A Monitoring Method for Disconnecting Switches Considering the Color and Visibility of Disconnecting Switches

Abstract

The present invention relates to a monitoring method for disconnecting switches considering the color and visibility of disconnecting switches, including: obtaining point cloud data of a target object using a lidar; obtaining the color of the target object; obtaining the visibility of the working environment of the target object; calculating the echo intensity of the lidar according to the color of the target object; analyzing the state of the target object based on the point cloud data to obtain a monitoring result; and judging whether the monitoring result is accurate according to the echo intensity and visibility. By obtaining the visibility of the working environment of the disconnecting switch and setting a function to fit the influence of the color of the conductive arm on the echo intensity of the lidar, and judging whether the monitoring result is accurate according to the echo intensity and visibility, the overall stability of the monitoring system is effectively improved, and it has wide applicability.

Description

Technical Field

[0001] The present invention relates to a monitoring method for isolating switches considering the color and visibility of isolating switches, and belongs to the field of isolating switch monitoring. Background Art

[0002] The high-voltage isolating switch drives the moving contact to achieve contact and separation from the static contact by the operating mechanism. When it operates outdoors, it is extremely vulnerable to environmental influence. Transmission jamming, component size change, misalignment of transmission components, etc. can all cause the isolating switch to fail to close in place, resulting in gaps, leading to heating and even discharging, affecting the equipment life and threatening the safe operation of the power grid. Therefore, it is necessary to monitor the closing state of the isolating switch.

[0003] In the prior art, lidar is used to obtain the point cloud data of the isolating switch, and the point cloud data is analyzed and processed to obtain the closing state of the isolating switch. For details, please refer to the paper "Automatic Detection Method for Closing State of Isolating Switch Based on Terrestrial LiDAR". Liu Yan, Zou Yang, Tan Shuning, Long Guohua.

[0004] Although the monitoring system based on lidar can realize visual monitoring and closing state discrimination of the isolating switch, the measurement accuracy of lidar is affected by environmental conditions, and the accuracy of the monitoring system is limited. Therefore, it is necessary to further determine whether the monitoring results of the monitoring system are accurate.

[0005] The patent "A Distributed Monitoring Method, System and Medium for Isolating Switch State" with the publication number CN111199219A discloses the following steps: obtaining the isolating switch image of the target isolating switch; obtaining the included angle α between the two arms of the isolating switch through image analysis; comparing the included angle α with the calibrated values of the closing and opening state included angles respectively to determine the state of the target isolating switch. The invention can accurately monitor the closing and opening states of the target isolating switch, but the accuracy of the obtained results is unknown. Summary of the Invention

[0006] In order to overcome the problems existing in the prior art, the present invention designs a monitoring method for isolating switches considering the color and visibility of isolating switches, obtains the visibility of the working environment of the isolating switch, and sets a function to fit the influence of the color of the conductive arm on the echo intensity of lidar. Whether the monitoring results are accurate is judged according to the echo intensity and visibility, effectively improving the overall stability of the monitoring system and having wide applicability.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] Technical Solution 1

[0009] A monitoring method for isolating switches considering the color and visibility of isolating switches includes the following steps:

[0010] Obtain the point cloud data of the target object using lidar;

[0011] Obtain the color of the target object;

[0012] Obtain the visibility of the working environment of the target object;

[0013] Calculate the echo intensity of the lidar according to the color of the target object;

[0014] Analyze the state of the target object based on the point cloud data to obtain the monitoring result;

[0015] Judge whether the monitoring result is accurate according to the echo intensity and visibility.

[0016] Furthermore, the color of the target object includes multiple color components;

[0017] The calculation of the echo intensity of the lidar according to the color of the target object is expressed by the formula:

[0018] When the values of each color component are all less than or equal to 120:

[0019]

[0020] When the values of each color component are all greater than 120:

[0021]

[0022] In the formula, K0 represents the weighted average value of the values of each color component;

[0023] Furthermore, the judgment of whether the monitoring result is accurate is specifically:

[0024] Calculate the accuracy of the monitoring result according to the echo intensity and visibility, which is expressed by the formula:

[0025]

[0026] In the formula, V s represents the visibility; R represents the distance between the lidar and the disconnector; λ represents the wavelength of the lidar.

[0027] If the accuracy of the monitoring result is greater than the accuracy threshold, the monitoring result is considered accurate.

[0028] Furthermore, the target object is a disconnector.

[0029] Furthermore, the obtaining of the color of the target object includes the following steps:

[0030] Obtain the first picture including the conductive arm of the disconnector;

[0031] Intercept the conductive arm area of the disconnector to obtain a second picture;

[0032] Calculate the average value of each color component in the second image as the color of the target object.

[0033] Further, the method for analyzing the state of the target object based on the point cloud data to obtain the monitoring result includes the following steps:

[0034] Extract the disconnector point cloud from the point cloud data;

[0035] Extract the conductive arm point cloud from the disconnector point cloud;

[0036] Extract the upper edge point cloud of the conductive arm point cloud;

[0037] Fit the two arms of the upper edge point cloud into a space straight line and calculate the angle formed by the two arms, i.e., the closing angle;

[0038] Judge the closing state of the disconnector according to the closing angle.

[0039] Further, the method for judging the closing state of the disconnector according to the closing angle includes the following steps:

[0040] Preset the closing-in place angle; calculate the error factor according to the closing angle and the closing-in place angle; judge the closing state of the disconnector according to the error factor.

[0041] Technical solution two

[0042] A disconnector monitoring system considering the color and visibility of the disconnector includes:

[0043] A lidar, which is used to obtain the point cloud data of the target object;

[0044] A visibility sensor, which is used to obtain the visibility of the working environment of the target object;

[0045] An upper computer, which is used to obtain the color of the target object; calculate the echo intensity of the lidar according to the color of the target object; analyze the state of the target object based on the point cloud data to obtain the monitoring result; and judge whether the monitoring result is accurate according to the echo intensity and the visibility.

[0046] Further, it further includes:

[0047] A visible light camera, which obtains a first picture containing the target object; the first picture is used to calculate the color of the target object.

[0048] Compared with the prior art, the present invention has the following characteristics and beneficial effects:

[0049] Considering that different object colors have different effects on the lidar echo intensity, which will affect the accuracy of the point cloud data collected by it, thus affecting the accuracy of the monitoring results. The present invention obtains the visibility of the disconnector working environment and sets a function to fit the influence of the color of the conductive arm on the lidar echo intensity, and judges whether the monitoring result is accurate according to the echo intensity and visibility, effectively improving the overall stability of the monitoring system and having wide applicability. Description of the Drawings

[0050] Figure 1 is the flowchart of the present invention;

[0051] Figure 2 is the schematic diagram of the detection system of the present invention. Detailed Description of the Invention

[0052] The present invention will be described in more detail below in conjunction with embodiments.

[0053] Embodiment 1

[0054] As Figure 1 shown, a disconnector monitoring system considering the color and visibility of the disconnector includes: a lidar, a visible light camera, a visibility sensor (specifically a light intensity sensor), and a host computer.

[0055] The lidar is placed on the ground, provided with an Ethernet interface, and connected to the host computer through a network cable. The lidar captures a three-dimensional image of the disconnector and saves it in the form of point cloud data; then transmits the point cloud data to the host computer through the network cable.

[0056] The visible light camera is fixed on the ground through a support rod; the visible light camera captures a first image including the conductive arm of the disconnector and transmits the first image to the host computer through a network cable.

[0057] The visibility sensor is fixed on the disconnector base, and the visibility sensor continuously detects the visibility of the disconnector working environment and transmits the visibility value to the host computer through the built-in WIFI module.

[0058] The host computer is equipped with a point cloud data processing module, a visible light image analysis module, and a terminal management platform. The point cloud data processing module judges the closing state of the disconnector according to the point cloud data. The visible light image analysis module extracts the color of the conductive arm according to the first image; and calculates the color of the conductive arm and the visibility, and determines whether the monitoring result is accurate.

[0059] Set the color threshold of the conductive arm and the visibility threshold. If the color of the conductive arm and the visibility exceed their corresponding thresholds, it is considered that the monitoring result is inaccurate.

[0060] Embodiment 2

[0061] Further, the point cloud data processing module performs visualization processing on the point cloud data to obtain a three-dimensional image of the disconnecting switch; the terminal management platform displays the three-dimensional image of the disconnecting switch, the monitoring result, and the accuracy of the monitoring result.

[0062] Embodiment III

[0063] A disconnecting switch monitoring method considering the color and visibility of the disconnecting switch includes the following steps:

[0064] Obtain the point cloud data of the target object; in this embodiment, the target object is a disconnecting switch;

[0065] Obtain the first image including the conductive arm of the disconnecting switch;

[0066] Identify the color of the conductive arm in the first image;

[0067] Obtain the visibility of the working environment of the disconnecting switch;

[0068] According to the point cloud data, judge the closing state of the disconnecting switch to obtain the monitoring result.

[0069] Calculate the accuracy of the monitoring result according to the color and visibility.

[0070] If the accuracy of the monitoring result is greater than the accuracy threshold (90% is taken in this embodiment), the monitoring result is considered accurate.

[0071] Embodiment IV

[0072] Further, the judging the closing state of the disconnecting switch according to the point cloud data includes the following steps:

[0073] Step 1: Extract the point cloud of the target disconnecting switch from the point cloud data through a search algorithm based on the KD tree. Adopt an image target cropping algorithm and introduce shrinkage factors τ x , τ y , τ z in the x, y, and z axis directions respectively. By changing the values of the shrinkage factors, extract the conductive arm ROI (ROI, region of interest) with the best tightening boundary effect in the point cloud of the target disconnecting switch.

[0074] Step 2: Extract the upper edge point cloud of the conductive arm ROI through an edge extraction algorithm based on the normal and an Euclidean clustering algorithm;

[0075] Step 3: Fit the left and right arms of the upper edge point cloud into a space straight line through a space straight line fitting algorithm based on RANSAC and calculate the angle formed by the two arms, that is, the closing angle θ n .

[0076] Step 4: According to the closing angle θ n, calculate the error factor β. Determine the closing state of the disconnector according to the error factor. In this embodiment, when β < 0.5%, it is considered that the disconnector has been closed in place.

[0077] The calculation formula for the error factor is:

[0078]

[0079] In the formula, θ n represents the closing angle; θ k represents the in-place closing angle; β represents the error factor.

[0080] Preferably, in step 1, an image target cropping algorithm is adopted, and shrinkage factors τ x , τ y , τ z are respectively introduced in the x, y, and z-axis directions. For the contour shape of the conductive arm, the value range of τ x is set to the interval of 4.13, the value range of τ y is set to the interval of 0.5, and the value range of τ z is set to the interval of 2.1.

[0081] Embodiment Five

[0082] Step 1: Crop the conductive arm area in the first image to obtain the second picture, i.e., the conductive arm image; calculate the parameters K R , K G , K B , K R represents the average brightness value of the R component, K G represents the average brightness value of the G component, and K B represents the average brightness value of the B component.

[0083] Step 2: Calculate the color-weighted average brightness value that affects the echo intensity of the lidar, which is expressed by the formula:

[0084]

[0085] Step 3: Calculate the echo intensity of the lidar, which is expressed by the formula:

[0086] When the values of K R , K G , K B are all less than or equal to the color threshold (the value in this embodiment is 120):

[0087]

[0088] When the values of K R , K G , K BWhen the values are all greater than the color threshold (120 in this embodiment):

[0089]

[0090] According to the echo intensity η and the visibility V s , calculate the accuracy of the monitoring result, which is expressed by the formula:

[0091]

[0092] In the formula, V s is the atmospheric visibility, with the unit of km, R is the distance between the lidar and the disconnector, and λ is the wavelength of the lidar, with the unit of nm. When the visibility reaches more than 2 km, the accuracy of the monitoring system can reach more than 90%. When σ < 90%, it means that the discrimination accuracy of the lidar monitoring system is poor, and the terminal management platform will send an alarm signal.

[0093] It should be noted that the above-mentioned disconnector monitoring system and computer-readable storage medium considering the color and visibility of the disconnector are also used to implement the method steps corresponding to the embodiments in a disconnector monitoring method considering the color and visibility of the disconnector as described above. This application will not repeat the description here. Figure 1 shown.

[0094] It should be noted that in each embodiment of the present invention, each functional unit / module can be integrated in one processing unit / module, or each unit / module can exist physically alone, or two or more units / module can be integrated in one unit / module. The above-mentioned integrated unit / module can be implemented in the form of hardware or in the form of a software functional unit / module.

[0095] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code, or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), processor, controller, microcontroller, microprocessor, other electronic units designed to implement the functions described herein, or a combination thereof. For software implementation, part or all of the processes of the embodiments can be completed by instructing the relevant hardware through a computer program. When implemented, the above program can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium that facilitates the transmission of a computer program from one place to another. The storage media can be any available medium that can be accessed by a computer. The computer-readable medium can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM, or other optical disk storage, magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A monitoring method for disconnecting switches considering the color and visibility of disconnecting switches, characterized in that, Including the following steps: Obtain the point cloud data of the target object using a lidar; Obtain the color of the target object; Obtain the visibility of the working environment of the target object; Calculate the echo intensity of the lidar according to the color of the target object; Analyze the state of the target object based on the point cloud data to obtain a monitoring result; Judge whether the monitoring result is accurate according to the echo intensity and visibility; Wherein, the color of the target object includes multiple color components; The calculation of the echo intensity of the lidar according to the color of the target object is expressed by the formula: When each of the color component values is less than or equal to the color threshold: When each of the color component values is greater than the color threshold: In the formula, K0 represents the weighted average value of each color component value; η represents the echo intensity; c1, c2, c3, c4, c5 represent constants; Wherein, the judgment of whether the monitoring result is accurate is specifically: Calculate the accuracy of the monitoring result according to the echo intensity and visibility, which is expressed by the formula: In the formula, σ represents the accuracy of the monitoring result; V s represents the visibility; R represents the distance between the lidar and the disconnector; λ represents the wavelength of the lidar; c6 and c7 represent constants; If the accuracy of the monitoring result is greater than the accuracy threshold, the monitoring result is considered accurate.

2. The monitoring method of the disconnector considering the color and visibility of the disconnector according to claim 1, characterized in that, The target object is a disconnecting switch.

3. The method for monitoring a disconnector considering the color and visibility of the disconnector according to claim 2, characterized in that, The obtaining of the color of the target object includes the following steps: Obtain a first picture including the conductive arm of the disconnecting switch; Intercept the area of the conductive arm of the disconnecting switch to obtain a second picture; Calculate the average value of each color component in the second image as the color of the target object.

4. A monitoring method for disconnecting switches considering the color and visibility of disconnecting switches according to claim 2, characterized in that, The analysis of the state of the target object based on the point cloud data to obtain a monitoring result includes the following steps: Extract the disconnecting switch point cloud from the point cloud data; Extract the conductive arm point cloud from the disconnecting switch point cloud; Extract the upper edge point cloud of the conductive arm point cloud; Fit the two arms in the upper edge point cloud into a space straight line and calculate the angle formed by the two arms, that is, the closing angle; Judge the closing state of the disconnecting switch according to the closing angle as the monitoring result.

5. The isolation switch monitoring method considering the color and visibility of the isolation switch according to claim 4, characterized in that, The judgment of the closing state of the disconnecting switch according to the closing angle includes the following steps: Preset the closing-in place angle; calculate the error factor according to the closing angle and the closing-in place angle; judge the closing state of the disconnecting switch according to the error factor.

6. An isolating switch monitoring system considering the color and visibility of the isolating switch, characterized in that, Including: A lidar, which is used to obtain the point cloud data of the target object; A visibility sensor, which is used to obtain the visibility of the working environment of the target object; An upper computer, which is used to obtain the color of the target object; calculate the echo intensity of the lidar according to the color of the target object; Analyze the state of the target object based on the point cloud data to obtain a monitoring result; And judge whether the monitoring result is accurate according to the echo intensity and visibility; Wherein, the color of the target object includes multiple color components; The calculation of the echo intensity of the lidar according to the color of the target object is expressed by the formula: When each of the color component values is less than or equal to the color threshold: When each of the color component values is greater than the color threshold: In the formula, K0 represents the weighted average value of each color component value; η represents the echo intensity; c1, c2, c3, c4, c5 represent constants; Wherein, the judgment of whether the monitoring result is accurate is specifically: Calculate the accuracy of the monitoring result according to the echo intensity and visibility, which is expressed by the formula: where σ represents the accuracy of the monitoring result; V s represents visibility; R represents the distance between the lidar and the disconnector; λ represents the wavelength of the lidar; c6 and c7 represent constants; If the accuracy of the monitoring result is greater than the accuracy threshold, the monitoring result is considered accurate.

7. The disconnector monitoring system considering the color and visibility of the disconnector according to claim 6, characterized in that, It further includes: A visible light camera that acquires a first picture containing the target object; The first picture is used to calculate the color of the target object.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is used to execute the method for monitoring a disconnector that takes into account the color and visibility of the disconnector according to any one of the above claims 1-5.

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