CN117039714A - Power transmission line inspection method and device, storage medium and electronic equipment - Google Patents
Power transmission line inspection method and device, storage medium and electronic equipment Download PDFInfo
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- CN117039714A CN117039714A CN202310822882.9A CN202310822882A CN117039714A CN 117039714 A CN117039714 A CN 117039714A CN 202310822882 A CN202310822882 A CN 202310822882A CN 117039714 A CN117039714 A CN 117039714A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 107
- 238000007689 inspection Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000003287 optical effect Effects 0.000 claims abstract description 50
- 239000012212 insulator Substances 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 8
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000003709 image segmentation Methods 0.000 claims description 4
- 230000009466 transformation Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/20—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming only infrared radiation into image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The application discloses a transmission line inspection method, a device, a storage medium and electronic equipment, which are applied to an inspection unmanned aerial vehicle, wherein an infrared camera is deployed in the inspection unmanned aerial vehicle, a set key position in a target transmission line, a set non-key position in the target transmission line, a set discharge parameter value Q, a set number of calibration faults and a set safety level are stored in an inspection task database, in the process of inspecting the target transmission line by the inspection unmanned aerial vehicle, the key position and the non-key position are inspected by using the infrared camera and an optical camera, the inspection frequency of the key position is higher than that of the non-key position, position information of the key point and the non-key point in the transmission line is updated in time after inspection, the inspection efficiency of the transmission line is improved, and the transmission line is inspected in a targeted and objective manner, so that the fault point can be more easily discharged, and the safety of the transmission line is ensured.
Description
Technical Field
The application belongs to the technical field of power transmission lines, and particularly relates to a power transmission line inspection method, a device, a storage medium and electronic equipment.
Background
In the prior art, unmanned aerial vehicle autonomous inspection is applied to more and more business scenes, and when a power system fails, corona discharge phenomenon can occur at some positions of a power transmission line, and meanwhile, sound, light, heat and other effects are accompanied. The severity of defects in the transmission line insulation device can be determined based on the corona discharge characteristics.
At present, aiming at a relatively complex power transmission line, the common detection mainly comprises the steps of setting a fixed route, and carrying out inspection according to the fixed route and a fixed mode, for example, the Chinese patent with the publication number of CN 115471764A discloses a method, a system, equipment and a storage medium for detecting hidden danger of a power transmission channel, and acquiring a power transmission channel monitoring image shot by an unmanned aerial vehicle; inputting the monitored image into a pre-trained hidden danger target identification model, and identifying hidden danger targets in the monitored image; judging the hidden danger targets and the power transmission channel
If the distance between the potential hazards is smaller than the safety distance threshold, generating potential hazard warning information and pushing the potential hazard warning information to related personnel. The inspection mode is carried out according to a fixed route and a fixed mode, and key positions and non-key positions in the inspection power transmission line cannot be distinguished, so that the inspection frequency and the number of inspection image acquisition angles of all positions are consistent during each inspection, the inspection time is long, the positions are not distinguished during the inspection, the situation that whether faults exist in the key positions cannot be timely judged, and meanwhile, the problem of resource waste of the unmanned aerial vehicle is also caused.
Disclosure of Invention
The application aims to provide a power transmission line inspection method which is used for solving the problems that a power transmission line inspection route is fixed, inspection efficiency is low, failure points cannot be timely inspected, and resources of an unmanned aerial vehicle are wasted.
The application further aims to provide a power transmission line inspection device.
It is also an object of the present application to provide a computer readable storage medium.
The application also aims to provide the electronic equipment.
The technical scheme for solving the technical problems is as follows:
the utility model provides a transmission line inspection method, is applied to inspection unmanned aerial vehicle, the infrared camera is disposed in the unmanned aerial vehicle that patrols and examines, stores the key position in the target transmission line that sets for, the non-key position in the target transmission line, demarcation discharge parameter value Q, demarcation fault number and demarcation security level in the task database that patrols and examines, and the specific steps of inspection method are as follows:
s1: receiving a target transmission line inspection task;
s2: in the process of inspecting the target power transmission line by the unmanned aerial vehicle, calling the infrared camera to acquire infrared images of key positions and non-key positions in the target power transmission line to obtain a first infrared image set of the key positions and a second infrared image set of the non-key positions;
s3: after preprocessing the first infrared image set and the second infrared image set, calculating discharge parameters Qx of all key positions and discharge parameters Qy of all non-key positions, wherein x represents a specific key position, and y represents a specific non-key position;
s4: and respectively comparing the discharge parameters Qx and Qy of all the key positions with the calibrated discharge parameter value Q, wherein when Qx is more than or equal to Q or Qy is more than or equal to Q, the corresponding position of the discharge parameter is the key position in the next target transmission line, and when Qx is less than Q or Qy is less than Q, the corresponding position of the discharge parameter is the non-key position in the next target transmission line, outputting a patrol result, and updating the key position and the non-key position information in the target transmission line in a patrol task database.
The specific calculation method of the discharge parameters of the critical position and the non-critical position is as follows:
s3.1: extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
s3.2: and calculating the discharge parameters Qx of all the key positions according to the first temperature value set, and calculating the discharge parameters Qy of all the non-key positions according to the second temperature value set.
And an optical camera is also called in the process of inspecting the target power transmission line, and the optical camera performs optical image acquisition on the key position and the non-key position in the target power transmission line to obtain a first optical image set of the key position and a second optical image set of the non-key position.
The specific calculation method of the discharge parameters of the critical position and the non-critical position is as follows:
s3.1': extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
extracting optical characteristics of all images in the first optical image set and the second optical image set, and calculating a first discharge light spot area set of an insulator in the first optical image set and a second discharge light spot area set of an insulator in the second image set according to the optical characteristics;
s3.2': and calculating first discharge parameters Qi of all key positions according to the first temperature value set and the first discharge light spot area set, and calculating second discharge parameters Qj of all non-key positions according to the second temperature value set and the second discharge light spot area set, wherein i represents a specific key position and j represents a specific non-key position.
And comparing the first discharge parameters Qi of all the key positions and the second discharge parameters Qj of all the non-key positions with the calibration discharge parameter value Q respectively, when Qi is more than or equal to Q or Qj is more than or equal to Q, the corresponding position of the discharge parameters is the key position in the next target power transmission line, when Qi is less than Q or Qj is less than Q, the corresponding position of the discharge parameters is the non-key position in the next target power transmission line, outputting a patrol result, and updating the key position and the non-key position information in the target power transmission line in the patrol task database.
The judging method of the key position and the non-key position in the target power transmission line comprises the following steps:
r1: inquiring a plurality of historical inspection results in a last inspection period of a target power transmission line in an inspection task database, wherein the last inspection period comprises a plurality of historical inspection moments, and each historical inspection moment corresponds to one historical inspection result;
r2: and determining the key position and the non-key position in the target power transmission line according to the historical inspection result.
The method for determining the key position and the non-key position in the target power transmission line according to the historical inspection result comprises the following steps:
y1: determining a position with the failure frequency not less than the calibration failure frequency in the historical inspection result as a first candidate position, and determining a position with the failure frequency less than the calibration failure frequency as a second candidate position;
y2: inquiring a security level corresponding to the second candidate position in the inspection task database, determining a position with the security level not smaller than the calibrated security level as a third candidate position, and determining a position with the security level smaller than the calibrated security level as a fourth candidate position;
y3: the first candidate location and the third candidate location are determined as critical locations and the fourth candidate location is determined as a non-critical location.
When the infrared camera performs infrared image acquisition on the critical position and the non-critical position in the target power transmission line in the step S2, the acquisition frequency of the critical position is greater than that of the non-critical position, and the number of the image acquisition angles of the critical position is greater than that of the image acquisition angles of the non-critical position.
The preprocessing performed on the first infrared image set and the second infrared image set in the step S3 includes image enhancement processing and image segmentation processing.
A transmission line inspection device, comprising:
the receiving module is used for receiving the transmission line inspection task;
the acquisition module is used for respectively calling an infrared camera and an optical camera to acquire images of the key position and the non-key position in the process of inspecting the target transmission line of the unmanned aerial vehicle to obtain a first infrared image set and a first optical image set corresponding to the key position, and a second infrared image set and a second optical image set corresponding to the non-key position;
the processing module is used for processing the first infrared image set and the first optical image set, the second infrared image set and the second optical image set to obtain discharge parameters of the key position and the non-key position, judging the discharge parameter values, outputting a processing result, and updating the key position and the non-key position in the target power transmission line by utilizing the processing result.
A computer readable storage medium storing a computer program which, when executed by a processor, causes a device in which the computer readable storage medium resides to perform a transmission line inspection method.
An electronic device includes a processor for executing a transmission line inspection method by running a program stored on a memory;
and a memory for storing a computer program.
The beneficial effects of the application are as follows: the positions in the power transmission line are divided into the critical positions and the non-critical positions, the infrared camera and the optical camera are utilized to carry out inspection on the critical positions and the non-critical positions, the inspection frequency of the critical positions can be higher than that of the non-critical positions, the number of image acquisition angles of the critical positions is higher than that of the image acquisition angles of the non-critical positions, and the information of the critical positions and the non-critical positions in the power transmission line are updated in time after the inspection is finished, so that the information dynamic change of the critical positions and the information of the non-critical positions in the target power transmission line are improved, the inspection efficiency of the power transmission line is improved, the inspection of pertinence and the pertinence is carried out on the power transmission line, fault points can be more easily discharged, the safety of the power transmission line is ensured, and the resource consumption problem of the unmanned aerial vehicle is effectively avoided.
Drawings
FIG. 1 is a flow chart of a method for inspection when an infrared camera participates in the application;
FIG. 2 is a flow chart of the inspection method when the infrared camera and the optical camera participate in the application;
FIG. 3 is a flow chart of the present application step of determining a critical location and a non-critical location;
FIG. 4 is a flow chart of the steps of the present application for dividing critical locations and non-critical locations.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1, the application is applied to an inspection unmanned aerial vehicle, an infrared camera is deployed in the inspection unmanned aerial vehicle, a set key position in a target power transmission line, a set non-key position in the target power transmission line, a set calibration discharge parameter value Q, a set calibration failure frequency and a set calibration security level are stored in an inspection task database, and the specific steps of the inspection method are as follows:
s1: receiving a target transmission line inspection task;
s2: in the process of inspecting the target power transmission line by the unmanned aerial vehicle, calling the infrared camera to acquire infrared images of key positions and non-key positions in the target power transmission line to obtain a first infrared image set of the key positions and a second infrared image set of the non-key positions, wherein the acquisition frequency of the key positions is greater than that of the non-key positions, and the number of the image acquisition angles of the key positions is greater than that of the image acquisition angles of the non-key positions;
s3: after preprocessing the first infrared image set and the second infrared image set, calculating discharge parameters Qx of all key positions and discharge parameters Qy of all non-key positions, wherein x represents a specific key position, y represents a specific non-key position, and the preprocessing comprises image enhancement processing and image segmentation processing, and the specific processing steps are as follows:
1. and respectively carrying out enhancement processing on the acquired first infrared image set and the second infrared image set to obtain a first target image set and a second target image set. Wherein the gray scale transformation may be used to image enhance all images in the first set of infrared images to obtain the first set of target images. And simultaneously, carrying out image enhancement on all images in the second infrared image set by adopting gray level transformation to obtain a second target image set.
2. And dividing all images in the first target image set and all images in the second target image set to obtain a first divided image set and a second divided image set. The image segmentation may use global threshold segmentation, i.e. only one threshold is used in the whole image, dividing the whole image into two regions, i.e. an object and a background. And carrying out infrared characteristic extraction on all images in the first divided image set and all images in the second divided image set, and calculating discharge parameters Qx of all key positions and discharge parameters Qy of all non-key positions.
S4: and respectively comparing the discharge parameters Qx and Qy of all the key positions with the calibrated discharge parameter value Q, wherein when Qx is more than or equal to Q or Qy is more than or equal to Q, the corresponding position of the discharge parameter is the key position in the next target transmission line, and when Qx is less than Q or Qy is less than Q, the corresponding position of the discharge parameter is the non-key position in the next target transmission line, outputting a patrol result, and updating the key position and the non-key position information in the target transmission line in a patrol task database.
The specific calculation method of the discharge parameters of the critical position and the non-critical position is as follows:
s3.1: extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
s3.2: and calculating the discharge parameters Qx of all the key positions according to the first temperature value set, and calculating the discharge parameters Qy of all the non-key positions according to the second temperature value set.
As shown in fig. 2, an optical camera is also invoked in the process of inspecting the target power transmission line, and the optical camera performs optical image acquisition on the critical position and the non-critical position in the target power transmission line to obtain a first optical image set of the critical position and a second optical image set of the non-critical position.
S3.1': extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
extracting optical characteristics of all images in the first optical image set and the second optical image set, and calculating a first discharge light spot area set of an insulator in the first optical image set and a second discharge light spot area set of an insulator in the second optical image set according to the optical characteristics;
s3.2': and calculating first discharge parameters Qi of all key positions according to the first temperature value set and the first discharge light spot area set, and calculating second discharge parameters Qj of all non-key positions according to the second temperature value set and the second discharge light spot area set, wherein i represents a specific key position and j represents a specific non-key position.
And respectively comparing the first discharge parameters Qi of all the key positions and the second discharge parameters Qj of all the non-key positions with the calibration discharge parameter value Q, wherein when Qi is more than or equal to Q or Qj is more than or equal to Q, the corresponding position of the discharge parameter is the key position in the next target power transmission line, and when Qi is less than Q or Qj is less than Q, the corresponding position of the discharge parameter is the non-key position in the next target power transmission line, outputting a patrol result, and updating the key position and the non-key position information in the target power transmission line in a patrol task database.
As shown in fig. 3, the method for judging the critical position and the non-critical position in the target transmission line is as follows:
r1: inquiring a plurality of historical inspection results in a last inspection period of a target power transmission line in an inspection task database, wherein the last inspection period comprises a plurality of historical inspection moments, and each historical inspection moment corresponds to one historical inspection result;
r2: and determining the key position and the non-key position in the target power transmission line according to the historical inspection result.
As shown in fig. 4, the method for determining the critical position and the non-critical position in the target power transmission line according to the historical inspection result includes:
y1: determining a position with the failure frequency not less than the calibration failure frequency in the historical inspection result as a first candidate position, and determining a position with the failure frequency less than the calibration failure frequency as a second candidate position;
y2: inquiring a security level corresponding to the second candidate position in the inspection task database, determining a position with the security level not smaller than the calibrated security level as a third candidate position, and determining a position with the security level smaller than the calibrated security level as a fourth candidate position;
y3: the first candidate location and the third candidate location are determined as critical locations and the fourth candidate location is determined as a non-critical location.
A power transmission line inspection device, comprising:
the receiving module is used for receiving the transmission line inspection task;
the acquisition module is used for respectively calling the infrared camera and the optical camera to acquire images at the key position and the non-key position in the process of inspecting the target power transmission line of the unmanned aerial vehicle to acquire a first infrared image set and a first optical image set corresponding to the key position, and a second infrared image set and a second optical image set corresponding to the non-key position, wherein the acquisition frequency of the key position is greater than that of the non-key position, and the number of the image acquisition angles of the key position is greater than that of the non-key position. The key position and non-key position judging step comprises the following steps: inquiring a plurality of historical inspection results in a last inspection period of a target power transmission line in an inspection task database, wherein the last inspection period comprises a plurality of historical inspection moments, each historical inspection moment corresponds to one historical inspection result, determining a position with the failure frequency not less than the calibration failure frequency in the historical inspection results as a first candidate position, and determining a position with the failure frequency less than the calibration failure frequency as a second candidate position; inquiring a security level corresponding to the second candidate position in the inspection task database, determining a position with the security level not smaller than the calibrated security level as a third candidate position, determining a position with the security level smaller than the calibrated security level as a fourth candidate position, determining the first candidate position and the third candidate position as key positions, and determining the fourth candidate position as a non-key position;
the processing module is used for processing the first infrared image set and the first optical image set, the second infrared image set and the second optical image set to obtain discharge parameters of the key position and the non-key position, judging the discharge parameter values, outputting a processing result, and updating the key position and the non-key position in the target power transmission line by utilizing the processing result.
A computer readable storage medium storing a computer program which, when executed by a processor, causes a device in which the computer readable storage medium resides to perform a method of inspection of a transmission line.
An electronic device comprising
The processor is used for executing a power transmission line inspection method by running a program stored in the memory;
a memory for storing a computer program;
the processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk), etc.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Claims (12)
1. The power transmission line inspection method is characterized by being applied to an inspection unmanned aerial vehicle, an infrared camera is deployed in the inspection unmanned aerial vehicle, a set key position in a target power transmission line, a set non-key position in the target power transmission line, a calibration discharge parameter value Q, a calibration failure frequency and a calibration security level are stored in an inspection task database, and the specific steps of the inspection method are as follows:
s1: receiving a target transmission line inspection task;
s2: in the process of inspecting the target power transmission line by the unmanned aerial vehicle, calling the infrared camera to acquire infrared images of key positions and non-key positions in the target power transmission line to obtain a first infrared image set of the key positions and a second infrared image set of the non-key positions;
s3: after preprocessing the first infrared image set and the second infrared image set, calculating discharge parameters Qx of all key positions and discharge parameters Qy of all non-key positions, wherein x represents a specific key position, and y represents a specific non-key position;
s4: and respectively comparing the discharge parameters Qx and Qy of all the key positions with the calibrated discharge parameter value Q, wherein when Qx is more than or equal to Q or Qy is more than or equal to Q, the corresponding position of the discharge parameter is the key position in the next target transmission line, and when Qx is less than Q or Qy is less than Q, the corresponding position of the discharge parameter is the non-key position in the next target transmission line, outputting a patrol result, and updating the key position and the non-key position information in the target transmission line in a patrol task database.
2. The method for inspecting electric transmission lines according to claim 1, wherein the specific calculation method for the discharge parameters of the critical position and the non-critical position is as follows:
s3.1: extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
s3.2: and calculating the discharge parameters Qx of all the key positions according to the first temperature value set, and calculating the discharge parameters Qy of all the non-key positions according to the second temperature value set.
3. The method for inspecting a power transmission line according to claim 1, wherein an optical camera is also invoked in the process of inspecting a target power transmission line, and the optical camera performs optical image acquisition on a critical position and a non-critical position in the target power transmission line to obtain a first optical image set of the critical position and a second optical image set of the non-critical position.
4. The method for inspecting electric transmission lines according to claim 1, wherein the specific calculation method for the discharge parameters of the critical position and the non-critical position is as follows:
s3.1': extracting infrared characteristics of all images in the first infrared image set and the second infrared image set, and calculating a first temperature value set of an insulator in the first infrared image set and a second temperature value set of an insulator in the second infrared image set according to the infrared characteristics;
extracting optical characteristics of all images in the first optical image set and the second optical image set, and calculating a first discharge light spot area set of an insulator in the first optical image set and a second discharge light spot area set of an insulator in the second image set according to the optical characteristics;
s3.2': and calculating first discharge parameters Qi of all key positions according to the first temperature value set and the first discharge light spot area set, and calculating second discharge parameters Qj of all non-key positions according to the second temperature value set and the second discharge light spot area set, wherein i represents a specific key position and j represents a specific non-key position.
5. The method of claim 4, wherein the first discharge parameters Qi of all critical positions and the second discharge parameters Qj of all non-critical positions are respectively compared with the calibration discharge parameter value Q, when Qi is greater than or equal to Q or Qj is greater than or equal to Q, the corresponding position of the discharge parameters is the critical position in the next target transmission line, when Qi < Q or Qj < Q, the corresponding position of the discharge parameters is the non-critical position in the next target transmission line, the inspection result is output, and the critical position and the non-critical position information in the target transmission line in the inspection task database are updated.
6. The method for inspecting a power transmission line according to claim 1, wherein the method for judging the critical position and the non-critical position in the target power transmission line is as follows:
r1: inquiring a plurality of historical inspection results in a last inspection period of a target power transmission line in an inspection task database, wherein the last inspection period comprises a plurality of historical inspection moments, and each historical inspection moment corresponds to one historical inspection result;
r2: and determining the key position and the non-key position in the target power transmission line according to the historical inspection result.
7. The method for inspecting a power transmission line according to claim 6, wherein the method for determining the critical position and the non-critical position in the target power transmission line according to the historical inspection result comprises the steps of:
y1: determining a position with the failure frequency not less than the calibration failure frequency in the historical inspection result as a first candidate position, and determining a position with the failure frequency less than the calibration failure frequency as a second candidate position;
y2: inquiring a security level corresponding to the second candidate position in the inspection task database, determining a position with the security level not smaller than the calibrated security level as a third candidate position, and determining a position with the security level smaller than the calibrated security level as a fourth candidate position;
y3: the first candidate location and the third candidate location are determined as critical locations and the fourth candidate location is determined as a non-critical location.
8. The method for inspecting a power transmission line according to claim 1, wherein in the step S2, when the infrared camera performs infrared image acquisition on the critical position and the non-critical position in the target power transmission line, the acquisition frequency of the critical position is greater than the acquisition frequency of the non-critical position, and the number of image acquisition angles of the critical position is greater than the number of image acquisition angles of the non-critical position.
9. The method for inspecting electric power transmission lines according to claim 1, wherein the preprocessing of the first and second sets of infrared images in step S3 includes image enhancement processing and image segmentation processing.
10. The utility model provides a transmission line inspection device which characterized in that: comprising the following steps:
the receiving module is used for receiving the transmission line inspection task;
the acquisition module is used for respectively calling an infrared camera and an optical camera to acquire images of the key position and the non-key position in the process of inspecting the target transmission line of the unmanned aerial vehicle to obtain a first infrared image set and a first optical image set corresponding to the key position, and a second infrared image set and a second optical image set corresponding to the non-key position;
the processing module is used for processing the first infrared image set and the first optical image set, the second infrared image set and the second optical image set to obtain discharge parameters of the key position and the non-key position, judging the discharge parameter values, outputting a processing result, and updating the key position and the non-key position in the target power transmission line by utilizing the processing result.
11. A computer-readable storage medium, characterized by: the computer readable storage medium stores a computer program which, when executed by a processor, causes a device in which the computer readable storage medium is located to perform the method of any of claims 1-9.
12. An electronic device, characterized in that: comprising
A processor for performing the method of any of claims 1-9 by running a program stored on a memory;
and a memory for storing a computer program.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117435889A (en) * | 2023-12-19 | 2024-01-23 | 福州安蒲特电气有限公司 | Online fault monitoring and early warning method and system for power cable |
| CN117435889B (en) * | 2023-12-19 | 2024-04-26 | 福州安蒲特电气有限公司 | Online fault monitoring and early warning method and system for power cable |
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2023
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117435889A (en) * | 2023-12-19 | 2024-01-23 | 福州安蒲特电气有限公司 | Online fault monitoring and early warning method and system for power cable |
| CN117435889B (en) * | 2023-12-19 | 2024-04-26 | 福州安蒲特电气有限公司 | Online fault monitoring and early warning method and system for power cable |
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