On-line monitoring method and device for preventing power transmission line from being damaged by external force based on TOF (Time of Flight) camera

Abstract

The invention discloses a TOF camera-based power transmission line external force damage prevention on-line monitoring method and device. The method comprises the following steps of: measuring position information of each point and a target object on an overhead power transmission line conductor to a TOF camera by using the TOF camera; according to the position information, generating spherical coordinates and spatial position vectors from each point on the overhead transmission line conductor and the target object to the TOF camera; a space vector differencing method is adopted, the spherical coordinates are used for calculating the space distance between each point on the overhead transmission line conductor and the target object, and the minimum value is taken as the real-time clearance distance between the target object and the overhead transmission line; and carrying out damage judgment according to the real-time clearance distance and executing early warning operation. According to the method, the TOF camera is used for measuring the three-dimensional space distance, and the method is not limited by the geographical environment during use; the real-time clearance distance is calculated according to the spherical coordinates, damage judgment is carried out, the judgment basis is accurate, external force can be effectively prevented from damaging the line, the operation safety of the line is protected, the operation and maintenance cost is reduced, and the operation and maintenance risk is reduced.

Description

technical field [0001] The invention belongs to the technical field of external force monitoring of power transmission lines, and in particular relates to an online monitoring method and device for preventing external force damage of power transmission lines based on a TOF camera. Background technique [0002] High-voltage overhead transmission lines are the main channel for urban power supply. With the development of urban construction, various large-scale construction machinery is operating in the line protection area, and external force damage events occur frequently, which seriously affects the safe and stable operation of urban power grids. Due to the uncertainty of construction machinery operation, at present, it is mainly through strengthening inspection and operation monitoring to avoid the occurrence of external force damage accidents. The traditional power transmission line inspection and on-site monitoring mainly rely on the operation and maintenance personnel to ...

AI Technical Summary

Problems solved by technology

Traditional transmission line inspection and on-site monitoring mainly rely on the judgment of the operation and maintenance personnel based on the site construction conditions. Once people leave the Ze, they cannot monitor in real time, and the requirements for the on-site work experience of the operation and maintenance team are relatively high.

However, the existing video surveillance system based on conventional 2D cameras can feed back 2D images in real time, but the clearance distance between large machinery and power transmission lines cannot be determined in real time, and the seriousness of the danger still depends on the subjective judgment of the video surveillance viewer, and Misjudgment is prone to occur due to the poor viewing angle of the camera

Another kind of existing technology adopts the laser anti-breaking monitoring device, and utilizes infrared laser to carry out trigger type early warning, and its main method is to install the laser probe at a certain position on the tower (the position is determined according to the safe distance of the wire), once the construction machinery Entering the infrared area of ​​this area, the detector can receive the laser signal reflected by the construction machinery, so as to perform safety warning; however, this method can only perform passive early warning, and cannot measure the clearance distance between the construction machinery and the wire, which is not conducive to real-time operation and maintenance personnel. Assess job risk

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