camera calibration method is a Zhang Zhengyou calibration method. The invention is different from the invention, the calibration is realized by combining the environment picture, the obtained distance calculation and the waving calculation are more accurate, in the process, the invention is based on the color parameter value and the contour parameter value, when the pixels between elements are the same and the contour is the same in the color space, the accurate calibration can be realized.
Preferably, the distance calculation unit includes:
the relationship determination subunit: determining a first relation between two cameras in the first binocular camera and a second relation between two cameras in the second binocular camera according to the generated calibration picture;
a projection subunit: the binocular three-dimensional distance measurement model is used for determining internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and constraining points corresponding to the images to a straight line to generate a binocular three-dimensional distance measurement model;
a distance value calculation unit: and the binocular three-dimensional distance measurement module is used for matching pixels through a preset algorithm according to the binocular three-dimensional distance measurement model, determining the corresponding relation and the parallax value between the pixels, and determining the real-time distance between the transmission line conductor and the target dangerous object according to the parallax value.
In the above technical scheme: after calibration, internal reference of the picture can be acquired and distortion is eliminated, then a plurality of pairs of corresponding calibration pictures are needed to be used for determining the spatial relationship between the two cameras, namely external reference, and then the search space during pixel matching is reduced through epipolar constraint. The epipolar constraint utilizes the internal and external parameters of the two images to project the two images which are not coplanar onto the same plane, and constrains the corresponding points between the images onto a straight line, thereby reducing the search space of the corresponding points from the full image domain to a straight line. After the search space is reduced, the matching between pixels can be performed by using algorithms such as bm or sgbm, so as to establish the corresponding relationship between pixels, obtain the parallax value, and calculate to obtain the final distance value.
In a further embodiment, it can be seen from the formula z b f/d that the maximum value of the distance z depends on the values of b and f at d 1. Where d is in pixels and b is in mm, the unit of z is the unit of length only if f is also in pixels. f. of x ＝f/d x ，f x Is the value of f corresponding to the unit of pixel, d x Is the length of a single pixel in the x-direction on the imaging plane.
Because the terminal equipment is erected on the lead, the Z-axis plane is the lead plane as long as the equipment is correctly placed, and the distance from the target to the lead plane is the length corresponding to the x-axis of the coordinate after the coordinate of the target is obtained. Suppose that the height from one point on the corresponding wire of the object to the ground is T y . In the ideal case where the conductors are straight, T y The value of (d) is the length corresponding to the y-axis of the target coordinate. In practical cases, the wire will have a sag phenomenon, and thus T y Y + Δ y, Δ y is a correction value for the height, the value of which depends on the magnitude of the wire sag equation at the target z coordinate. The distance of the object to the wire can then be calculated using the right triangle equation:
as shown in fig. 4. Where x is the length corresponding to the x-axis size of the coordinates of the target point, obtained from the above ranging.
Preferably, the gesture detection module includes:
a data acquisition unit: the attitude sensor is used for acquiring real-time attitude data according to the attitude sensor; wherein,
the pose data includes: acceleration values and angular velocity values of the transmission line conductor in the horizontal direction, the transverse direction and the vertical direction;
calculating a track: the system comprises a gesture data acquisition unit, a data processing unit and a data processing unit, wherein the gesture data acquisition unit is used for acquiring gesture data of a transmission line lead; wherein,
the fitting calculation is a least squares method;
a grade judgment unit: the wire galloping value of the power transmission line is determined according to the fitting calculation result, and the early warning grade of the galloping value is judged; wherein,
and determining the amplitude value of the waving of the early warning level.
In the technical scheme, the acquired real-time attitude data is obtained by acquiring data such as acceleration, angular velocity and angle through an attitude sensor acquired by a terminal in the horizontal direction, the horizontal direction and the vertical direction, uploading the data to a wire galloping monitoring system, filtering the data, and commonly used curve fitting methods comprise a least square method, a Lagrange interpolation method, a Newton interpolation method, a successive linear interpolation method and the like. The wire galloping data acquisition mainly depends on an attitude sensor integrated on equipment in the device to acquire information such as acceleration, angular velocity, angle and the like of different direction axes of the vibration of the wire along with the change of time. And simulating and displaying the motion trail of the lead by a curve fitting algorithm. According to the size of the span, a plurality of monitoring terminals can be installed according to the situation, and a waving track fitting schematic diagram of only installing one monitoring terminal in the span can be seen through the graph 5.
Preferably, the pose fitting calculation includes the following steps:
discretizing the posture data on a three-dimensional coordinate axis, determining the waving period with the period number of N, and obtaining a three-dimensional coordinate (x) i ，y i ，z i ) I has a value range of 1, 2, 3 or 4; x is the number of i Represents the ith horizontal coordinate; y is i Represents the ith longitudinal coordinate; z is a radical of i Represents the ith vertical coordinate;
performing least square method fitting curve on the three-dimensional coordinates to obtain a least square method fitting curve equation, and calculating to obtain the maximum value and the minimum value of the least square method fitting curve equation through the least square method fitting curve equation;
and determining the fitting calculation results in different periods according to the maximum value and the minimum value of the least square method fitting curve equation.
In the technical scheme, when the transmission line conductor waves, the three-dimensional coordinate system is in a discretized coordinate distribution state due to the influence of the environment. In the prior art, the waving curve obtained by the attitude sensor may be directly obtained in a curve fitting manner. However, the method for fitting the curve by the least square method has the advantages that the least square method is matched by minimizing the square sum of errors and finding the optimal function of data, and the curve obtained by fitting is more suitable for an actual scene. Unknown data can be easily obtained by the least square method, and the sum of squares of errors between these obtained data and actual data is minimized. When the independent variable and the dependent variable have random errors with zero mean and same variance, the method can provide the best parameter fitting result in the statistical sense.
Preferably, the detection alarm module includes:
an acquisition unit: acquiring a galloping track and a real-time distance, and generating a monitoring table based on a time axis by corresponding the galloping track and the real-time distance; wherein,
the monitoring table comprises N galloping tracks and N distance values of real-time distances, the galloping tracks correspond to the distance values one by one to generate a period group, and N is a positive integer;
a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage device and a preset threshold value; wherein,
if the galloping track and the real-time distance in the periodic group are smaller than or equal to the preset threshold value, indicating no abnormity, not giving an alarm;
and if the numerical values of the waving track and the real-time distance in the period group are larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
In the process of detecting and alarming, the real-time distance and the real-time distance are combined to determine the real-time distance and the galloping track at each moment, the real-time distance and the galloping track at each moment are used as a period group in the monitoring table, and a preset threshold value can be passed in the period. And judging whether the current real-time distance of the barrier and the danger threshold value of the wire galloping track are larger than preset values, if so, alarming, otherwise, not alarming. For the alarm needing, the prior art needs manual processing, and uploads the position information of the line monitoring device to the network to inform operation and maintenance personnel of the coming processing.
Preferably, the apparatus further comprises:
a distance acquisition unit: acquiring a real-time distance between the conducting wire of the power transmission line and a dangerous object, wherein the acquired image contains the dangerous object;
a judging unit: judging that the position of the dangerous object is a fixed position/a moving position;
when the dangerous object is a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is at a moving position, judging that the moving position is far away or close; wherein,
when the moving positions are close, the maximum galloping value of the transmission line conductor is calculated, whether contact risks exist or not is judged, and real-time alarming is carried out
In the above technical solution, for dangerous objects, the dangerous objects may be fixed positions, such as an overhead, flying birds or a big tree blown by wind, and the dangerous objects may have a risk of contacting the power transmission line conductor and may not contact the power transmission line conductor. The invention is a mode of judging in advance, and can alarm only when dangerous objects which are possibly contacted and possibly appear are contacted, and can not alarm when dangerous objects which can not appear in an accident event are not contacted.
Preferably, the apparatus further comprises:
a calibration unit: calibrating a coordinate transformation matrix between the transmission line and the attitude sensor coordinate system;
a measurement unit: measuring the attitude of the transmission line conductor to obtain a three-dimensional coordinate set of the transmission line conductor, establishing a global coordinate system, and integrating a marked coordinate transformation matrix into the global coordinate system;
a three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the power transmission line conductor according to the global coordinate system.
In the technical scheme, the detection defects of the prior art are limited by a power supply and a communication network of equipment, the implementation of an area with a severe environment is more difficult, the reliability is poor, the cost is high, and the detection is easily influenced by weather, rain, snow, visibility and the like. The multi-point acceleration sensor has the advantages that the state of the lead can be relatively accurately obtained, the influence of meteorological conditions is avoided, the defects that field image information is not available, and the structure needs to be verified on site are overcome. The differential global positioning system scheme has the problems of large power consumption, large error, difficult implementation and the like. According to the invention, through the manner, the coordinate transformation matrix can be set up in advance through the transmission line and the attitude sensor, and the matrix carries out global supervision and global statistics on the galloping track of the transmission line conductor in a three-dimensional coordinate set in a global coordinate system manner, so that any track statistical errors are prevented, and the galloping track is not counted.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a line monitoring device of binocular vision range finding function, includes its characterized in that:
binocular vision range finding module: the system is used for identifying dangerous objects near the electric transmission line conductor and determining the real-time distance between the dangerous objects and the electric transmission line conductor after identification;
an attitude detection module: the system comprises a posture sensor, a wire position sensor and a wire position sensor, wherein the posture sensor is used for detecting the posture change data of the wire of the power transmission line and determining the galloping track of the wire of the power transmission line;
the detection alarm module: and the real-time distance and the galloping track are used for judging whether the electric transmission line lead is abnormal or not and giving an alarm.
2. The line monitoring device of a binocular vision ranging function of claim 1, wherein the binocular vision ranging module comprises:
a left vision detection unit: the system comprises a first double-purpose camera, a second double-purpose camera and a display screen, wherein the first double-purpose camera is used for acquiring a left view of a transmission line lead on the left side of the transmission line lead;
a right vision detection unit: the right view of the transmission line conductor is acquired on the right side of the transmission line conductor through a preset second binocular camera;
the element identification unit is used for identifying scene elements on the left view and the right view and judging the scene elements as dangerous objects;
a calibration unit: after the elements are identified, the scene elements on the left view and the right view are calibrated to generate calibration pictures;
a three-dimensional model unit: the binocular three-dimensional distance measurement model is constructed according to the left view and the right view;
a distance calculation unit: and the distance calculation module is used for calculating the real-time distance between the transmission line lead and the target dangerous object according to the three-dimensional distance measurement model.
3. The line monitoring apparatus of a binocular vision ranging function of claim 2, wherein the element recognition unit comprises:
a scene determination subunit: determining a standard scene model, wherein the standard scene model comprises at least one element and attribute information corresponding to the element; wherein,
the elements include: environmental elements, cable elements, and threat elements;
a database subunit: the system is used for building an element database, building a recognition model and determining the quantity of stored element information; wherein,
the element information comprises an element identification and corresponding first characteristic information;
identifying the subunit: acquiring element features according to the left view and the right view, and inputting the element features into a recognition model to determine an element recognition result; wherein,
the element recognition result includes: identifying dangerous substance elements and conventional elements;
the element identification result comprises at least one element information, and each element identifier in the element information corresponds to an element in the element database;
a hazardous substance element-recognizing subunit: inputting the dangerous object element characteristics into a matching model to determine a plurality of element matching results when dangerous object elements exist in the recognition result according to the element recognition result, wherein,
the multiple element matching results comprise at least one element information, and the matching degree of the multiple element matching results and the characteristic information of the dangerous object element meets a preset condition; wherein,
the predetermined conditions include: defining the matching degree of the characteristics of the element information and the dangerous object elements to be more than fifty percent as a preset condition of the dangerous object elements;
a hazardous substance identification unit: and using the scene elements meeting the preset conditions as the dangerous object elements according to the preset conditions.
4. The line monitoring device with binocular vision ranging function according to claim 2, wherein the calibration unit comprises:
element attribute identification subunit: receiving the left view and the right view, and acquiring image attribute parameter values; wherein,
the image attribute parameter values comprise color parameter values and contour parameter values;
a comparison subunit: comparing the color parameter values and the contour parameter values with a preset color parameter set and a preset contour parameter set respectively: wherein,
if the color parameter value and the contour parameter value respectively have matched color and contour parameters, calibrating scene elements which can be matched to generate a calibration picture.
5. The line monitoring apparatus of a binocular vision ranging function of claim 4, wherein the distance calculating unit comprises:
the relationship determination subunit: determining a first relation between two cameras in the first binocular camera and a second relation between two cameras in the second binocular camera according to the generated calibration picture;
a projection subunit: the binocular three-dimensional distance measurement model is used for determining internal and external parameters of a left view and a right view according to the first relation and the second relation, projecting the left view and the right view onto the same plane, and constraining points corresponding to the images to a straight line to generate a binocular three-dimensional distance measurement model;
a distance value calculation unit: and the binocular three-dimensional distance measurement module is used for matching pixels through a preset algorithm according to the binocular three-dimensional distance measurement model, determining the corresponding relation and the parallax value between the pixels, and determining the real-time distance between the transmission line conductor and the target dangerous object according to the parallax value.
6. The line monitoring device of a binocular vision ranging function of claim 1, wherein the attitude detection module comprises:
a data acquisition unit: the attitude sensor is used for acquiring real-time attitude data according to the attitude sensor; wherein,
the pose data includes: acceleration values, angular velocity values, angle values and the like of the transmission line conductor in the horizontal direction, the transverse direction and the vertical direction;
calculating a track: the system comprises a gesture data acquisition unit, a data processing unit and a data processing unit, wherein the gesture data acquisition unit is used for acquiring gesture data of a transmission line lead; wherein,
the fitting calculation is a least squares method;
a grade judgment unit: the wire galloping value of the power transmission line is determined according to the fitting calculation result, and the early warning grade of the galloping value is judged; wherein,
and determining the amplitude value of the waving of the early warning level.
7. The binocular vision ranging function line monitoring device of claim 6, wherein the pose fitting calculation comprises the steps of:
discretizing the posture data on a three-dimensional coordinate axis, determining the waving period with the period number of N, and obtaining a three-dimensional coordinate (x) i ，y i ，z i ) I has a value range of 1, 2, 3 or 4; x is the number of i Represents the ith horizontal coordinate; y is i Represents the ith longitudinal coordinate; z is a radical of i Represents the ith vertical coordinate;
performing least square method curve fitting on the three-dimensional coordinates to obtain a least square method curve fitting equation, and calculating to obtain the maximum value and the minimum value of the least square method curve fitting equation through the least square method curve fitting equation;
and determining the fitting calculation results in different periods according to the maximum value and the minimum value of the least square method fitting curve equation.
8. The line monitoring device with binocular vision ranging function of claim 1, wherein the detection alarm module comprises:
an acquisition unit: acquiring a galloping track and a real-time distance, and generating a monitoring form based on a time axis by corresponding the galloping track and the real-time distance; wherein,
the monitoring table comprises N galloping tracks and N distance values of real-time distances, the galloping tracks correspond to the distance values one by one to generate a period group, and N is a positive integer;
a comparison module: comparing each period group of the monitoring table with the galloping track of the terminal storage equipment and a preset threshold value; wherein,
if the galloping track and the real-time distance in the periodic group are smaller than or equal to the preset threshold value, indicating no abnormity, not giving an alarm;
and if the numerical values of the waving track and the real-time distance in the period group are larger than the preset threshold value, starting an alarm, and uploading the position information of the line monitoring device to a network.
9. The line monitoring device of a binocular vision ranging function of claim 1, wherein the device further comprises:
a distance acquisition unit: acquiring a real-time distance between the conducting wire of the power transmission line and a dangerous object, wherein the acquired image contains the dangerous object;
a judging unit: judging that the position of the dangerous object is a fixed position/a moving position;
when the dangerous object is a fixed position, marking the dangerous object and monitoring in real time;
when the dangerous object is at a moving position, judging that the moving position is far away or close; wherein,
and when the moving positions are close, calculating the maximum galloping value of the transmission line conductor, judging whether the contact risk exists or not, and giving an alarm in real time.
10. The line monitoring device of a binocular vision ranging function of claim 1, wherein the device further comprises:
a calibration unit: calibrating a coordinate transformation matrix between the transmission line and the attitude sensor coordinate system;
a measurement unit: measuring the attitude of the transmission line conductor to obtain a three-dimensional coordinate set of the transmission line conductor, establishing a global coordinate system, and integrating a marked coordinate transformation matrix into the global coordinate system;
a three-dimensional coordinate module: and carrying out coordinate statistics on the galloping track of the power transmission line conductor according to the global coordinate system.
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