A method and device for automatically configuring preset positions for ice monitoring of power transmission lines

Abstract

The invention discloses a method and device for automatically configuring preset positions for monitoring ice coating on a power transmission line. When the preset positions for monitoring ice coating on a power transmission line need to be configured, a spherical pan-tilt camera installed on a pole tower is controlled to detect trigger information of an automatic configuration process for the preset positions, so that the automatic configuration process for the preset positions can be started, and the spherical pan-tilt camera is controlled to change the shooting position of the spherical pan-tilt camera in a preset step length according to a preset scanning sequence, and target recognition is performed through photos taken at various shooting positions. The shooting position of the spherical pan-tilt camera corresponding to the photo of the identified insulator string is used as the preset position for monitoring ice coating on the power transmission line, thereby determining all the preset positions within the preset shooting angle range of the spherical pan-tilt camera, realizing the automatic configuration of the preset positions for monitoring ice coating on the power transmission line, greatly reducing the workload of configuring the preset positions, and improving the efficiency of configuring the preset positions.

Description

Technical Field

[0001] The present invention relates to the technical field of power system simulation, and in particular to a method and device for automatically configuring preset positions for ice coverage monitoring of power transmission lines. Background Art

[0002] The viewing angle of a camera is usually called a preset position, which is mainly determined by the following parameters: the focal length f of the camera lens, the angle θ formed by the projection of the extended optical axis of the camera in the horizontal plane and the reference direction in the horizontal plane, and the pitch angle formed by the extended optical axis of the camera and the vertical direction. Each group determines This is the preset position of a camera.

[0003] At present, the transmission line ice monitoring devices widely used in power grids generally use spherical pan-tilt cameras. The preset positions of existing spherical pan-tilt cameras are generally set by fixed positions before the device is installed, or after the installation is completed, the operation and maintenance personnel of the monitoring system issue commands through protocols to set them.

[0004] The two existing preset position setting methods have the following problems:

[0005] For the preset position configuration method that is set by fixing the position before installation, since there is no fixed standard for the installation position of the monitoring device on the tower, the preset position cannot reflect the actual position that needs to be monitored, so the reliability is not high;

[0006] The preset position configuration method in which the operation and maintenance personnel of the monitoring system set the preset position by issuing commands through the protocol after the installation is completed can avoid the low reliability problem of the preset position configuration method set by fixing the orientation before installation. However, since it takes several minutes for the monitoring device to take a photo and upload it, and the operation and maintenance personnel are not clear about the installation direction of the on-site camera lens, they need to try one by one to find the wires and insulators that need to be monitored, which results in a large workload and low efficiency for the preset position configuration. Summary of the invention

[0007] The present invention provides a method and device for automatically configuring preset positions for monitoring ice coating on a power transmission line, which are used to solve the technical problems of large workload and low efficiency in the existing setting method of preset positions for monitoring ice coating on a power transmission line.

[0008] In view of this, a first aspect of the present invention provides a method for automatically configuring preset positions for ice coverage monitoring of a power transmission line, comprising the following steps:

[0009] S1. Installing a transmission line icing monitoring device on a pole tower, wherein the transmission line icing monitoring device comprises a spherical pan-tilt camera;

[0010] S2, after the spherical pan-tilt camera is started, control the spherical pan-tilt camera to execute the preset instruction, determine whether the trigger information of the preset position automatic configuration process is detected, if so, start the preset position automatic configuration process, and execute step S3;

[0011] S3, configure the preset position number of the spherical pan-tilt camera to 0, and control the spherical pan-tilt camera to rotate to the initial position to take a photo;

[0012] S4, performing target recognition on the photo to determine whether there is an insulator string in the photo, if so, executing step S5, otherwise, jumping to step S6;

[0013] S5, adding 1 to the preset position number, and configuring the current shooting position corresponding to the photo as the preset position;

[0014] S6. Based on the preset scanning sequence, control the spherical pan-tilt camera to rotate to the preset position to take pictures with the preset step length, and determine whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, end the preset position automatic configuration process, otherwise, return to step S4.

[0015] Optionally, after the spherical pan / tilt camera is started, the preset instruction is executed to determine whether trigger information of the preset position automatic configuration process is detected, including:

[0016] After the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute shooting instructions to take photos;

[0017] Identify whether the photo contains a QR code carrying the trigger information of the preset position automatic configuration process. When the operation and maintenance personnel need to perform preset position configuration of the transmission line ice monitoring, they will pre-set the QR code carrying the trigger information of the preset position automatic configuration process within the shooting range of the installed spherical pan-tilt camera. After the spherical pan-tilt camera starts the preset position automatic configuration process, remove the QR code carrying the trigger information of the preset position automatic configuration process.

[0018] Optionally, after step S2, the following steps are further included:

[0019] Step S8: If the trigger information of the preset position automatic configuration process is not detected, the spherical pan-tilt camera is controlled to enter a normal monitoring state to monitor the power transmission line.

[0020] Optionally, step S6 specifically includes:

[0021] Based on the scanning order of horizontal first and then vertical, the spherical pan-tilt camera is controlled to rotate to the preset position to take a photo with a rotation step of 2 / 3 of the field of view angle, and it is determined whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, return to step S4.

[0022] Optionally, step S3 specifically includes:

[0023] Configure the preset position number of the spherical pan / tilt camera to 0, the vertical rotation angle to the vertical upper limit value, and the horizontal rotation angle to 0°. Control the spherical pan / tilt camera to rotate to the position where the vertical rotation angle is the vertical upper limit value and the horizontal rotation angle is 0° to take photos.

[0024] Optionally, step S6 specifically includes:

[0025] S61, add 2 / 3 of the field of view to the horizontal rotation angle to determine whether the horizontal rotation angle is not less than 360°. If not, control the spherical pan / tilt camera to rotate to a position where the horizontal rotation angle is the horizontal rotation angle plus 2 / 3 of the field of view and the vertical rotation angle is the vertical upper limit value to take a photo, and return to step S4 until the horizontal rotation angle is not less than 360°.

[0026] S62. When the horizontal rotation angle is not less than 360°, add 2 / 3 of the field of view angle to the vertical rotation angle to determine whether the vertical rotation angle is less than the vertical lower limit. If not, control the spherical pan / tilt camera to rotate in the vertical direction to the position of the vertical rotation angle plus 2 / 3 of the field of view angle to take a photo, and return to step S4 until the vertical rotation angle is less than the vertical lower limit, thereby ending the preset position automatic configuration process.

[0027] Optionally, the field of view of the spherical pan / tilt camera is 45°, the vertical upper limit is -15°, and the vertical lower limit is 90°.

[0028] Optionally, after step S6, the method further includes:

[0029] S7. Automatically generate a photo schedule based on all preset positions and preset shooting time ranges, and control the spherical pan / tilt camera to shoot photos at the corresponding preset positions at the time points on the photo schedule, with no less than 4 photos being taken at each preset position.

[0030] The second aspect of the present invention also provides a transmission line ice monitoring preset position automatic configuration device, including a spherical pan-tilt camera and a main control module:

[0031] The spherical pan / tilt camera is installed on the tower;

[0032] The main control module is connected to the spherical pan / tilt camera;

[0033] The main control module includes:

[0034] The trigger submodule is used to control the spherical pan-tilt camera to execute the preset instruction after the spherical pan-tilt camera is started, and to determine whether the trigger information of the preset position automatic configuration process is detected. If so, the preset position automatic configuration process is started and the shooting submodule is executed;

[0035] The shooting submodule is used to configure the preset position number of the spherical pan-tilt camera to 0, and control the spherical pan-tilt camera to rotate to the initial position to take pictures;

[0036] The target recognition submodule is used to perform target recognition on the photo and determine whether there is an insulator string in the photo. If so, the preset position configuration submodule is executed, otherwise, the judgment submodule is jumped to execute;

[0037] The preset position configuration submodule is used to increase the preset position number by 1 and configure the current shooting position corresponding to the photo as the preset position;

[0038] The judgment submodule is used to control the spherical pan-tilt camera to rotate to the preset position to take pictures based on the preset scanning order and the preset step size, and judge whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, the target recognition submodule is returned to execute.

[0039] Optionally, a monitoring submodule is also included;

[0040] The monitoring submodule is used to:

[0041] When the trigger submodule does not detect the trigger information of the preset position automatic configuration process, the spherical pan / tilt camera is controlled to enter the normal monitoring state to monitor the power transmission line;

[0042] The monitoring submodule is also used to:

[0043] According to all preset positions and preset shooting time ranges, a shooting schedule is automatically generated to control the spherical pan / tilt camera to shoot photos at the corresponding preset positions at the time points on the shooting schedule, and no less than 4 photos are taken at each preset position.

[0044] It can be seen from the above technical solutions that the automatic configuration method for ice monitoring preset positions of transmission lines provided by the present invention has the following advantages:

[0045] The present invention provides a method for automatically configuring preset positions for monitoring ice coating on power transmission lines. When it is necessary to configure the preset positions for monitoring ice coating on power transmission lines, a spherical pan-tilt camera installed on a pole tower is controlled to detect trigger information of the preset position automatic configuration process, so as to start the preset position automatic configuration process, control the spherical pan-tilt camera to change the shooting position of the spherical pan-tilt camera in a preset step length according to a preset scanning sequence, perform target recognition through photos taken at various shooting positions, and use the shooting position of the spherical pan-tilt camera corresponding to the photo of the identified insulator string as the preset position for monitoring ice coating on power transmission lines, thereby determining all preset positions within the preset shooting angle range of the spherical pan-tilt camera, realizing automatic configuration of the preset positions for monitoring ice coating on power transmission lines, greatly reducing the workload of configuring the preset positions, improving the efficiency of configuring the preset positions, and solving the technical problems of large workload and low efficiency of the existing method for setting the preset positions for monitoring ice coating on power transmission lines.

[0046] The method for automatically configuring preset positions for monitoring ice coating on power transmission lines provided by the present invention uses a two-dimensional code carrying trigger information of the preset position automatic configuration process as a trigger condition for starting the preset position automatic configuration process, thereby improving the intelligence and accuracy of the preset position configuration for monitoring ice coating on power transmission lines.

[0047] The method for automatically configuring preset positions for monitoring ice coating on power transmission lines provided by the present invention can automatically generate a photo schedule according to a preset photo shooting time range after all preset positions for monitoring ice coating on power transmission lines are configured, so that a spherical pan / tilt camera can shoot photos at corresponding preset positions according to time points on the photo shooting schedule. During the whole process, operation and maintenance personnel only need to provide a QR code carrying trigger information of the preset position automatic configuration process, so as to automatically complete the automatic configuration of the preset positions for monitoring ice coating on power transmission lines and the monitoring of ice coating on power transmission lines, with a high degree of automation.

[0048] The automatic configuration device for preset positions of ice monitoring for transmission lines provided by the present invention is used to execute the automatic configuration method for preset positions of ice monitoring for transmission lines provided by the present invention, and can achieve the same effect as the automatic configuration method for preset positions of ice monitoring for transmission lines provided by the present invention, and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art 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 related drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a schematic flow chart of a first embodiment of a method for automatically configuring preset positions for ice coverage monitoring of a power transmission line provided in the present invention;

[0051] Figure 2 A schematic flow chart of a second embodiment of a method for automatically configuring preset positions for ice coverage monitoring of a power transmission line provided in the present invention;

[0052] Figure 3 A schematic flow chart of a third embodiment of a method for automatically configuring preset positions for monitoring ice coverage on a power transmission line provided in the present invention;

[0053] Figure 4 It is a schematic flow chart of a fourth embodiment of a method for automatically configuring preset positions for ice coverage monitoring of a power transmission line provided in the present invention;

[0054] Figure 5 The present invention is a schematic structural diagram of a transmission line ice coverage monitoring preset position automatic configuration device. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] For easier understanding, see Figure 1 The present invention provides an embodiment of a method for automatically configuring a preset position for monitoring ice coverage on a power transmission line, comprising:

[0057] Step S1, installing a power transmission line icing monitoring device on a pole tower, wherein the power transmission line icing monitoring device comprises a spherical pan-tilt camera.

[0058] It should be noted that before the spherical pan-tilt camera is installed on the pole tower, the field of view angle and vertical rotation range, i.e., the vertical upper limit and the vertical lower limit, are pre-configured, and the spherical pan-tilt camera is in the off state. The horizontal rotation range of the spherical pan-tilt camera is 0 to 360°. In one embodiment, the field of view angle of the spherical pan-tilt camera is 45°, the vertical upper limit is -15°, and the vertical lower limit is 90°.

[0059] Step S2, after the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute the preset instruction, and it is determined whether the trigger information of the preset position automatic configuration process is detected. If so, the preset position automatic configuration process is started and step S3 is executed.

[0060] It should be noted that after the spherical pan-tilt camera is installed, start the spherical pan-tilt camera and enter the working state. After the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute the preset instruction to determine whether the trigger information of the preset position automatic configuration process is detected, that is, the spherical pan-tilt camera is controlled to execute the preset operation to detect whether there is trigger information of the preset position automatic configuration process. Specifically, the spherical pan-tilt camera can be controlled to execute the shooting instruction to take a photo, and identify whether the photo contains a QR code carrying the trigger information of the preset position automatic configuration process. If so, it indicates that the trigger information of the preset position automatic configuration process is detected. When the operation and maintenance personnel need to perform the preset position configuration of the transmission line ice monitoring preset position, they pre-set the QR code carrying the trigger information of the preset position automatic configuration process within the shooting range of the installed spherical pan-tilt camera. After the spherical pan-tilt camera starts the preset position automatic configuration process, the QR code carrying the trigger information of the preset position automatic configuration process is removed.

[0061] Step S3, configuring the preset position number of the spherical pan-tilt camera to be 0, and controlling the spherical pan-tilt camera to rotate to the initial position to take a photo.

[0062] It should be noted that when the trigger information of the preset position automatic configuration process is detected, the preset position automatic configuration process is started, the preset position number of the spherical pan-tilt camera is configured to 0, and the spherical pan-tilt camera is controlled to rotate to the initial position to take a photo. The initial position is preferably a shooting position with the vertical rotation angle being the vertical upper limit value and the horizontal rotation angle being 0°, that is, the shooting position corresponding to the initial position is a horizontal rotation angle of 0° and a vertical rotation angle of -15°. When the spherical pan-tilt camera is in the initial position, the preset position number is configured to 0. In one embodiment, Figure 2 As shown, if the trigger information of the preset position automatic configuration process is not detected in step S2, the process jumps to step S8: controlling the spherical pan / tilt camera to enter the normal monitoring state to monitor the power transmission line. The taken photos are directly uploaded to the server for processing.

[0063] Step S4, perform target recognition on the photo to determine whether there is an insulator string in the photo, if so, execute step S5, otherwise, jump to step S6.

[0064] It should be noted that the target recognition of the photo can be performed using a preset target recognition model. In the present invention, a target recognition model based on the Yolov5 detection algorithm is used to identify the insulator string. Specifically, the photos taken by the transmission line icing monitoring device over the years can be used to mark the insulator strings, the target recognition model can be trained using the Yolov5 detection algorithm, and the trained target recognition model can be used to perform target detection.

[0065] Step S5: increase the preset position number by 1, and configure the current shooting position corresponding to the photo as the preset position.

[0066] It should be noted that when an insulator string is identified in a photograph, the shooting position corresponding to the photograph is configured as a preset position, and the preset position number is increased by 1. The photograph can be marked as a preset position photograph, and the identification information includes the shooting position and the corresponding preset position number. The preset position information can also be uploaded to a server for storage.

[0067] Step S6, based on the preset scanning sequence, control the spherical pan-tilt camera to rotate to the preset position to take pictures with the preset step length, and determine whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, end the preset position automatic configuration process, otherwise, return to step S4.

[0068] It should be noted that when an insulator string is identified in the captured photo, the shooting position corresponding to the photo is configured as a preset position, the preset position number is increased by 1, and then according to the preset scanning order, such as horizontal first and then vertical or vertical first and then horizontal, the spherical pan-tilt camera is controlled to rotate to the preset position with a preset step length to take a photo, and it is determined whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, it returns to step S4. When the captured photo does not identify the insulator string, step S6 is directly executed. Taking the scanning order of horizontal first and then vertical as an example, if Figure 3 As shown, based on the initial shooting position, step S6 can be specifically implemented as including steps S61 and S62:

[0069] Step S61, add 2 / 3 of the field of view to the horizontal rotation angle to determine whether the horizontal rotation angle is not less than 360°. If not, control the spherical pan / tilt camera to rotate to a position where the horizontal rotation angle is the horizontal rotation angle plus 2 / 3 of the field of view and the vertical rotation angle is the vertical upper limit value to take a photo, and return to step S4 until the horizontal rotation angle is not less than 360°.

[0070] It should be noted that, based on the initial shooting position, the horizontal rotation angle plus 2 / 3 of the field angle, that is, the horizontal rotation angle becomes 0°+2 / 3*45°=30°. And so on, until the horizontal rotation angle is not less than 360°.

[0071] Step S62, when the horizontal rotation angle is not less than 360°, add 2 / 3 of the field of view angle to the vertical rotation angle to determine whether the vertical rotation angle is less than the vertical lower limit. If not, control the spherical pan / tilt camera to rotate in the vertical direction to the position of the vertical rotation angle plus 2 / 3 of the field of view angle to take a photo, and return to step S4 until the vertical rotation angle is less than the vertical lower limit, thereby ending the preset position automatic configuration process.

[0072] It should be noted that when the horizontal rotation angle is not less than 360°, the horizontal shooting is completed. Therefore, the next step is to keep the horizontal direction unchanged and change the vertical rotation angle in steps of 2 / 3 of the field of view. The vertical rotation angle is added to 2 / 3 of the field of view, that is, the vertical rotation angle becomes -15°+2 / 3*45°=15°. This process is repeated until the vertical rotation angle is less than the vertical lower limit.

[0073] In one embodiment, Figure 4 As shown, after step S6, step S7 may be further performed:

[0074] Step S7, automatically generate a photo schedule according to all preset positions and preset shooting time ranges, control the spherical pan / tilt camera to take photos at the corresponding preset positions at the time points on the photo schedule, and take no less than 4 photos at each preset position.

[0075] It should be noted that after completing the horizontal and vertical scans, all preset positions of the spherical pan / tilt camera are determined. According to the preset shooting time range, for example, from 7 am to 7 pm every day, a fixed shooting time point is set for each preset position. It can be understood that if the number of preset positions does not exceed the number of hourly time points within the preset shooting time range, all preset positions can be cycled and shot in sequence at the hourly time points. If the number of preset positions exceeds the number of hourly time points within the preset shooting time range, the time period within the preset shooting time range can be evenly divided according to the number of preset positions to determine the shooting time point for each preset position. In order to avoid errors caused by taking only one photo, no less than 4 photos are taken at each preset position.

[0076] The present invention provides a method for automatically configuring preset positions for monitoring ice coating on power transmission lines. When it is necessary to configure the preset positions for monitoring ice coating on power transmission lines, a spherical pan-tilt camera installed on a pole tower is controlled to detect trigger information of the preset position automatic configuration process, so as to start the preset position automatic configuration process, control the spherical pan-tilt camera to change the shooting position of the spherical pan-tilt camera in a preset step length according to a preset scanning sequence, perform target recognition through photos taken at various shooting positions, and use the shooting position of the spherical pan-tilt camera corresponding to the photo of the identified insulator string as the preset position for monitoring ice coating on power transmission lines, thereby determining all preset positions within the preset shooting angle range of the spherical pan-tilt camera, realizing automatic configuration of the preset positions for monitoring ice coating on power transmission lines, greatly reducing the workload of configuring the preset positions, improving the efficiency of configuring the preset positions, and solving the technical problems of large workload and low efficiency of the existing method for setting the preset positions for monitoring ice coating on power transmission lines.

[0077] The method for automatically configuring preset positions for monitoring ice coating on power transmission lines provided by the present invention uses a two-dimensional code carrying trigger information of the preset position automatic configuration process as a trigger condition for starting the preset position automatic configuration process, thereby improving the intelligence and accuracy of the preset position configuration for monitoring ice coating on power transmission lines.

[0078] The method for automatically configuring preset positions for monitoring ice coating on power transmission lines provided by the present invention can automatically generate a photo schedule according to a preset photo shooting time range after all preset positions for monitoring ice coating on power transmission lines are configured, so that a spherical pan / tilt camera can shoot photos at corresponding preset positions according to time points on the photo shooting schedule. During the whole process, operation and maintenance personnel only need to provide a QR code carrying trigger information of the preset position automatic configuration process, so as to automatically complete the automatic configuration of the preset positions for monitoring ice coating on power transmission lines and the monitoring of ice coating on power transmission lines, with a high degree of automation.

[0079] For easier understanding, see Figure 5 The present invention provides an embodiment of a transmission line ice monitoring preset position automatic configuration device, including a spherical pan-tilt camera and a main control module:

[0080] The spherical pan / tilt camera is installed on the tower;

[0081] The main control module is connected to the spherical pan / tilt camera;

[0082] The main control module includes:

[0083] The trigger submodule is used to control the spherical pan-tilt camera to execute the preset instruction after the spherical pan-tilt camera is started, and to determine whether the trigger information of the preset position automatic configuration process is detected. If so, the preset position automatic configuration process is started and the shooting submodule is executed;

[0084] The shooting submodule is used to configure the preset position number of the spherical pan-tilt camera to 0, and control the spherical pan-tilt camera to rotate to the initial position to take pictures;

[0085] The target recognition submodule is used to perform target recognition on the photo and determine whether there is an insulator string in the photo. If so, the preset position configuration submodule is executed, otherwise, the judgment submodule is jumped to execute;

[0086] The preset position configuration submodule is used to increase the preset position number by 1 and configure the current shooting position corresponding to the photo as the preset position;

[0087] The judgment submodule is used to control the spherical pan-tilt camera to rotate to the preset position to take pictures based on the preset scanning order and the preset step size, and judge whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, the target recognition submodule is returned to execute.

[0088] It also includes a monitoring submodule;

[0089] The monitoring submodule is used to:

[0090] When the trigger submodule does not detect the trigger information of the preset position automatic configuration process, the spherical pan / tilt camera is controlled to enter the normal monitoring state to monitor the power transmission line;

[0091] The monitoring submodule is also used to:

[0092] According to all preset positions and preset shooting time ranges, a shooting schedule is automatically generated to control the spherical pan / tilt camera to shoot photos at the corresponding preset positions at the time points on the shooting schedule, and no less than 4 photos are taken at each preset position.

[0093] After the spherical pan / tilt camera is started, the preset command is executed to determine whether the trigger information of the preset position automatic configuration process is detected, including:

[0094] After the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute shooting instructions to take photos;

[0095] Identify whether the photo contains a QR code carrying the trigger information of the preset position automatic configuration process. When the operation and maintenance personnel need to perform preset position configuration of the transmission line ice monitoring, they will pre-set the QR code carrying the trigger information of the preset position automatic configuration process within the shooting range of the installed spherical pan-tilt camera. After the spherical pan-tilt camera starts the preset position automatic configuration process, remove the QR code carrying the trigger information of the preset position automatic configuration process.

[0096] The judgment submodule is specifically used for:

[0097] Based on the scanning order of horizontal first and then vertical, the spherical pan-tilt camera is controlled to rotate to the preset position to take pictures with a rotation step of 2 / 3 of the field of view angle. It is determined whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, the target recognition submodule is returned to execute.

[0098] The shooting submodule is specifically used for:

[0099] Configure the preset position number of the spherical pan / tilt camera to 0, the vertical rotation angle to the vertical upper limit value, and the horizontal rotation angle to 0°. Control the spherical pan / tilt camera to rotate to the position where the vertical rotation angle is the vertical upper limit value and the horizontal rotation angle is 0° to take photos.

[0100] The field of view of the spherical pan / tilt camera is 45°, the vertical upper limit is -15°, and the vertical lower limit is 90°.

[0101] The judgment submodule is specifically used for:

[0102] Add 2 / 3 of the field of view to the horizontal rotation angle to determine whether the horizontal rotation angle is not less than 360°. If not, control the spherical pan / tilt camera to rotate to a position where the horizontal rotation angle is the horizontal rotation angle plus 2 / 3 of the field of view and the vertical rotation angle is the vertical upper limit to take a photo, and return to execute the target recognition submodule until the horizontal rotation angle is not less than 360°.

[0103] When the horizontal rotation angle is not less than 360°, add 2 / 3 of the field of view angle to the vertical rotation angle to determine whether the vertical rotation angle is less than the vertical lower limit. If not, control the spherical pan / tilt camera to rotate in the vertical direction to the position where the vertical rotation angle plus 2 / 3 of the field of view angle is added to take a photo, and return to execute the target recognition submodule until the vertical rotation angle is less than the vertical lower limit, ending the preset position automatic configuration process.

[0104] The spherical pan / tilt camera and the main control module can be powered by a power module, and the power module adopts a solar cell module or a dual power module that uses a solar cell module and a battery module in a switchable manner.

[0105] The main control module can communicate with the server through a communication module, such as a 4G / 5G communication module, and upload the monitoring data of the on-site spherical pan / tilt camera to the server through the dial-up Internet access function.

[0106] The automatic configuration device for power transmission line ice monitoring preset positions provided by the present invention can start the preset position automatic configuration process by controlling the spherical pan-tilt camera installed on the pole tower to detect trigger information of the preset position automatic configuration process when it is necessary to configure the transmission line ice monitoring preset positions, and control the spherical pan-tilt camera to change the shooting position of the spherical pan-tilt camera in a preset step length according to a preset scanning sequence, perform target recognition through photos taken at various shooting positions, and use the shooting position of the spherical pan-tilt camera corresponding to the photo of the identified insulator string as the transmission line ice monitoring preset position, thereby determining all preset positions within the preset shooting angle range of the spherical pan-tilt camera, realizing the automatic configuration of the transmission line ice monitoring preset positions, greatly reducing the workload of preset position configuration, improving the preset position configuration efficiency, and solving the technical problems of large workload and low efficiency in the existing transmission line ice monitoring preset position setting method.

[0107] The automatic configuration device for preset positions for monitoring ice coating on power transmission lines provided by the present invention uses a two-dimensional code carrying trigger information of the preset position automatic configuration process as a trigger condition for starting the preset position automatic configuration process, thereby improving the intelligence and accuracy of the preset position configuration for monitoring ice coating on power transmission lines.

[0108] The automatic configuration device for transmission line ice monitoring preset positions provided by the present invention can automatically generate a photo schedule according to a preset photo shooting time range after all transmission line ice monitoring preset positions are configured, so that the spherical pan / tilt camera shoots photos at the corresponding preset positions according to the time points on the photo shooting schedule. During the whole process, the operation and maintenance personnel only need to provide a QR code carrying the trigger information of the preset position automatic configuration process, so as to automatically complete the automatic configuration of the transmission line ice monitoring preset positions and the transmission line ice monitoring, with a high degree of automation.

[0109] The device for automatically configuring preset positions for monitoring ice coating on a transmission line provided in an embodiment of the present invention is used to execute the method for automatically configuring preset positions for monitoring ice coating on a transmission line in the aforementioned method for automatically configuring preset positions for monitoring ice coating on a transmission line. The principle of the device for automatically configuring preset positions for monitoring ice coating on a transmission line is the same as the method for automatically configuring preset positions for monitoring ice coating on a transmission line in the aforementioned method for automatically configuring preset positions for monitoring ice coating on a transmission line, and will not be described in detail here.

[0110] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatically configuring preset positions for ice monitoring of power transmission lines, characterized in that: The following steps are involved: S1. Installing a transmission line icing monitoring device on a pole tower, wherein the transmission line icing monitoring device comprises a spherical pan-tilt camera; S2, after the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute the preset instruction, and it is determined whether the trigger information of the preset position automatic configuration process is detected. If so, the preset position automatic configuration process is started and step S3 is executed. If not, the process jumps to step S8; S3, configure the preset position number of the spherical pan-tilt camera to 0, and control the spherical pan-tilt camera to rotate to the initial position to take a photo; S4, performing target recognition on the photo to determine whether there is an insulator string in the photo, if so, executing step S5, otherwise, jumping to step S6; S5, adding 1 to the preset position number, and configuring the current shooting position corresponding to the photo as the preset position; S6, based on the preset scanning sequence, control the spherical pan-tilt camera to rotate to the preset position to take pictures with the preset step length, and determine whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, end the preset position automatic configuration process, otherwise, return to step S4; S8. If no trigger information of the preset position automatic configuration process is detected, the spherical pan / tilt camera is controlled to enter a normal monitoring state to monitor the power transmission line; In step S2, after the spherical pan / tilt camera is started, the preset instruction is executed to determine whether the trigger information of the preset position automatic configuration process is detected, including: After the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute shooting instructions to take photos; Identify whether the photo contains a QR code carrying the trigger information of the preset position automatic configuration process. When the operation and maintenance personnel need to perform preset position configuration of the transmission line ice monitoring, they will pre-set the QR code carrying the trigger information of the preset position automatic configuration process within the shooting range of the installed spherical pan-tilt camera. After the spherical pan-tilt camera starts the preset position automatic configuration process, remove the QR code carrying the trigger information of the preset position automatic configuration process.

2. The method for automatically configuring preset positions for ice coverage monitoring of power transmission lines according to claim 1, characterized in that: Step S6 specifically includes: Based on the scanning order of horizontal first and then vertical, the spherical pan-tilt camera is controlled to rotate to the preset position to take a photo with a rotation step of 2 / 3 of the field of view angle, and it is determined whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, return to step S4.

3. The method for automatically configuring preset positions for ice monitoring of power transmission lines according to claim 2, characterized in that: Step S3 specifically includes: Configure the preset position number of the spherical pan / tilt camera to 0, the vertical rotation angle to the vertical upper limit value, and the horizontal rotation angle to 0°. Control the spherical pan / tilt camera to rotate to the position where the vertical rotation angle is the vertical upper limit value and the horizontal rotation angle is 0° to take photos.

4. The method for automatically configuring preset positions for ice coverage monitoring of power transmission lines according to claim 3, characterized in that: Step S6 specifically includes: S61, add 2 / 3 of the field of view to the horizontal rotation angle to determine whether the horizontal rotation angle is not less than 360°. If not, control the spherical pan / tilt camera to rotate to a position where the horizontal rotation angle is the horizontal rotation angle plus 2 / 3 of the field of view and the vertical rotation angle is the vertical upper limit value to take a photo, and return to step S4 until the horizontal rotation angle is not less than 360°. S62. When the horizontal rotation angle is not less than 360°, add 2 / 3 of the field of view angle to the vertical rotation angle to determine whether the vertical rotation angle is less than the vertical lower limit. If not, control the spherical pan / tilt camera to rotate in the vertical direction to the position of the vertical rotation angle plus 2 / 3 of the field of view angle to take a photo, and return to step S4 until the vertical rotation angle is less than the vertical lower limit, thereby ending the preset position automatic configuration process.

5. The method for automatically configuring preset positions for ice coverage monitoring of power transmission lines according to claim 4, characterized in that: The field of view of the spherical pan / tilt camera is 45°, the vertical upper limit is -15°, and the vertical lower limit is 90°.

6. The method for automatically configuring preset positions for ice monitoring of power transmission lines according to claim 4, characterized in that: After step S6, the method further includes: S7. Automatically generate a photo schedule based on all preset positions and preset shooting time ranges, and control the spherical pan / tilt camera to shoot photos at the corresponding preset positions at the time points on the photo schedule, with no less than 4 photos being taken at each preset position.

7. A transmission line ice monitoring preset position automatic configuration device, characterized in that: Including spherical pan / tilt camera and main control module: The spherical pan / tilt camera is installed on the tower; The main control module is connected to the spherical pan / tilt camera; The main control module includes: The trigger submodule is used to control the spherical pan-tilt camera to execute the preset instruction after the spherical pan-tilt camera is started, and to determine whether the trigger information of the preset position automatic configuration process is detected. If so, the preset position automatic configuration process is started and the shooting submodule is executed. If not, the monitoring submodule is executed; The shooting submodule is used to configure the preset position number of the spherical pan-tilt camera to 0, and control the spherical pan-tilt camera to rotate to the initial position to take pictures; The target recognition submodule is used to perform target recognition on the photo and determine whether there is an insulator string in the photo. If so, the preset position configuration submodule is executed, otherwise, the judgment submodule is jumped to execute; The preset position configuration submodule is used to increase the preset position number by 1 and configure the current shooting position corresponding to the photo as the preset position; A judgment submodule is used to control the spherical pan-tilt camera to rotate to a preset position to take pictures based on a preset scanning sequence and a preset step length, and to judge whether the current shooting angle of the spherical pan-tilt camera exceeds the preset shooting angle. If so, the preset position automatic configuration process is terminated, otherwise, the target recognition submodule is returned to execute; The monitoring submodule is used to: When the trigger submodule does not detect the trigger information of the preset position automatic configuration process, the spherical pan / tilt camera is controlled to enter the normal monitoring state to monitor the power transmission line; In the trigger submodule, after the spherical pan / tilt camera is started, the preset instruction is executed to determine whether the trigger information of the preset position automatic configuration process is detected, including: After the spherical pan-tilt camera is started, the spherical pan-tilt camera is controlled to execute shooting instructions to take photos; Identify whether the photo contains a QR code carrying the trigger information of the preset position automatic configuration process. When the operation and maintenance personnel need to perform preset position configuration of the transmission line ice monitoring, they will pre-set the QR code carrying the trigger information of the preset position automatic configuration process within the shooting range of the installed spherical pan-tilt camera. After the spherical pan-tilt camera starts the preset position automatic configuration process, remove the QR code carrying the trigger information of the preset position automatic configuration process.

8. The automatic configuration device for presetting positions of ice coverage monitoring of power transmission lines according to claim 7, characterized in that: The monitoring submodule is also used to: According to all preset positions and preset shooting time ranges, a shooting schedule is automatically generated to control the spherical pan / tilt camera to shoot photos at the corresponding preset positions at the time points on the shooting schedule, and no less than 4 photos are taken at each preset position.

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