Method and system for determining the posture of a device in a power transmission channel, storage medium and device

Abstract

The present application relates to the judgment method, system, storage medium and equipment of the device posture in the power transmission channel, wherein the judgment method of the device posture in the power transmission channel comprises: obtaining image information of a working device, and obtaining a rectangular image containing a device working arm after preprocessing; four corner points of the image are recorded as A, B, C and D, E point is between AB, F point is between AC, G point is between BD, and H point is between CD; AE = xAB, AF = xAC, BG = yBD, CH = yCD, the area surrounded by AEGDHF is defined as area A, the number of straight lines with the same slope as AD and located in area A is obtained based on straight line detection, and is recorded as Ca; AE = yAB, AF = yAC, BG = xBD, CH = xCD, the area surrounded by AEGDHF is defined as area B, the number of straight lines with the same slope as BC and located in area B is obtained based on straight line detection, and is recorded as Cb; if Ca > Cb, it is determined that the device working arm is located in the upper left to lower right area of the image, that is, upper left and lower right; otherwise, it is determined as upper right and lower left.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power facility operation and maintenance, in particular to a method and system for judging the posture of equipment in a power transmission channel, a storage medium and equipment. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] The power transmission channel is the area through which the power transmission line passes, and the equipment in the power transmission channel is close to the power transmission line, or the posture of the equipment changes during operation, which can easily cause danger related to the power transmission line.

[0004] Taking a common crane as an example, when the crane is hoisted, the distance between the crane and the power transmission line gradually approaches as the end of the lifting arm carrying the hook rises. On the one hand, when the lifting arm is too close to the power transmission line, a line collision accident is likely to occur. On the other hand, even if the lifting arm is at a safe distance, when the lifting arm turns and the end of the lifting arm carrying the hook is directed towards the power transmission line, the hook will sway with the turning action and also pose a danger of line collision.

[0005] In view of the above dangers, the existing target detection technology can only detect the position of the target crane, and determine the danger by the distance between the lifting arm and the power transmission conductor, but cannot determine the posture of the crane. When the distance between the lifting arm and the power transmission conductor is the same, different dangerous states can occur due to different postures, and the existing target detection technology cannot obtain accurate results, thereby causing safety hazards. SUMMARY

[0006] In order to solve the technical problems in the background art, the present application provides a method and system for judging the posture of equipment in a power transmission channel, a storage medium and equipment, which solves the problem that the existing target detection algorithm cannot determine the target posture.

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

[0008] The first aspect of the present application provides a method for judging the posture of equipment in a power transmission channel, comprising the following steps:

[0009] Obtain image information of the working equipment, and obtain a rectangular image containing the equipment working arm after preprocessing; the four corner points of the image are denoted as A, B, C and D, E point is between AB, F point is between AC, G point is between BD, and H point is between CD;

[0010] The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is counted as Ca; x and y are both multiples.

[0011] The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb.

[0012] If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

[0013] Preprocessing, including:

[0014] Extract a rectangular image containing the equipment's working arm from the image information;

[0015] Convert the rectangular image containing the machine's working arm to a grayscale image;

[0016] The grayscale image is adjusted using histogram grayscale equalization.

[0017] The image after grayscale equalization is subjected to edge detection, and the edges are highlighted in white to obtain the edge detection results.

[0018] Dilation and erosion are performed on the image after edge detection to further highlight the white edges;

[0019] Hough line detection is performed on the dilated and eroded image to obtain the number of lines in the image.

[0020] The top right and bottom left areas represent the area where the equipment's working arm is located from the top right to the bottom left of the image.

[0021] A second aspect of the present invention provides a system for implementing the above-described method, comprising:

[0022] The preprocessing module is configured to: acquire image information of the working equipment, and obtain a rectangular image containing the working arm of the equipment after preprocessing;

[0023] The pose determination module is configured to: label the four corner points of the image as A, B, C, and D, with point E between AB, point F between AC, point G between BD, and point H between CD;

[0024] The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is counted as Ca; x and y are both multiples.

[0025] The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb.

[0026] If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

[0027] A third aspect of the present invention provides a computer-readable storage medium.

[0028] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the method for determining the attitude of equipment in a power transmission channel as described above.

[0029] A fourth aspect of the present invention provides a computer device.

[0030] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the method for determining the attitude of equipment in a power transmission channel as described above.

[0031] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects:

[0032] 1. After preprocessing, the rectangular image containing the working arm is subjected to line detection. Based on the relationship between the number of lines in the image's set area that meet the slope requirements, the posture of the working arm in the image is determined, indirectly determining the posture of the equipment's working arm in actual operation. This helps users more accurately judge the degree of danger that the equipment poses to the power transmission line in the power transmission channel.

[0033] 2. It can be linked with existing three-dimensional ranging algorithms, so that existing technologies no longer rely solely on the distance between the working arm and the power transmission line as the basis for judging the degree of danger, but also introduce the posture of the working arm, thus providing more reliable results. Attached Figure Description

[0034] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0035] Figure 1 This is a schematic diagram showing the position between the crane lifting stage and the power transmission line in a power transmission channel provided by one or more embodiments of the present invention;

[0036] Figure 2This is a schematic diagram showing the change in the direction of the crane toward the power transmission line in a power transmission channel provided by one or more embodiments of the present invention;

[0037] Figure 3 (a) is a comparison result detected by the target recognition algorithm when one end of the boom carrying the hook is close to the power transmission line, according to one or more embodiments of the present invention;

[0038] Figure 3 (b) is the comparison result detected by the target recognition algorithm when one end of the boom carrying the hook is far away from the power transmission line, according to one or more embodiments of the present invention;

[0039] Figure 4 This is a schematic diagram of the process for determining the attitude of equipment in a power transmission channel according to one or more embodiments of the present invention;

[0040] Figure 5 This is a schematic diagram of a method for determining the attitude of equipment in a power transmission channel provided by one or more embodiments of the present invention;

[0041] Figure 6 This is a schematic diagram of the device attitude determination method and three-dimensional ranging linkage provided in one or more embodiments of the present invention. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0043] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0044] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0045] As described in the background section, such as Figure 1 As shown, the danger to power transmission lines is relatively small when the crane is lifting. As the end of the boom carrying the hook rises, the distance between it and the power transmission line gradually decreases. When the boom is too close to the power transmission line, a line contact accident is likely to occur (the danger increases).

[0046] Secondly, such as Figure 2As shown, even if the boom is at a safe distance, the danger increases when the boom changes direction and the end of the boom carrying the hook approaches the power line. For example, when the boom turns so that the end of the boom carrying the hook faces the power line, the hook will swing with the turning action, which may cause the hook to touch the line.

[0047] In existing technologies, target detection algorithms are used to identify the boom and calculate the distance between the boom and the power transmission line to determine the hazard. It can be seen that... Figure 3 (a) and Figure 3 In (b), the two booms are in the same position, but their danger levels differ significantly. That is, although the distances between the two booms and the power line are the same, the danger levels are clearly different. Figure 3 In (a), when the end of the boom carrying the hook faces the power line, there is still a certain degree of danger even if the boom is not close to the power line. Current target detection technology can only detect the position of the target crane and judge the danger based on the distance between the boom and the power line, but it cannot determine the crane's posture, thus failing to obtain accurate results and creating safety hazards.

[0048] When a crane is operating, the posture of the boom will change. When the boom is far from the power line, the danger is relatively small; when the end of the boom is very close to the power line, the danger is relatively large; when the distance between the boom and the power transmission line is the same, the posture is different and thus the danger is different.

[0049] Therefore, the following embodiments provide a method, system, storage medium, and device for determining the attitude of equipment in a power transmission channel, which makes up for the problem that existing target detection algorithms cannot determine the attitude of targets.

[0050] Example 1:

[0051] like Figures 4-5 As shown, the method for determining the attitude of equipment in a power transmission channel includes the following steps:

[0052] The image information of the working equipment is acquired and preprocessed to obtain a rectangular image containing the working arm of the equipment;

[0053] The four corner points of the image are labeled A, B, C, and D. There is a point E between AB, a point F between AC, a point G between BD, and a point H between CD.

[0054] The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is denoted as Ca.

[0055] The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb.

[0056] If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

[0057] Specifically:

[0058] 1. Extract the color image (BGR or other format) of the crane boom; this step can be achieved through object detection. Input the image of the power transmission line channel, obtain the position of the crane boom, and then extract it.

[0059] 2. Convert the image obtained in the previous step from BGR to grayscale for easier subsequent processing;

[0060] 3. Performing histogram equalization on the grayscale image can highlight the boom and minimize the indistinguishability between the boom and the background due to lighting factors.

[0061] 4. Perform adaptive edge detection on the grayscale image, highlighting the edges in white to obtain the edge detection result image;

[0062] 5. Perform appropriate dilation and erosion operations on the result image to make the white edges more prominent;

[0063] 6. Perform Hough line detection on the result plot and adjust the parameters correctly to detect as many potential lines as possible.

[0064] 7. Attitude determination method:

[0065] like Figure 5 As shown, the image of the boom section after processing steps 1-6 above is rectangular, with an outline as follows. Figure 5 The rectangle in the image is shown. The four corner points of the image are labeled A, B, C, and D. Point E is defined on AB such that AE = xAB. Point F is defined on AC such that AF = xAC. Point G is defined on BD such that BG = yBD. Point H is defined on CD such that CH = yCD. The region enclosed by AEGDHF is defined as region A.

[0066] In this embodiment, point E is defined on AB such that AE = 0.2AB, point F is defined on AC such that AF = 0.2AC, point G is defined on BD such that BG = 0.8BD, point H is defined on CD such that CH = 0.8CD, and the area enclosed by AEGDHF is defined as region A.

[0067] Similarly, region B is formed.

[0068] That is, define point E on AB such that AE = yAB, define point F on AC such that AF = yAC, define point G on BD such that BG = xBD, define point H on CD such that CH = xCD, and define the region enclosed by AEGDHF as region B.

[0069] In this embodiment, point E is defined on AB such that AE = 0.8AB, point F is defined on AC such that AF = 0.8AC, point G is defined on BD such that BG = 0.2BD, point H is defined on CD such that CH = 0.2CD, and the region enclosed by AEGDHF is defined as region B.

[0070] x and y are both set multiples used to determine the position of point EFGH based on the actual situation of the working arm. In this embodiment, x = 0.2 and y = 0.8.

[0071] Region A and Region B are in the same image, but in this embodiment, the two regions are shown separately for illustrative purposes.

[0072] After defining region A, count the number of lines in region A that have the same slope as AD and are located in region A, and denote them as Ca;

[0073] After defining region B, count the number of lines in region B that have the same slope as BC and are located in region B. The number is denoted as Cb.

[0074] If Ca > Cb, the crane's orientation is determined to be upper left and lower right; otherwise, the crane's orientation is determined to be upper right and lower left.

[0075] "Top left and bottom right" means that the end of the boom with the hook is located at the top left corner of the rectangular image, and the end without the hook is located at the bottom right corner of the rectangular image.

[0076] "Top right, bottom left" means that the end of the boom with the hook is located at the top right corner of the rectangular image, while the end without the hook is located at the bottom left corner of the rectangular image.

[0077] 8. After obtaining the result, it can be output or sent to the next step as a judgment condition.

[0078] The crane's posture can be described as follows: the upper left and lower right can represent the state where the end of the boom carrying the hook is away from the power line, while the upper right and lower left can represent the state where the end of the boom carrying the hook is close to the power line. The correspondence between the crane's posture and whether it is close to or away from the power line depends on the actual operating conditions, and this embodiment does not impose any restrictions.

[0079] The above posture judgment can help users more accurately determine the degree of danger of potential hazards, making it easier for users to handle potential hazards.

[0080] It can also better integrate with backend processing such as 3D ranging to provide more reliable results.

[0081] like Figure 6 As shown, the three-dimensional ranging is based on the point cloud of the traverse to create a three-dimensional model. The coordinates of the boom are obtained according to the target detection algorithm. The distance from the nearest point (point B) of the rectangular frame where the boom is located to the traverse (point C) is calculated as the clearance distance (BC).

[0082] Taking the boom in a position with the top left and bottom right as an example, such as Figure 6 As shown, using BC as the clearance distance is unreasonable. However, with the help of crane attitude determination, AC can be correctly used as the clearance distance, thus ensuring the accuracy and reliability of the 3D distance measurement results.

[0083] Example 2:

[0084] A system for implementing the above method includes:

[0085] The preprocessing module is configured to: acquire image information of the working equipment, and obtain a rectangular image containing the working arm of the equipment after preprocessing;

[0086] The pose determination module is configured to: label the four corner points of the image as A, B, C, and D, with point E between AB, point F between AC, point G between BD, and point H between CD;

[0087] The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is denoted as Ca.

[0088] The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb.

[0089] If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

[0090] The system preprocesses a rectangular image containing the working arm and then performs line detection. Based on the relationship between the number of lines in the image's defined area that meet the slope requirements, it determines the posture of the working arm in the image, indirectly determining the posture of the equipment's working arm during actual operation. This helps users more accurately assess the degree of danger that equipment poses to power transmission lines in power transmission channels.

[0091] Example 3:

[0092] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the method for determining the attitude of equipment in a power transmission channel as described in Embodiment 1 above.

[0093] The above method preprocesses a rectangular image containing the working arm and then performs line detection. Based on the relationship between the number of lines in the image's defined area that meet the slope requirements, the posture of the working arm in the image is determined, indirectly determining the posture of the equipment's working arm in actual operation. This helps users more accurately judge the degree of danger that equipment poses to power transmission lines in power transmission channels.

[0094] Example 4:

[0095] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the method for determining the attitude of equipment in a power transmission channel as described in Embodiment 1 above.

[0096] The above method preprocesses a rectangular image containing the working arm and then performs line detection. Based on the relationship between the number of lines in the image's defined area that meet the slope requirements, the posture of the working arm in the image is determined, indirectly determining the posture of the equipment's working arm in actual operation. This helps users more accurately judge the degree of danger that equipment poses to power transmission lines in power transmission channels.

[0097] The steps or modules involved in Embodiments 2 to 4 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining the attitude of equipment in a power transmission channel, characterized in that: Includes the following steps: The image information of the working equipment is acquired and preprocessed to obtain a rectangular image containing the working arm of the equipment; the four corner points of the image are denoted as A, B, C, and D, with point E between AB, point F between AC, point G between BD, and point H between CD; The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is counted as Ca; x and y are both multiples. The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb. If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

2. The method for determining the attitude of equipment in a power transmission channel as described in claim 1, characterized in that: The preprocessing includes extracting a rectangular image containing the working arm of the equipment from the image information.

3. The method for determining the attitude of equipment in a power transmission channel as described in claim 2, characterized in that: The preprocessing also includes converting the rectangular image containing the working arm of the equipment into a grayscale image.

4. The method for determining the attitude of equipment in a power transmission channel as described in claim 3, characterized in that: The preprocessing also includes adjusting the grayscale image using histogram grayscale equalization.

5. The method for determining the attitude of equipment in a power transmission channel as described in claim 4, characterized in that: The preprocessing also includes performing edge detection on the image after grayscale equalization adjustment, so that the edges are highlighted in white to obtain the edge detection result.

6. The method for determining the attitude of equipment in a power transmission channel as described in claim 5, characterized in that: The preprocessing also includes dilation and erosion of the image after edge detection to further highlight the white edges.

7. The method for determining the attitude of equipment in a power transmission channel as described in claim 6, characterized in that: The preprocessing also includes performing Hough line detection based on the dilated and eroded image to obtain the number of lines in the image.

8. A system for determining the attitude of equipment in a power transmission channel, characterized in that: include: The preprocessing module is configured to: acquire image information of the working equipment, and obtain a rectangular image containing the working arm of the equipment after preprocessing; The pose determination module is configured to: label the four corner points of the image as A, B, C, and D, with point E between AB, point F between AC, point G between BD, and point H between CD; The region enclosed by AE = xAB, AF = xAC, BG = yBD, CH = yCD, and AEGDHF is defined as region A. The number of lines in region A with the same slope as AD and located in region A is obtained based on line detection and is counted as Ca; x and y are both multiples. The region enclosed by AE = yAB, AF = yAC, BG = xBD, CH = xCD, and AEGDHF is defined as region B. The number of lines in region B with the same slope as BC and located in region B is obtained based on line detection and is counted as Cb. If Ca > Cb, then the working arm of the equipment is determined to be located in the upper left to lower right region of the image, i.e., upper left to lower right; otherwise, it is determined to be upper right to lower left.

9. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for determining the attitude of equipment in a power transmission channel as described in any one of claims 1-7.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the method for determining the attitude of equipment in a power transmission channel as described in any one of claims 1-7.

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