A monitoring system based on dynamic generation of orthophoto images of power transmission lines

Abstract

The application provides a kind of monitoring system based on power transmission line dynamic generation orthographic image, including data acquisition module, image preprocessing module, orthographic projection module and dynamic monitoring and analysis module, the data acquisition module is used to collect the image data of power transmission line, the image preprocessing module is used to the original image data collected is preprocessed, the orthographic projection module is used to the image after pre-processing is orthographic projection generation and the orthographic image of alignment with geographic coordinate system, the dynamic monitoring and analysis module is used to monitor the state and change of power transmission line in real time;The system generates the orthographic projection of power transmission line dynamically, and the projection data is monitored according to the design scheme, and the problems of power transmission line can be found in time.

Description

Technical Field

[0001] This invention relates to the field of power grid transmission line technology, and specifically to a monitoring system based on dynamically generated orthophotos of transmission lines. Background Technology

[0002] As a part of the power system, transmission lines play a vital role in providing stable power. However, since transmission lines are exposed to the outdoors year-round, they are susceptible to damage from wind and rain, which can affect the power supply in a region. Transmission lines cover a wide area, and manual monitoring is labor-intensive. Therefore, a system is needed to automatically monitor the status of transmission lines, reduce monitoring costs, and improve monitoring efficiency.

[0003] The foregoing description of the background art is intended only to facilitate understanding of the invention. This description does not endorse or acknowledge any common general knowledge in the materials mentioned.

[0004] Many monitoring systems have been developed. Through extensive research and reference, we found existing systems such as the one disclosed in publication number CN106060476B. These systems generally include: a front-end device, a communication device, and a monitoring center. The front-end device includes a high-definition video monitoring device, a power supply system, and communication equipment. The high-definition video monitoring device is installed on ultra-high-voltage transmission lines to monitor the transmission lines. The communication equipment is connected to the high-definition video monitoring device and can send the video information input by the high-definition video monitoring device to the monitoring center. The power supply system continuously supplies necessary power to the high-definition video monitoring device and the communication equipment. The communication transmission network is the communication network between the communication equipment and the monitoring center. The composition of the communication transmission network varies depending on the communication transmission method and the communication equipment. However, this system requires the deployment of a large number of monitoring devices, resulting in high monitoring costs. Furthermore, it cannot monitor every area, posing a risk of not being able to detect problems in a timely manner. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings by proposing a monitoring system based on dynamically generated orthophotos of power transmission lines.

[0006] The present invention adopts the following technical solution:

[0007] A monitoring system based on dynamically generated orthophotos of transmission lines includes a data acquisition module, an image preprocessing module, an orthophoto projection module, a dynamic monitoring and analysis module, and a data storage and management module.

[0008] The data acquisition module is used to acquire image data of the transmission line, ground control point data, and digital elevation model data. The image preprocessing module is used to preprocess the acquired raw image data. The orthophoto projection module is used to orthophoto the preprocessed image to generate an orthophoto aligned with the geographic coordinate system. The dynamic monitoring and analysis module is used to monitor the status and changes of the transmission line in real time, and automatically detect and identify abnormal conditions of the line. The data storage and management module is used to store and manage the acquired image data, orthophoto data, ground control point data, digital elevation model data, and monitoring results.

[0009] The orthophoto module includes a ground control point matching processor, a digital elevation model matching processor, a transmission line extraction processor, and an orthophoto calculation processor. The ground control point matching processor is used to locate and match ground control points in the preprocessed image. The digital elevation model matching processor is used to extract the ground elevation values ​​of the corresponding locations of the ground control points from the digital elevation model data. The transmission line extraction processor is used to extract the coordinates of the transmission line pixels from the image. The orthophoto calculation processor is used to calculate and map the coordinates of each transmission line pixel in the image to the actual geographic coordinates through geometric transformation.

[0010] The dynamic monitoring and analysis module includes a monitoring management processor, a data register, and a coordinate analysis processor. The monitoring management processor is used to manage the dynamic monitoring area and time of the transmission line. The data register is used to store the acquired orthophoto coordinate data. The coordinate analysis processor is used to calculate and process the orthophoto coordinate data to obtain early warning information.

[0011] Furthermore, the orthographic projection calculation processor calculates the coordinates (x, y) of each transmission line pixel according to the following formula. c y c The actual geographic coordinates (x) w y w , z w ):

[0012]

[0013] Where M is the projection transformation matrix;

[0014] The digital elevation model matching processor is based on (x w y w The corresponding ground elevation value h is obtained through matching. w The orthographic projection calculation unit is based on h w and z w The deviation of geographic coordinates (x w y wThe orthographic projection coordinates (x′) of the transmission line are obtained by correction. w y′ w The corrected formula is as follows:

[0015] x′ w =x w +λ·(h w -z w )·sinθ;

[0016] y′ w =y w +λ·(h w -z w )·cosθ;

[0017] Where λ is the digital elevation model at (x w y w The gradient value of ), where θ is the digital elevation model at (x) w y w The gradient angle of )

[0018] Furthermore, the ground control point matching processor detects ground control points from the image, and the coordinates of the ground control points in the image are (x... P y P The matched geographic coordinates are (x g y g The digital elevation model matching processor is based on (x) g y g The corresponding ground elevation value is denoted as z. g The orthophoto calculation processor calculates the projection transformation matrix M according to the following formula:

[0019]

[0020] Where mij represents the element value in the i-th row and j-th column of the projection transformation matrix M;

[0021] Furthermore, the process by which the coordinate analysis processor processes the orthographic projection coordinate data includes the following steps:

[0022] S1. Select at least two anchor point coordinates from the comparison coordinates, and use P i The symbol 'i' indicates the index of the anchor point coordinates.

[0023] S22. Select the matching coordinates in the target coordinates that are closest to the anchor point coordinates, and use Q. i express;

[0024] S23. Calculate the deviation coefficient k according to the following formula:

[0025]

[0026] Where, d i P represents i With Q i The distance between them, where n is the number of anchor point coordinates and L is the average distance between two adjacent anchor point coordinates;

[0027] S24. Calculate line P i P i+1 With line Q i Q i+1 The angle between them is θ i express;

[0028] S25. Calculate the anomaly index U according to the following formula:

[0029]

[0030] When the anomaly index exceeds the threshold, the coordinate analysis processor sends a maintenance warning to the monitoring and management processor.

[0031] Furthermore, the image preprocessing module includes a distortion correction unit, an angle correction unit, and a noise removal unit. The distortion correction unit is used to perform distortion preprocessing on the image, the angle correction unit is used to perform angle preprocessing on the image, and the noise removal unit preprocesses the image grayscale values.

[0032] The beneficial effects achieved by this invention are:

[0033] This system collects data from satellites and processes it to obtain orthographic projection data of power transmission lines. It can completely monitor all parts of the power transmission lines. Then, it analyzes and processes the orthographic projection data to promptly detect problems in the power transmission lines and carry out maintenance. This achieves high-efficiency monitoring while reducing manpower and material costs.

[0034] To further understand the features and technical content of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structural framework of the present invention;

[0036] Figure 2 This is a schematic diagram of the image preprocessing module of the present invention;

[0037] Figure 3 This is a schematic diagram of the orthophoto projection module of the present invention;

[0038] Figure 4This is a schematic diagram of the dynamic monitoring and analysis module of the present invention. Detailed Implementation

[0039] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention. Furthermore, the accompanying drawings of the present invention are for simple illustrative purposes only and are not depictions of actual dimensions; this is stated beforehand. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the scope of protection of the present invention.

[0040] Example 1.

[0041] This embodiment provides a monitoring system based on dynamically generated orthophotos of transmission lines, combined with... Figure 1 It includes a data acquisition module, an image preprocessing module, an orthophoto projection module, a dynamic monitoring and analysis module, and a data storage and management module;

[0042] The data acquisition module is used to acquire image data of the transmission line, ground control point data, and digital elevation model data. The image preprocessing module is used to preprocess the acquired raw image data. The orthophoto projection module is used to orthophoto the preprocessed image to generate an orthophoto aligned with the geographic coordinate system. The dynamic monitoring and analysis module is used to monitor the status and changes of the transmission line in real time, and automatically detect and identify abnormal conditions of the line. The data storage and management module is used to store and manage the acquired image data, orthophoto data, ground control point data, digital elevation model data, and monitoring results.

[0043] The orthophoto module includes a ground control point matching processor, a digital elevation model matching processor, a transmission line extraction processor, and an orthophoto calculation processor. The ground control point matching processor is used to locate and match ground control points in the preprocessed image. The digital elevation model matching processor is used to extract the ground elevation values ​​of the corresponding locations of the ground control points from the digital elevation model data. The transmission line extraction processor is used to extract the coordinates of the transmission line pixels from the image. The orthophoto calculation processor is used to calculate and map the coordinates of each transmission line pixel in the image to the actual geographic coordinates through geometric transformation.

[0044] The dynamic monitoring and analysis module includes a monitoring management processor, a data register, and a coordinate analysis processor. The monitoring management processor is used to manage the dynamic monitoring area and time of the transmission line. The data register is used to store the acquired orthophoto coordinate data. The coordinate analysis processor is used to calculate and process the orthophoto coordinate data to obtain early warning information.

[0045] The orthophoto calculation processor calculates the coordinates (x, y) of each transmission line pixel according to the following formula. c y c The actual geographic coordinates (x) w y w , z w ):

[0046]

[0047] Where M is the projection transformation matrix;

[0048] The digital elevation model matching processor is based on (x w y w The corresponding ground elevation value h is obtained through matching. w The orthographic projection calculation unit is based on h w and z w The deviation of geographic coordinates (x w y w The orthographic projection coordinates (x′) of the transmission line are obtained by correction. w y′ w The corrected formula is as follows:

[0049] x′ w =x w +λ·(h w -z w )·sinθ;

[0050] y′ w =y w +λ·(h w -z w )·cosθ;

[0051] Where λ is the digital elevation model at (x w y w The gradient value of ), where θ is the digital elevation model at (x) w y w The gradient angle of )

[0052] The ground control point matching processor detects ground control points from the image, and the coordinates of the ground control points in the image are (x, y, y). P y P The matched geographic coordinates are (xg y g The digital elevation model matching processor is based on (x) g y g The corresponding ground elevation value is denoted as z. g The orthophoto calculation processor calculates the projection transformation matrix M according to the following formula:

[0053]

[0054] Where mij represents the element value in the i-th row and j-th column of the projection transformation matrix M;

[0055] The process by which the coordinate analysis processor processes the orthographic projection coordinate data includes the following steps:

[0056] S1. Select at least two anchor point coordinates from the comparison coordinates, and use P i The symbol 'i' indicates the index of the anchor point coordinates.

[0057] S22. Select the matching coordinates in the target coordinates that are closest to the anchor point coordinates, and use Q. i express;

[0058] S23. Calculate the deviation coefficient k according to the following formula:

[0059]

[0060] Where, d i P represents i With Q i The distance between them, where n is the number of anchor point coordinates. This represents the average distance between the coordinates of two adjacent anchor points.

[0061] S24. Calculate line P i P i+1 With line Q i Q i+1 The angle between them is θ i express;

[0062] S25. Calculate the anomaly index U according to the following formula:

[0063]

[0064] When the anomaly index exceeds the threshold, the coordinate analysis processor sends a maintenance warning to the monitoring and management processor.

[0065] The image preprocessing module includes a distortion correction unit, an angle correction unit, and a noise removal unit. The distortion correction unit is used to perform distortion preprocessing on the image, the angle correction unit is used to perform angle preprocessing on the image, and the noise removal unit preprocesses the image grayscale values.

[0066] Example 2.

[0067] This embodiment includes all the contents of Embodiment 1, and provides a monitoring system based on the dynamic generation of orthophotos of transmission lines, including a data acquisition module, an image preprocessing module, an orthophoto projection module, a dynamic monitoring and analysis module, and a data storage and management module;

[0068] The data acquisition module is used to acquire image data of the transmission line, ground control point data, and digital elevation model data. The image preprocessing module is used to preprocess the acquired raw image data, including image distortion correction, angle correction, and noise removal, to ensure image quality and accuracy. The orthophoto projection module is used to combine the ground control point and digital elevation model data to perform orthophoto projection on the preprocessed image to generate an orthophoto image aligned with the geographic coordinate system. The dynamic monitoring and analysis module is used to monitor the status and changes of the transmission line in real time, and automatically detect and identify abnormal conditions of the line. The data storage and management module is used to store and manage the acquired image data, orthophoto image data, ground control point data, digital elevation model data, and monitoring results.

[0069] The data acquisition module acquires data using satellite remote sensing technology, including an image acquisition unit, a ground control point identification unit, and an elevation model acquisition unit. The elevation model acquisition unit rasterizes the ground and measures the height value of each grid, denoted as h(x, y), where (x, y) represents the center coordinates of the grid, and the width of each grid is denoted as a. The ground control point identification unit determines the coordinate information of the ground control point by receiving and identifying special signals sent by the ground control point. The image acquisition unit captures images of the area where the ground control point is located.

[0070] The ground control point identification unit and the elevation model acquisition unit collect data for the same area only once, while the image acquisition unit repeatedly collects data for the same area to obtain real-time information.

[0071] Combination Figure 2The image preprocessing module includes a distortion correction unit, an angle correction unit, and a noise removal unit. The distortion correction unit has a radial distortion model and a tangential distortion model. After selecting the internal parameters and distortion model of the model, the model is used to perform distortion correction on each pixel in the image to obtain a distortion-corrected image. Then, the missing pixels after correction are resampled and filled. The angle correction unit obtains the shooting angle information, converts the angle information into coordinate transformation parameters, and uses the coordinate transformation parameters to perform coordinate transformation on each pixel in the image to obtain an angle-corrected image. Then, the missing pixels after correction are resampled and filled. The noise removal unit uses Gaussian filtering to smooth the gray values ​​of the pixels in the image.

[0072] Combination Figure 3 The orthophoto module includes a ground control point matching processor, a digital elevation model matching processor, a transmission line extraction processor, and an orthophoto calculation processor. The ground control point matching processor is used to locate and match ground control points in the preprocessed image, and matches the ground control points in the image with their corresponding geographic coordinates through image processing algorithms and feature matching technology. The digital elevation model matching processor is used to extract the ground elevation values ​​of the corresponding locations of the ground control points from the digital elevation model data. The transmission line extraction processor is used to extract the coordinates of the transmission line pixels from the image. The orthophoto calculation processor uses the pixel position of the ground control point, the corresponding geographic coordinates, and the corresponding ground elevation value to calculate and map the coordinates of each transmission line pixel in the image to the actual geographic coordinates through geometric transformation.

[0073] The ground control point matching processor detects ground control points from the image, and the coordinates of the ground control points in the image are (x, y, y). P y P The matched geographic coordinates are (x g y g The digital elevation model matching processor is based on (x) g y g The corresponding ground elevation value is denoted as z. g The orthophoto calculation processor calculates the projection transformation matrix M according to the following formula:

[0074]

[0075] Where mij represents the element value in the i-th row and j-th column of the projection transformation matrix M;

[0076] The orthophoto calculation processor calculates the coordinates (x, y) of each transmission line pixel according to the following formula. c y c The actual geographic coordinates (x) wy w , z w ):

[0077]

[0078] The digital elevation model matching processor is based on (x w y w The corresponding ground elevation value h is obtained through matching. w The orthographic projection calculation unit is based on h w and z w The deviation of geographic coordinates (x w y w The correction is made using the following formula:

[0079] x′ w =x w +λ·(h w -z w )·sinθ;

[0080] y′ w =y w +λ·(h w -z w )·cosθ;

[0081] Where λ is the digital elevation model at (x w y w The gradient value of ), where θ is the digital elevation model at (x) w y w The gradient angle of )

[0082] The final geographic coordinates (x′) w y′ w () represents the orthographic projection coordinates of the transmission line;

[0083] Combination Figure 4 The dynamic monitoring and analysis module obtains data on the orthophoto coordinates of the transmission line at different times from the data storage and management module and performs analysis and comparison. The dynamic monitoring and analysis module includes a monitoring management processor, a data register, and a coordinate analysis processor. The monitoring management processor is used to manage the dynamic monitoring area and time of the transmission line. The data register is used to store the obtained orthophoto coordinate data. The coordinate analysis processor is used to perform calculation processing on the orthophoto coordinate data.

[0084] The monitoring and management processor sets up multiple monitoring areas according to the distribution of transmission lines. Each monitoring area is set with a corresponding monitoring time. All monitoring areas share the same monitoring interval. When the monitoring time of a monitoring area reaches the monitoring interval, the area information is sent to the data storage and management module, and the current time is replaced with the original monitoring time.

[0085] After receiving the regional information, the data storage and management module sends the current time transmission line data and the transmission line data one monitoring interval time in the region to the data register. The coordinate data with the earlier time is called the comparison coordinate, and the coordinate data with the later time is called the target coordinate.

[0086] The process by which the coordinate analysis processor processes the orthographic projection coordinate data includes the following steps:

[0087] S1. Select at least two anchor point coordinates from the comparison coordinates, and use P i The symbol 'i' indicates the index of the anchor point coordinates.

[0088] S22. Select the matching coordinates in the target coordinates that are closest to the anchor point coordinates, and use Q. i express;

[0089] S23. Calculate the deviation coefficient k according to the following formula:

[0090]

[0091] Where, d i P represents i With Q i The distance between them, where n is the number of anchor point coordinates. This represents the average distance between the coordinates of two adjacent anchor points.

[0092] S24. Calculate line P i P i+1 With line Q i Q i+1 The angle between them is θ i express;

[0093] S25. Calculate the anomaly index U according to the following formula:

[0094]

[0095] When the anomaly index exceeds the threshold, the coordinate analysis processor sends a maintenance warning to the monitoring and management processor.

[0096] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. A monitoring system based on dynamically generated orthophotos of transmission lines, characterized in that, It includes a data acquisition module, an image preprocessing module, an orthophoto projection module, a dynamic monitoring and analysis module, and a data storage and management module; The data acquisition module is used to acquire image data of the transmission line, ground control point data, and digital elevation model data. The image preprocessing module is used to preprocess the acquired raw image data. The orthophoto projection module is used to orthophoto the preprocessed image to generate an orthophoto aligned with the geographic coordinate system. The dynamic monitoring and analysis module is used to monitor the status and changes of the transmission line in real time, and automatically detect and identify abnormal conditions of the line. The data storage and management module is used to store and manage the acquired image data, orthophoto data, ground control point data, digital elevation model data, and monitoring results. The orthophoto module includes a ground control point matching processor, a digital elevation model matching processor, a transmission line extraction processor, and an orthophoto calculation processor. The ground control point matching processor is used to locate and match ground control points in the preprocessed image. The digital elevation model matching processor is used to extract the ground elevation values ​​of the corresponding locations of the ground control points from the digital elevation model data. The transmission line extraction processor is used to extract the coordinates of the transmission line pixels from the image. The orthophoto calculation processor is used to calculate and map the coordinates of each transmission line pixel in the image to the actual geographic coordinates through geometric transformation. The dynamic monitoring and analysis module includes a monitoring management processor, a data register, and a coordinate analysis processor. The monitoring management processor is used to manage the dynamic monitoring area and time of the transmission line. The data register is used to store the acquired orthophoto coordinate data. The coordinate analysis processor is used to calculate and process the orthophoto coordinate data to obtain early warning information. The monitoring and management processor sets up multiple monitoring areas according to the distribution of transmission lines. Each monitoring area is set with a corresponding monitoring time. All monitoring areas share the same monitoring interval. When the monitoring time of a monitoring area reaches the monitoring interval, the area information is sent to the data storage and management module, and the current time is replaced with the original monitoring time. After receiving the regional information, the data storage and management module sends the current time transmission line data and the transmission line data one monitoring interval time in the region to the data register. The coordinate data with the earlier time is called the comparison coordinate, and the coordinate data with the later time is called the target coordinate. The process by which the coordinate analysis processor processes the orthographic projection coordinate data includes the following steps: S1. Select at least two anchor point coordinates from the comparison coordinates, and use... The symbol 'i' indicates the index of the anchor point coordinates. S22. Select the matching coordinates that are closest to the anchor point coordinates in the target coordinates. express; S23. Calculate the deviation coefficient k according to the following formula: ； in, express and The distance between them, where n is the number of anchor point coordinates. This represents the average distance between the coordinates of two adjacent anchor points. S24. Calculate the straight line With a straight line The angle between them, using express; S25. Calculate the anomaly index U according to the following formula: ； When the anomaly index exceeds the threshold, the coordinate analysis processor sends a maintenance warning to the monitoring and management processor.

2. The monitoring system based on dynamically generated orthophotos of transmission lines as described in claim 1, characterized in that, The orthographic projection calculation processor calculates the coordinates of each transmission line pixel according to the following formula. actual geographic coordinates : ； Where M is the projection transformation matrix; The digital elevation model matching processor is based on Matching yields the corresponding ground elevation value The orthophoto calculation processor is based on and Deviation of geographic coordinates Corrections are made to obtain the orthographic projection coordinates of the transmission line. The corrected formula is as follows: ； ； in, For digital elevation models in gradient value, For digital elevation models in The gradient angle.

3. The monitoring system based on dynamically generated orthophotos of transmission lines as described in claim 2, characterized in that, The ground control point matching processor detects ground control points from the image, and the coordinates of the ground control points in the image are as follows: The matched geographic coordinates are The digital elevation model matching processor is based on The corresponding ground elevation value is recorded as follows: The orthophoto calculation processor calculates the projection transformation matrix M according to the following formula: ； Where mij represents the element value in the i-th row and j-th column of the projection transformation matrix M.

4. The monitoring system based on dynamically generated orthophotos of transmission lines as described in claim 3, characterized in that, The image preprocessing module includes a distortion correction unit, an angle correction unit, and a noise removal unit. The distortion correction unit is used to perform distortion preprocessing on the image, the angle correction unit is used to perform angle preprocessing on the image, and the noise removal unit preprocesses the image grayscale values.

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