A monitoring method, system, processing device and storage medium for transmission tower tilt

Abstract

The invention discloses a monitoring method system, processing equipment and storage medium for the inclination of a transmission tower. The method comprises the following steps: obtaining a reference image in the initial state of the tower, and obtaining initial angle information based on the reference image; obtaining a monitoring image, detecting a straight boundary line in the monitoring image, and eliminating a non-straight boundary line; obtaining pixel coordinates at both ends of the straight boundary line to obtain current position information of the conductor; and based on the current position information, calling an inverse trigonometric function to obtain current angle information of the conductor; calculating the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the inclination angle of the conductor; based on the conductor inclination angle converted into the tower inclination angle, judging whether the tower inclination angles of adjacent towers all exceed a threshold value, and if so, forming an early warning prompt information.

Description

Technical Field

[0001] The invention relates to a monitoring method, system, processing equipment and storage medium for the inclination of a transmission tower. Background Art

[0002] In the power system, high-voltage transmission lines are the main arteries of power transmission, and their safety is directly related to economic operation and people's production and life. If they are damaged by geological disasters or external forces, the foundation of the transmission tower will gradually loosen or tilt, causing the transmission tower to tilt. If the tilt reaches the limit, the tower may collapse, seriously affecting the safety of the transmission line. Usually, the tilt and collapse of the transmission tower does not happen suddenly, but there is a gradual accumulation process. Therefore, it is necessary to monitor the tilt of the transmission tower in real time to detect potential accidents in advance and take timely countermeasures.

[0003] At present, there are two main methods for monitoring the inclination of transmission towers. One is that line maintenance personnel regularly go to the site to measure, including plumb measurement, theodolite measurement, plane mirror method, laser radar method, drone tilt photography method, etc. The other is to install special monitoring equipment on the transmission tower to measure the inclination dynamically. Both methods have obvious problems. The former has a huge workload and cannot achieve real-time monitoring, while the latter has high equipment investment and construction costs. Summary of the invention

[0004] The purpose of the present invention is to provide a method for monitoring the inclination of a transmission tower to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solutions:

[0005] A method for monitoring the inclination of a transmission tower comprises the following steps:

[0006] In the initial state of the tower, a reference image is obtained, and initial angle information is obtained based on the reference image;

[0007] Acquire a monitoring image, detect straight boundary lines in the monitoring image, and remove non-straight boundary lines;

[0008] The pixel coordinates of the first and last ends of the straight boundary line are obtained to obtain the current position information of the wire; and based on the current position information, the inverse trigonometric function is called to obtain the current angle information of the wire;

[0009] Calculate the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle;

[0010] Based on the conversion of the conductor inclination angle into the tower inclination angle, the tower inclination angles of adjacent towers are judged to see whether they all exceed the threshold. If so, an early warning prompt message is generated.

[0011] Furthermore, the specific steps of acquiring a monitoring image, detecting straight boundary lines in the monitoring image, and removing non-straight boundary lines include:

[0012] Based on the pixel value, the canny edge detection algorithm is used to obtain the boundary lines of all objects on the monitoring image;

[0013] The Hough line detection algorithm is used to detect straight line boundaries and remove non-straight line boundaries.

[0014] Furthermore, the conductor is a three-phase conductor, the initial angle information is ANa, ANb, ANc, the current position information of the conductor is PSa, PSb, PSc, and the current angle information of the conductor is ASa, ASb, ASc; TLa=ASa–ANa, TLb=ASb–ANb, TLc=ASc–ANc are calculated; the conductor inclination angle is obtained by taking the average inclination angle of TLa, TLb, TLc;

[0015] Furthermore, the specific steps of converting the conductor inclination angle into the tower inclination angle include:

[0016] Query the database to obtain the current transmission tower height H and the conductor length L between the two towers;

[0017] According to the relative position between the conductor and the tower, project it onto an equivalent plane figure;

[0018] The tower inclination is converted according to the trigonometric formula. The formula for converting the tower inclination (denoted as TG) is:

[0019] TG = arctan (L*tan (TL) / H), where TG is the inclination of the tower, L is the length of the conductor, TL is the inclination of the conductor, and H is the height of the tower.

[0020] Furthermore, the reference image and the monitoring image are obtained through a visualization device with a rotatable lens. When obtaining the initial angle information, multiple initial angle information are obtained, and the multiple initial angle information all correspond to the angle value recorded at the angle. When obtaining the monitoring image, the corresponding angle is recorded. When obtaining the inclination angle of the conductor, the current angle information and the initial angle information of the conductor corresponding to the same angle are selected.

[0021] The present invention also provides a transmission tower tilt monitoring system, comprising:

[0022] An initial angle information acquisition module is used to acquire a reference image in the initial state of the tower, and acquire initial angle information based on the reference image;

[0023] A linear boundary line acquisition module is used to acquire monitoring images, detect linear boundary lines in the monitoring images, and remove non-linear boundary lines;

[0024] The current angle information acquisition module is used to obtain the pixel coordinates of the first and last ends of the straight line boundary line to obtain the current position information of the wire; and based on the current position information, the inverse trigonometric function is called to obtain the current angle information of the wire;

[0025] A conductor inclination angle acquisition module calculates the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle;

[0026] The early warning information forming module converts the conductor inclination angle into the tower inclination angle, and determines whether the tower inclination angles of adjacent towers exceed the threshold value. If so, the early warning information is formed.

[0027] The present invention also provides a processing device, characterized in that it includes: a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the above-mentioned method for monitoring the inclination of a transmission tower when executing the computer program.

[0028] The present invention also provides a storage medium, characterized in that: a computer program is stored on the storage medium, and when the computer program is run by a controller, the method for monitoring the inclination of a transmission tower as described above is executed.

[0029] The beneficial effects of the present invention are:

[0030] (1) The present invention utilizes machine vision and image recognition technology to realize real-time monitoring of the inclination of transmission towers, which is an in-depth utilization of the existing transmission line visualization device. It does not require additional equipment investment and does not increase the workload of line maintenance personnel. At the same time, it can monitor and dynamically track the inclination of transmission towers in real time. It is a low-cost solution that can greatly reduce the cost of monitoring the inclination of transmission towers and improve the reliability of transmission lines.

[0031] (2) The present invention uses a mobile network to communicate with the visualization device of the transmission tower to achieve remote real-time monitoring of the inclination of the transmission tower. There is no need to arrange personnel to monitor on site, which reduces the workload of the transmission line operation and maintenance personnel and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flow chart of the monitoring method of the present invention;

[0033] Figure 2 A flowchart of the specific steps of acquiring a monitoring image, detecting a linear boundary line in the monitoring image, and removing a non-linear boundary line in the present invention;

[0034] Figure 3 It is a flow chart of the specific steps of converting the conductor inclination angle into the tower inclination angle based on the present invention;

[0035] Figure 4 A schematic diagram of a reference image for the present invention;

[0036] Figure 5 This is a schematic diagram of monitoring images of the present invention;

[0037] Figure 6 This is a schematic diagram of converting the inclination of a tower according to a trigonometric formula in the present invention;

[0038] Figure 7 It is a schematic diagram of the structure of the monitoring system of the present invention. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0040] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0041] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0042] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0044] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0045] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0046] See Figure 1 The present invention also provides a method for monitoring the inclination of a transmission tower, comprising the following steps:

[0047] S1: In the initial state of the tower, a reference image is obtained, and initial angle information is obtained based on the reference image;

[0048] Specifically, see Figure 4 , the conductor is a three-phase conductor, and the initial angle information is ANa, ANb, ANc;

[0049] S2: Acquire a monitoring image, detect straight boundary lines in the monitoring image, and remove non-straight boundary lines;

[0050] Since it is necessary to obtain the wires in the monitoring image, in the image, the background of the wires is the sky, which can be quickly identified and the non-linear parts can be removed.

[0051] Specifically, see Figure 2 , in S2, the following steps are specifically performed:

[0052] S21: Call the open source computer vision library OpenCV to open the monitoring image and read the pixel value;

[0053] S22: using the canny edge detection algorithm based on the pixel value to obtain the boundary lines of all objects on the monitoring image;

[0054] S23: using the Hough line detection algorithm to detect straight line boundaries and remove non-straight line boundaries;

[0055] Since the transmission lines in the image are approximately three straight lines, and the direction is from top to bottom, the distance between the three lines is wider at the top and narrower at the bottom; based on these two features, combined with the corresponding algorithm, the straight lines that do not meet the conditions can be eliminated to obtain the data of the three lines.

[0056] S3: taking pixel coordinates at both ends of the straight boundary line to obtain current position information of the wire; and based on the current position information, calling an inverse trigonometric function to obtain current angle information of the wire;

[0057] Specifically, see Figure 5 , the current position information of the wire is PSa, PSb, PSc, and the current angle information of the wire is ASa, ASb, ASc; the pixel coordinates of the two ends are (Xa0, Ya0), (Xa1, Ya1), (Xb0, Yb0), (Xb1, Yb1), (Xc0, Yc0), (Xc1, Yc1) in the figure; the inverse trigonometric function calculation formula is as follows:

[0058]

[0059]

[0060]

[0061] S4: Calculate the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle;

[0062] Specifically, calculate TLa = ASa-ANa, TLb = ASb-ANb, TLc = ASc-ANc; take the average tilt angle of TLa, TLb, TLc to obtain the wire tilt angle TL; here

[0063] S5: Based on the conversion of the conductor inclination angle into the tower inclination angle, the tower inclination angles of adjacent towers are judged to see whether they all exceed the threshold value. If so, a warning prompt message is generated.

[0064] See Figure 3 In S5, the specific steps of converting the conductor inclination angle into the tower inclination angle include:

[0065] S51: query the database to obtain the current transmission tower height H and the wire length L between two towers;

[0066] S52: projecting the relative position between the conductor and the tower onto an equivalent plane figure; that is, the tower at the initial position and the conductor at the initial position are on the same straight line, and the straight line, the inclined conductor and the inclined tower together form a triangle;

[0067] S53: See Figure 6, according to the trigonometric formula, the tower inclination is converted. The formula for converting the tower inclination (denoted as TG) is:

[0068] TG = arctan (L*tan (TL) / H), where TG is the inclination of the tower, L is the conductor length, TL is the conductor inclination, and H is the tower height.

[0069] The early warning information formed here can be used to remind management personnel to promptly check the causes of the transmission tower tilt and eliminate the hidden dangers of the transmission line in a timely manner. The threshold can be flexibly set according to the actual situation. If not set, refer to the provisions of the "Technical Conditions for Manufacturing Transmission Line Towers GB / T 2694-2018", that is, the inclination threshold of towers below 50m is 1.0%, and the inclination threshold of towers 50m and above is 0.5%. The early warning information here can be implemented by SMS and other means.

[0070] As a further solution of the present invention: the reference image and the monitoring image are obtained through a visualization device with a rotatable lens. When obtaining the initial angle information, multiple initial angle information are obtained, and the multiple initial angle information all correspond to the angle value recorded at the angle. When obtaining the monitoring image, the corresponding angle is recorded. When obtaining the inclination angle of the conductor, the current angle information and the initial angle information of the conductor corresponding to the same angle are selected. Here, a visualization device with a rotatable lens is used to obtain the image. In order to compare the reference image and the monitoring image under the same standard conditions, a lens rotation angle is set corresponding to the initial angle information. When obtaining the monitoring image, the lens rotation angle is also recorded. Then, the initial angle information at the corresponding angle is obtained according to the lens rotation angle also recorded when the monitoring image is obtained, and the comparison is performed to make the result more accurate.

[0071] See Figure 7 The present invention also provides a transmission tower tilt monitoring system, comprising:

[0072] The initial angle information acquisition module 1 is used to acquire a reference image in the initial state of the tower, and acquire initial angle information based on the reference image;

[0073] The linear boundary line acquisition module 2 is used to acquire the monitoring image, detect the linear boundary lines in the monitoring image, and remove the non-linear boundary lines;

[0074] The current angle information acquisition module 3 is used to obtain the pixel coordinates of the first and last ends of the straight boundary line to obtain the current position information of the wire; and based on the current position information, the inverse trigonometric function is called to obtain the current angle information of the wire;

[0075] The conductor inclination angle acquisition module 4 calculates the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle;

[0076] The early warning information forming module 5 converts the conductor inclination angle into the tower inclination angle, and determines whether the tower inclination angles of adjacent towers exceed the threshold value. If so, the early warning information is formed.

[0077] The present invention also provides a processing device, characterized in that it includes: a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the above-mentioned method for monitoring the inclination of a transmission tower when executing the computer program.

[0078] The present invention also provides a storage medium, characterized in that: a computer program is stored on the storage medium, and when the computer program is run by a controller, the method for monitoring the inclination of a transmission tower as described above is executed.

[0079] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. The protection scope of the present invention shall be subject to the protection scope of the claims. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical content disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A method for monitoring the inclination of a transmission tower. The following steps are involved: In the initial state of the tower, a reference image is obtained, and initial angle information is obtained based on the reference image; Acquire a monitoring image, detect straight boundary lines in the monitoring image, and remove non-straight boundary lines; Take the pixel coordinates of the beginning and end of the straight boundary line to obtain the current position information of the wire; Based on the current position information, the inverse trigonometric function is called to obtain the current angle information of the wire; Calculate the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle; Based on the conversion of the conductor inclination angle into the tower inclination angle, the tower inclination angles of adjacent towers are judged to see whether they all exceed the threshold value, and if so, a warning prompt message is generated; The specific steps of converting the conductor inclination angle into the tower inclination angle include: Query the database to obtain the current transmission tower height H and the conductor length L between the two towers; According to the relative position between the conductor and the tower, project it onto an equivalent plane figure; The tower inclination is converted according to the trigonometric formula. The formula for converting the tower inclination TG is: TG = arctan (L*tan (TL) / H), where TG is the inclination of the tower, L is the length of the conductor, TL is the inclination angle of the conductor, and H is the height of the tower.

2. A method for monitoring the inclination of a transmission tower according to claim 1, Features: Acquire monitoring images, detect straight boundary lines in the monitoring images, and remove non-straight boundary lines. The specific steps include: Based on the pixel value, the canny edge detection algorithm is used to obtain the boundary lines of all objects on the monitoring image; The Hough line detection algorithm is used to detect straight line boundaries and remove non-straight line boundaries.

3. A method for monitoring the inclination of a transmission tower according to claim 1, Features: The conductor is a three-phase conductor, the initial angle information is ANa, ANb, ANc, the current position information of the conductor is PSa, PSb, PSc, and the current angle information of the conductor is ASa, ASb, ASc; the angle difference information of the conductor is calculated to be TLa, TLb, TLc, wherein TLa=ASa–ANa, TLb=ASb–ANb, TLc=ASc–ANc; the conductor inclination angle is obtained by taking the average inclination angle of TLa, TLb, and TLc.

4. A method for monitoring the inclination of a transmission tower according to claim 1, Features: The reference image and monitoring image are obtained through a visualization device with a rotatable lens. When obtaining the initial angle information, multiple initial angle information are obtained, and the multiple initial angle information all correspond to the angle value recorded at the angle. When obtaining the monitoring image, the corresponding angle is recorded. When obtaining the conductor inclination angle, the current angle information and the conductor initial angle information corresponding to the same angle are selected.

5. A monitoring system for transmission tower tilt, Features: include: An initial angle information acquisition module is used to acquire a reference image in the initial state of the tower, and acquire initial angle information based on the reference image; A linear boundary line acquisition module is used to acquire monitoring images, detect linear boundary lines in the monitoring images, and remove non-linear boundary lines; The current angle information acquisition module is used to obtain the pixel coordinates of the beginning and end of the straight line boundary line to obtain the current position information of the wire; Based on the current position information, the inverse trigonometric function is called to obtain the current angle information of the wire; A conductor inclination angle acquisition module calculates the difference between the current angle information of the conductor and the initial angle information of the conductor to obtain the conductor inclination angle; The early warning information forming module converts the conductor inclination angle into the tower inclination angle, and determines whether the tower inclination angles of adjacent towers exceed the threshold value. If so, the early warning information is formed; The specific steps of converting the conductor inclination angle into the tower inclination angle include: Query the database to obtain the current transmission tower height H and the conductor length L between the two towers; According to the relative position between the conductor and the tower, project it onto an equivalent plane figure; The tower inclination is converted according to the trigonometric formula. The formula for converting the tower inclination TG is: TG = arctan (L*tan (TL) / H), where TG is the inclination of the tower, L is the length of the conductor, TL is the inclination angle of the conductor, and H is the height of the tower.

6. A processing device, Features: include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, a method for monitoring the inclination of a transmission tower as described in any one of claims 1 to 4 is implemented.

7. A storage medium, Features: The storage medium stores a computer program, and when the computer program is executed by the controller, the method for monitoring the inclination of a transmission tower according to any one of claims 1 to 4 is executed.

Images