A method and system for detecting defects in power transmission line equipment

Abstract

The present invention discloses a method and system for detecting defects in power transmission line equipment, including collecting an image of an anti-vibration hammer in a power transmission line by using an unmanned aerial vehicle (UAV) collection device, selecting the anti-vibration hammer corner points and the power transmission line calibration points in the image as detection points based on the collected image, obtaining the image coordinates of the selected detection points in the image, obtaining the world coordinates of the image coordinates of the anti-vibration hammer corner points and the power transmission line calibration points in reality based on the imaging principle of the UAV collection device and the parameters of the UAV collection device, calculating the position between the anti-vibration hammer and the power transmission line according to the world coordinates of the anti-vibration hammer corner points and the power transmission line calibration points, and realizing the detection of the anti-vibration hammer tilt defect. By using this method to detect the anti-vibration hammer tilt defect, the demand for image samples in the detection process is reduced, and the calculation amount of the detection process is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of power transmission line defect detection, and in particular relates to a power transmission line equipment defect detection method and system. Background Art

[0002] Transmission lines are an important part of the power system, and they are responsible for the long-distance transmission of electric energy. In transmission lines, high-voltage overhead lines have high poles and large spans. When the conductors are affected by wind, they will vibrate. When the conductors vibrate, the working conditions at the place where the conductors are suspended are the most unfavorable. Due to multiple vibrations, the conductors will suffer fatigue damage due to periodic bending. Therefore, when the overhead line span is greater than 120 meters, anti-vibration hammers are generally used for vibration prevention. However, since the anti-vibration hammers are exposed to the natural environment for a long time, the probability of defects such as damage and tilt is extremely high. Most of the existing technologies use image recognition technology combined with neural networks to detect anti-vibration hammer defects, which not only requires a large number of images as training samples, but also requires a large amount of calculation in the recognition process. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a method and system for detecting defects in power transmission line equipment. The world coordinates of the corresponding points on the anti-vibration hammer are obtained from the anti-vibration hammer image, and the positional relationship between the anti-vibration hammer and the transmission line is obtained, thereby realizing the anti-vibration hammer tilt defect detection. Few sample images are required and the calculation process is simple.

[0004] A first aspect of an embodiment of the present invention provides a method for detecting defects in power transmission line equipment, the method comprising:

[0005] Selecting anti-vibration hammer corner points and transmission line calibration points based on the anti-vibration hammer image of the transmission line, and obtaining image coordinates of the selected anti-vibration hammer corner points and transmission line calibration points;

[0006] Obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0007] Based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, the anti-vibration hammer tilt defect detection is carried out.

[0008] As a further optimization of the above method, the anti-vibration hammer corner points are set with two points, which are the vertices of the left and right hammer heads of the anti-vibration hammer, and the transmission line calibration points are set with two points, which are the end points on both sides of the connection part between the anti-vibration hammer wire clamp and the transmission line.

[0009] As a further optimization of the above method, the process of obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points includes:

[0010] Use camera calibration algorithm to obtain the parameters of drone acquisition equipment;

[0011] Initialize the parameters of the drone acquisition equipment based on the acquired parameters;

[0012] Use the configured UAV acquisition equipment to collect images of the area where the transmission line is located, filter the collected images, and obtain the transmission line anti-vibration hammer image;

[0013] The image coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained based on the anti-vibration hammer image of the transmission line. The world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained by combining the parameters of the UAV acquisition equipment.

[0014] As a further optimization of the above method, the initialization parameter configuration of the drone acquisition device includes:

[0015] Based on the parameters of the drone collection device, position offset data of the drone collection device is obtained, wherein the position offset data includes a rotation angle and an offset distance of the drone collection device;

[0016] The position parameters of the UAV acquisition device are configured according to the position offset data, and the position parameters of the UAV acquisition device when acquiring images are fixedly set.

[0017] As a further optimization of the above method, the steps of screening the collected images and obtaining the transmission line anti-vibration hammer image include:

[0018] Obtain an image collected by a drone acquisition device, calculate the area of ​​the anti-vibration hammer region in the image, and if the area of ​​the anti-vibration hammer region is within a preset threshold range, select the anti-vibration hammer corner point and obtain its image coordinates;

[0019] Based on the image coordinates of the corner points of the anti-vibration hammer and the parameters of the UAV acquisition device, the world coordinates of the corner points of the anti-vibration hammer are obtained;

[0020] The length of the anti-vibration hammer is obtained according to the world coordinates of the corner points of the anti-vibration hammer, and the ratio between the length of the anti-vibration hammer and the template of the anti-vibration hammer is calculated;

[0021] The anti-vibration hammer images whose ratios are within the preset error range are screened out.

[0022] As a further optimization of the above method, the specific process of anti-vibration hammer tilt defect detection based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points is as follows:

[0023] Obtain the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0024] Calculate the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point, and analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same spatial plane;

[0025] If they are in the same spatial plane, analyze whether the two anti-vibration hammer corner points are on the same horizontal line;

[0026] If they are on the same horizontal line, analyze whether the corner point of the anti-vibration hammer and the calibration point of the transmission line are in the same vertical plane. If so, the anti-vibration hammer does not have a tilt defect.

[0027] As a further optimization of the above method, the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are calculated including:

[0028] The number of weighted items is set, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are weighted to obtain a floating world coordinate system;

[0029] Based on the obtained floating world coordinate system, geometric operations are performed to obtain the positional relationship between the anti-vibration hammer and the corner point of the transmission line.

[0030] A second aspect of an embodiment of the present invention provides a power transmission line equipment defect detection system, the system comprising:

[0031] An image marking module is used to select the anti-vibration hammer corner points and the transmission line calibration points based on the transmission line anti-vibration hammer image, and obtain the image coordinates of the selected anti-vibration hammer corner points and the transmission line calibration points;

[0032] A coordinate conversion module, used for obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0033] The defect detection module is used to estimate the positional relationship between the anti-vibration hammer and the transmission line based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, and perform anti-vibration hammer tilt defect detection.

[0034] A third aspect of an embodiment of the present invention provides a terminal, the terminal comprising:

[0035] Processor; and

[0036] A computer memory storing a program executed by the processor, wherein the program includes instructions for executing the above-mentioned method for detecting defects in power transmission line equipment.

[0037] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the storage medium stores at least one program code, and when the storage medium is run on a computer, the computer executes the above-mentioned method for detecting defects in power transmission line equipment.

[0038] A method and system for detecting defects in power transmission line equipment of the present invention has the following beneficial effects:

[0039] The present invention collects the image of the anti-vibration hammer in the transmission line through an unmanned aerial vehicle acquisition device, selects the anti-vibration hammer corner points and the transmission line calibration points in the image as detection points based on the collected image, obtains the image coordinates of the selected detection points in the image, and based on the imaging principle of the unmanned aerial vehicle acquisition device and the parameters of the unmanned aerial vehicle acquisition device, the world coordinates of the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points in reality can be obtained, and the position between the anti-vibration hammer and the transmission line can be calculated according to the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, thereby realizing the detection of the anti-vibration hammer tilt defect, reducing the demand for image samples, and reducing the calculation amount of the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is an overall flow chart of a method for detecting defects in power transmission line equipment according to the present invention;

[0042] Figure 2 is a flow chart of the process of screening anti-vibration hammer images;

[0043] Figure 3 It is a flow chart of the anti-vibration hammer tilt defect detection process;

[0044] Figure 4 It is a schematic diagram of the suspension of the anti-vibration hammer;

[0045] Figure 5 It is a schematic diagram of the anti-vibration hammer rotating and tilting around the Z axis;

[0046] Figure 6 It is a schematic diagram of the anti-vibration hammer rotating and tilting around the X-axis;

[0047] Figure 7 It is a schematic diagram of the anti-vibration hammer rotating and tilting around the Y axis. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0049] An embodiment of the present invention provides a method for detecting defects in power transmission line equipment, the method comprising:

[0050] Selecting anti-vibration hammer corner points and transmission line calibration points based on the anti-vibration hammer image of the transmission line, and obtaining image coordinates of the selected anti-vibration hammer corner points and transmission line calibration points;

[0051] Obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0052] Based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, the anti-vibration hammer tilt defect detection is carried out.

[0053] Based on the above method, the above-mentioned anti-vibration hammer corner points are set with two points, which are the vertices of the left and right hammer heads of the anti-vibration hammer, and the above-mentioned transmission line calibration points are set with two points, which are the end points on both sides of the connection part between the anti-vibration hammer wire clamp and the transmission line.

[0054] refer to Figure 1 In this embodiment, the anti-vibration hammer image in the transmission line is first collected by the drone acquisition device, and the anti-vibration hammer corner points and the transmission line calibration points in the image are selected as detection points based on the collected image, where two anti-vibration hammer corner points are selected, namely Q L ,Q R , where Q L Q is the top of the left hammer head of the anti-vibration hammer. R Two calibration points are set for the transmission line, namely, O L ,O R , where O L It is the left end point of the connection between the anti-vibration hammer wire clamp and the transmission line. R The image coordinates of the selected detection point in the image are obtained for the right end point of the connection between the anti-vibration hammer wire clamp body and the transmission line. Based on the imaging principle and parameters of the drone acquisition equipment, the image coordinates of the anti-vibration hammer corner point and the transmission line calibration point in the real world coordinates can be obtained. According to the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point, the position between the anti-vibration hammer and the transmission line can be calculated. For example, according to the coordinates of the vertices of the hammer heads on the left and right sides of the anti-vibration hammer on the Z axis of the spatial coordinate system, it can be obtained whether the world coordinates of the hammer heads on both sides of the anti-vibration hammer are on the same horizontal plane, and whether the anti-vibration hammer is tilted up and down can be analyzed.

[0055] This method can be used to obtain the world coordinates of the apex of the anti-vibration hammer head and the end points of the connection part between the transmission line and the anti-vibration hammer through the anti-vibration hammer image, thereby obtaining the positional relationship between the anti-vibration hammer and the transmission line, and realizing the tilt defect detection of the anti-vibration hammer. Compared with the defect detection through image analysis or neural network in the existing technology, this method reduces the amount of calculation and makes the calculation process simpler.

[0056] Based on the above method, the process of obtaining the world coordinates of the above anti-vibration hammer corner points and the transmission line calibration points includes:

[0057] Use camera calibration algorithm to obtain the parameters of drone acquisition equipment;

[0058] Initialize the parameters of the drone acquisition equipment based on the acquired parameters;

[0059] Use the configured UAV acquisition equipment to collect images of the area where the transmission line is located, filter the collected images, and obtain the transmission line anti-vibration hammer image;

[0060] The image coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained based on the anti-vibration hammer image of the transmission line. The world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained by combining the parameters of the UAV acquisition equipment.

[0061] In this embodiment, the parameters of the drone acquisition device are first solved by a camera calibration algorithm, and the parameters of the drone acquisition device are initialized based on the obtained parameters, so that the parameters of the drone acquisition device for each image acquisition are basically consistent, and the configured drone acquisition device is used to acquire images of the transmission line anti-vibration hammer, and the acquired images are screened to remove images that do not meet the standards to obtain the transmission line anti-vibration hammer image, and the anti-vibration hammer corner points and transmission line calibration points are selected from the transmission line anti-vibration hammer image to obtain the image coordinates of the selected corner points and calibration points in the image, and the corresponding relationship between the image coordinates and the world coordinates can be obtained through the imaging principle of the drone acquisition device and the parameters of the drone acquisition device, thereby obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points.

[0062] This application obtains the parameters of the drone acquisition device through a camera calibration algorithm, and initializes the parameter configuration of the drone acquisition device according to the parameters, so that the parameters of the drone acquisition device are consistent when acquiring images, and then based on the imaging principle of the drone acquisition device, the corresponding world coordinates of the image coordinates in the image in reality can be obtained.

[0063] Based on the above method, the initialization parameter configuration of the drone acquisition device includes:

[0064] Based on the parameters of the UAV acquisition device, position offset data of the UAV acquisition device is acquired, wherein the position offset data includes a rotation angle and an offset distance of the UAV acquisition device;

[0065] The position parameters of the UAV acquisition device are configured according to the position offset data, and the position parameters of the UAV acquisition device when acquiring images are fixedly set.

[0066] It should be noted that the camera calibration algorithm can be used to obtain the camera's intrinsic parameters and the camera's extrinsic parameters. In this embodiment, the drone acquisition device is initialized and configured with parameters by obtaining the drone's extrinsic parameters. Specifically, the camera calibration algorithm is used to obtain the drone acquisition device's extrinsic parameters, and the rotation angle and offset position of the drone acquisition device when acquiring images are analyzed. The drone acquisition device's flight height, flight angle, flight speed, flight angle and other parameters are configured based on the rotation angle and offset position of the drone acquisition device when acquiring images, so that the drone acquisition device maintains the same extrinsic parameters each time it acquires an image, thereby maintaining the correspondence between the image coordinates in the image acquired by the drone acquisition device and the world coordinates.

[0067] Based on the above method, the steps of screening the collected images and obtaining the transmission line anti-vibration hammer image include:

[0068] Obtain an image collected by a drone acquisition device, calculate the area of ​​the anti-vibration hammer region in the image, and if the area of ​​the anti-vibration hammer region is within a preset threshold range, select the anti-vibration hammer corner point and obtain its image coordinates;

[0069] Based on the image coordinates of the corner points of the anti-vibration hammer and the parameters of the UAV acquisition device, the world coordinates of the corner points of the anti-vibration hammer are obtained;

[0070] The length of the anti-vibration hammer is obtained according to the world coordinates of the corner points of the anti-vibration hammer, and the ratio between the length of the anti-vibration hammer and the template of the anti-vibration hammer is calculated;

[0071] The anti-vibration hammer images whose ratios are within the preset error range are screened out.

[0072] refer to Figure 2In this embodiment, in order to make the defect detection result more accurate, the image needs to be screened after the image collected by the drone is obtained. Specifically, the image collected by the drone acquisition device is obtained, the anti-vibration hammer area in the acquired image is extracted, and then the area of ​​the anti-vibration hammer area in the entire anti-vibration hammer image is calculated. The image in which the area of ​​the anti-vibration hammer area is within the preset threshold range is selected, and the preset threshold range is preferably [0.3, 0.4]. The image coordinates of the anti-vibration hammer corner point are selected according to the screened image, and the world coordinates of the anti-vibration hammer corner point are calculated in combination with the parameters of the drone acquisition device and the imaging principle. The actual length of the anti-vibration hammer can be estimated based on the distance between the world coordinates of the two corner points. The estimated anti-vibration hammer length is compared with the anti-vibration hammer template of the corresponding type, and the length ratio of the two is calculated. If the ratio of the two is within the preset error range, the image is screened out, and the non-compliant images are screened out, and the preset error range is preferably [0.95, 1.05]. This method can be used to screen out high-quality anti-vibration hammer images, which is convenient for subsequent tilt defect detection. At the same time, by estimating the actual length of the anti-vibration hammer and comparing it with the preset template, the erroneous images collected by the drone acquisition equipment due to environmental influences during image acquisition can be screened out. It can also verify whether the initial parameter configuration of the drone acquisition equipment is accurate, thereby improving the accuracy of the final anti-vibration hammer tilt defect detection.

[0073] Based on the above method, the specific process of anti-vibration hammer tilt defect detection based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points is as follows:

[0074] Obtain the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0075] Calculate the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point, and analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same spatial plane;

[0076] refer to Figure 3 In this embodiment, the spatial geometric relationship between the corner point of the anti-vibration hammer and the world coordinates of the calibration point of the transmission line is used to analyze the positional relationship between the anti-vibration hammer and the transmission line to determine whether the anti-vibration hammer has a tilt defect. It should be noted that in this embodiment, a right-handed spatial rectangular coordinate system is used, that is, the positive direction of the Z axis is vertically upward.

[0077] refer to Figure 4 Under normal circumstances, the anti-vibration hammer corner point and the transmission line calibration point are in the same plane, so Q can be calculated based on the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point L ,Q R ,O L ,O R Whether the four points are in the same plane is used to determine whether the anti-vibration hammer is tilted. If Q L ,Q R ,OL ,O R If the four points are not coplanar, it means that the vibration damper is tilted. For example, Figure 5 , in the space coordinate system, according to Q L ,Q R ,O L ,O R The four points are not coplanar, which indicates that the anti-vibration hammer has rotated and tilted around the Z-axis of the spatial rectangular coordinate system.

[0078] If they are in the same spatial plane, analyze whether the two anti-vibration hammer corner points are on the same horizontal line;

[0079] When Q L ,Q R ,O L ,O R When the four points are coplanar, continue to determine whether the corner points on the left and right sides of the anti-vibration hammer are on the same horizontal line. Figure 5 Under normal circumstances, when the anti-vibration hammer is suspended, the corner points on the left and right sides of the anti-vibration hammer are on the same horizontal line, so according to Q L ,Q R Whether the anti-vibration hammer is tilted is determined by whether the coordinates are on the same horizontal line. For example, Figure 6 , in the space coordinate system, according to Q L ,Q R Since they are not on the same horizontal line, it can be judged that the vibration-proof hammer has rotated and tilted around the X-axis of the spatial rectangular coordinate system.

[0080] If they are on the same horizontal line, analyze whether the corner point of the anti-vibration hammer and the calibration point of the transmission line are in the same vertical plane. If so, the anti-vibration hammer does not have a tilt defect.

[0081] When Q L ,Q R ,O L ,O R The four points are coplanar and Q L ,Q R When they are on the same horizontal line, continue to determine whether the anti-vibration hammer corner point and the transmission line calibration point are in the same vertical plane. Figure 4 Under normal circumstances, the anti-vibration hammer is naturally suspended below the transmission line, Q L ,Q R ,O L ,O R Not only are they coplanar but they are also in the same vertical plane. In the spatial coordinate system, Q L ,Q R ,O L ,O R are in the same X=Δx plane, where Δx is a constant, for example, Figure 7 , in the space coordinate system, according to QL ,Q R ,O L ,O R Since they are not in the same vertical plane, it can be determined that the vibration-proof hammer has rotated and tilted around the Y-axis of the spatial rectangular coordinate system.

[0082] According to the above process, it can be judged whether the anti-vibration hammer is tilted in the X, Y, and Z axes of the spatial rectangular coordinate system, thereby judging whether the anti-vibration hammer is tilted. If one of the above judgments fails, the judgment is stopped, indicating that the anti-vibration hammer has a tilt defect.

[0083] To judge Q L ,Q R , O L ,O R Take the example of whether the four points are in the same plane to explain the specific process of geometric operations based on world coordinates. Specifically, according to the obtained Q L ,Q R , O L ,O R The world coordinates of the four points are first determined whether they are in the same plane. Specifically, construct the plane equation and transform O L ,O R ,Q L Substitute the three points into the equation to solve the plane equation, and then use Q R The coordinates of the plane are weighted and inserted into the plane equation, Q R If the plane equation is satisfied, it means that the four points are coplanar. The specific calculation formula is as follows:

[0084]

[0085] ΔQ R =(x4+Δx,y4+Δy,z4+Δz) (2)

[0086] Among them, A, B, C, D are the constant coefficients of the plane equation, Δx, Δy, Δz are Q R Weighted items.

[0087] Based on the above method, the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are calculated including:

[0088] The number of weighted items is set, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are weighted to obtain a floating world coordinate system;

[0089] Based on the obtained floating world coordinate system, geometric operations are performed to obtain the positional relationship between the anti-vibration hammer and the corner point of the transmission line.

[0090] It should be noted that due to the error caused by the actual volume of the object in the process of selecting the corner points of the anti-vibration hammer and the calibration points of the transmission line, there will be certain errors when the selected detection points correspond to the actual objects. Therefore, in the calculation process, the world coordinates of the detection points are adjusted by the equipment weighting items to obtain the floating world coordinates to calculate the positional relationship between the anti-vibration hammer and the corner points of the transmission line, which can reduce the error caused by the volume of the object and reduce the possibility of misjudgment of tilt defects.

[0091] An embodiment of the present invention provides a power transmission line equipment defect detection system, the system comprising:

[0092] An image marking module is used to select the anti-vibration hammer corner points and the transmission line calibration points based on the transmission line anti-vibration hammer image, and obtain the image coordinates of the selected anti-vibration hammer corner points and the transmission line calibration points;

[0093] A coordinate conversion module, used for obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points;

[0094] The defect detection module is used to estimate the positional relationship between the anti-vibration hammer and the transmission line based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, and perform anti-vibration hammer tilt defect detection.

[0095] The implementation of the above system is of the same concept as the embodiment of a substation safety monitoring method provided in the above embodiment. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0096] An embodiment of the present invention provides a terminal, the terminal comprising:

[0097] Processor; and

[0098] A computer memory storing a program executed by the processor, wherein the program includes instructions for executing the above-mentioned method for detecting defects in power transmission line equipment.

[0099] The terminal includes: at least one processor, a memory, a user interface and at least one network interface. The various components in the terminal are coupled together through a bus system. It can be understood that the bus system is used to achieve connection and communication between these components.

[0100] An embodiment of the present invention provides a computer-readable storage medium, wherein at least one program code is stored in the storage medium, and when the storage medium is run on a computer, the computer is enabled to execute the above-mentioned method for detecting defects in power transmission line equipment.

[0101] It should be noted that the memory in the embodiment of the present invention can store data to support the operation of the terminal. Examples of such data include: any computer program used to operate on the terminal, such as an operating system and an application program. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program can include various applications.

[0102] The present invention is not limited to the above-mentioned specific implementation modes. Various changes made by ordinary technicians in this field based on the above-mentioned concepts without creative work are all within the protection scope of the present invention.

Claims

1. A method for detecting defects in power transmission line equipment, characterized in that: The method comprises: Selecting anti-vibration hammer corner points and transmission line calibration points based on the anti-vibration hammer image of the transmission line, and obtaining image coordinates of the selected anti-vibration hammer corner points and transmission line calibration points; Obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points; Based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, anti-vibration hammer tilt defect detection is performed; The process of obtaining the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points includes: Use camera calibration algorithm to obtain the parameters of drone acquisition equipment; Initialize the parameters of the drone acquisition equipment based on the acquired parameters; Use the configured UAV acquisition equipment to collect images of the area where the transmission line is located, filter the collected images, and obtain the transmission line anti-vibration hammer image; Based on the transmission line anti-vibration hammer image, the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained by combining the parameters of the UAV acquisition equipment; The step of screening the collected images to obtain the transmission line anti-vibration hammer image comprises: Obtain an image collected by a drone acquisition device, calculate the area of ​​the anti-vibration hammer region in the image, and if the area of ​​the anti-vibration hammer region is within a preset threshold range, select the anti-vibration hammer corner point and obtain its image coordinates; Based on the image coordinates of the corner points of the anti-vibration hammer and the parameters of the drone acquisition device, the world coordinates of the corner points of the anti-vibration hammer are obtained; The length of the anti-vibration hammer is obtained according to the world coordinates of the corner points of the anti-vibration hammer, and the ratio of the length of the anti-vibration hammer to the length of the anti-vibration hammer template is calculated; Screen out anti-vibration hammer images whose ratios are within a preset error range; The specific process of detecting the tilt defect of the anti-vibration hammer based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points is as follows: Obtain the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points; Calculate the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point, and analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same spatial plane; If they are in the same spatial plane, analyze whether the two anti-vibration hammer corner points are on the same horizontal line; If they are on the same horizontal line, analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same vertical plane. If so, the anti-vibration hammer does not have a tilt defect; The calculation of the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points includes: The number of weighted items is set, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are weighted to obtain a floating world coordinate system; Based on the obtained floating world coordinate system, geometric operations are performed to obtain the positional relationship between the anti-vibration hammer and the corner point of the transmission line.

2. The method according to claim 1, characterized in that: The anti-vibration hammer corner points are arranged with two points, which are the vertices of the left and right hammer heads of the anti-vibration hammer respectively. The power transmission line calibration points are arranged with two points, which are the end points on both sides of the connection part between the anti-vibration hammer wire clamp body and the power transmission line respectively.

3. The method according to claim 2, characterized in that: Initialization parameter configuration for drone acquisition equipment includes: Based on the parameters of the UAV acquisition device, position offset data of the UAV acquisition device is acquired, wherein the position offset data includes a rotation angle and an offset distance of the UAV acquisition device; The position parameters of the UAV acquisition device are configured according to the position offset data, and the position parameters of the UAV acquisition device when acquiring images are fixedly set.

4. A power transmission line equipment defect detection system, characterized in that: The system comprises: An image marking module is used to select the anti-vibration hammer corner points and the transmission line calibration points based on the transmission line anti-vibration hammer image, and obtain the image coordinates of the selected anti-vibration hammer corner points and the transmission line calibration points; The coordinate conversion module is used to obtain the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points based on the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points, including: Use camera calibration algorithm to obtain the parameters of drone acquisition equipment; Initialize the parameters of the drone acquisition equipment based on the acquired parameters; Use the configured UAV acquisition equipment to collect images of the area where the transmission line is located, filter the collected images, and obtain the transmission line anti-vibration hammer image; Based on the transmission line anti-vibration hammer image, the image coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are obtained by combining the parameters of the UAV acquisition equipment; The steps of screening the collected images and obtaining the transmission line anti-vibration hammer images include: Obtain an image collected by a drone acquisition device, calculate the area of ​​the anti-vibration hammer region in the image, and if the area of ​​the anti-vibration hammer region is within a preset threshold range, select the anti-vibration hammer corner point and obtain its image coordinates; Based on the image coordinates of the corner points of the anti-vibration hammer and the parameters of the drone acquisition device, the world coordinates of the corner points of the anti-vibration hammer are obtained; The length of the anti-vibration hammer is obtained according to the world coordinates of the corner points of the anti-vibration hammer, and the ratio of the length of the anti-vibration hammer to the length of the anti-vibration hammer template is calculated; Screen out anti-vibration hammer images whose ratios are within a preset error range; The defect detection module is used to estimate the positional relationship between the anti-vibration hammer and the transmission line based on the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points, and perform anti-vibration hammer tilt defect detection, including: Obtain the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points; Calculate the world coordinates of the anti-vibration hammer corner point and the transmission line calibration point, and analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same spatial plane; If they are in the same spatial plane, analyze whether the two anti-vibration hammer corner points are on the same horizontal line; If they are on the same horizontal line, analyze whether the anti-vibration hammer corner point and the transmission line calibration point are in the same vertical plane. If so, the anti-vibration hammer does not have a tilt defect; The calculation of the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points includes: The number of weighted items is set, and the world coordinates of the anti-vibration hammer corner points and the transmission line calibration points are weighted to obtain a floating world coordinate system; Based on the obtained floating world coordinate system, geometric operations are performed to obtain the positional relationship between the anti-vibration hammer and the corner point of the transmission line.

5. A terminal, characterized in that: The terminal comprises: Processor; and A computer memory storing a program executed by the processor, wherein the program includes instructions for executing a method for detecting defects in power transmission line equipment according to any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that The storage medium stores at least one program code, which, when executed on a computer, enables the computer to execute a power transmission line equipment defect detection method as described in any one of claims 1 to 3.

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