High-precision identification sensor for accumulated dust of electric power pipeline

Abstract

The invention relates to a high-precision identification sensor for accumulated dust of an electric power pipeline, and belongs to the field of electric power equipment maintenance. The sensor comprises an image acquisition module, an infrared thermal induction module, a laser ranging module and a signal processing module. The image acquisition module acquires image information of the electric power pipeline, the infrared thermal induction module detects surface temperature change of the electric power pipeline, the laser ranging module measures the distance between the electric power pipeline and the sensor, and the signal processing module processes the acquired information to realize accurate identification of the electric power pipeline. The invention further provides a power pipeline accumulated dust cleaning method, device and system based on the sensor, the power pipeline can be effectively recognized, a cleaning mechanism is guided to conduct precise cleaning, damage to the power pipeline is avoided, the cleaning efficiency and safety are improved, and the sensor is suitable for various scenes such as coal mines, transformer substations and power transmission lines.

Description

Technical Field

[0001] The invention belongs to the field of power equipment maintenance and relates to a high-precision dust recognition sensor for power pipelines. Background Art

[0002] With the rapid development of the power industry, the number and scale of power pipelines are increasing, and the dust accumulation problem is becoming increasingly prominent. Dust accumulation not only affects the heat dissipation effect of power pipelines and reduces power transmission efficiency, but may also cause safety accidents. Therefore, it is very important to effectively clean the dust accumulated in power pipelines.

[0003] Existing methods for cleaning dust from power lines mainly include manual cleaning and mechanical cleaning. Manual cleaning is inefficient and poses safety risks; mechanical cleaning equipment is difficult to adapt to the complex and changeable power line environment, and the cleaning effect is difficult to guarantee.

[0004] In addition, the existing power line dust recognition technology also has some limitations. Traditional image recognition technology is easily affected by factors such as lighting and angle, and the recognition accuracy is low; infrared thermal sensing technology is greatly affected by ambient temperature, and the recognition effect is unstable; distance measurement technology is difficult to accurately determine the location and direction of power lines.

[0005] In order to overcome the shortcomings of the prior art and improve the efficiency and safety of cleaning dust accumulation in power lines, the present invention proposes a high-precision identification sensor for dust accumulation in power lines, which can effectively identify power lines and guide the cleaning mechanism to perform precise cleaning. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a high-precision dust recognition sensor for power pipelines.

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

[0008] A high-precision sensor for identifying dust accumulation in power pipelines, comprising:

[0009] Image acquisition module: used to collect power pipeline image information. The image acquisition module includes a high-definition AI image processor, which is used to analyze and process the collected power pipeline image information and identify power pipeline features, including shape, color and texture;

[0010] Infrared thermal sensing module: used to detect the surface temperature change of the power pipeline, so as to identify the power pipeline. The infrared thermal sensing module includes an infrared thermal sensing probe, which is used to collect the surface temperature information of the power pipeline;

[0011] Laser ranging module: used to measure the distance between the power pipeline and the sensor, so as to assist in identifying the power pipeline. The laser ranging module includes a laser ranging probe, which is used to emit laser and receive reflected light to measure the distance;

[0012] Signal processing module: used to process image information, infrared thermal sensing signals and laser ranging signals to achieve accurate identification of power pipelines. The signal processing module includes an image recognition algorithm, a temperature analysis algorithm and a distance analysis algorithm, which are used to analyze image information, infrared thermal sensing signals and laser ranging signals respectively, and perform fusion processing to finally identify power pipelines.

[0013] Furthermore, the image acquisition module includes a high-definition AI image processor for analyzing and processing the collected power pipeline image information.

[0014] Furthermore, the infrared thermal sensing module includes an infrared thermal sensing probe for detecting changes in surface temperature of the power pipeline.

[0015] Furthermore, the laser ranging module includes a laser ranging probe for measuring the distance between the power pipeline and the sensor.

[0016] Furthermore, the signal processing module includes:

[0017] Image recognition algorithm: used to analyze the collected power pipeline image information, identify the power pipeline features, such as shape, color, texture, etc., and determine whether it is a power pipeline according to the preset recognition rules;

[0018] Temperature analysis algorithm: used to analyze infrared thermal sensing signals, identify power pipelines, and determine whether they are power pipelines by analyzing the changing patterns of the surface temperature of power pipelines;

[0019] Distance analysis algorithm: used to analyze laser ranging signals, assist in identifying power lines, and assist in determining whether it is a power line by analyzing the distance information between the power line and the sensor;

[0020] Fusion algorithm: used to fuse the results of image recognition algorithm, temperature analysis algorithm and distance analysis algorithm, comprehensively consider image information, infrared thermal sensing signals and laser ranging signals, and improve the accuracy and robustness of power pipeline identification.

[0021] A method for cleaning dust accumulation in power pipelines based on the power pipeline dust accumulation high-precision identification sensor comprises:

[0022] The power pipeline dust accumulation high-precision identification sensor is used to identify the power pipeline, and the specific steps are as follows:

[0023] Start the image acquisition module to collect image information of power pipelines;

[0024] Start the infrared thermal sensing module to detect the temperature changes on the surface of the power pipeline;

[0025] Start the laser distance measurement module to measure the distance between the power pipeline and the sensor;

[0026] The collected image information, infrared thermal sensing signal and laser ranging signal are input into the signal processing module for processing;

[0027] The signal processing module determines whether it is a power pipeline based on the results of the image recognition algorithm, temperature analysis algorithm and distance analysis algorithm;

[0028] Output identification results, indicating the location and status of power pipelines.

[0029] According to the identification results, the cleaning mechanism is controlled to perform dust cleaning operations to avoid damage to the power pipelines. The specific steps are as follows:

[0030] According to the location and status of the power pipeline, adjust the movement trajectory of the cleaning mechanism to avoid collision;

[0031] Control the cleaning mechanism to perform dust cleaning operations to remove dust accumulated on the surface of power pipelines;

[0032] Monitor cleaning effectiveness and make adjustments as needed.

[0033] A power line dust cleaning device based on the power line dust high-precision identification sensor comprises:

[0034] The power line dust accumulation high-precision identification sensor is used to identify the power line to ensure the safety of the cleaning operation;

[0035] Cleaning mechanism: used for cleaning dust on the surface of power pipelines, including brushes and vacuum cleaners;

[0036] Control module: used to control the cleaning mechanism to perform dust cleaning operations according to the recognition results of the high-precision dust recognition sensor for the power pipeline to avoid damage to the power pipeline. The control module includes a microprocessor, a memory, an input and output interface, etc., which are used to receive the recognition results and control the movement and cleaning operation of the cleaning mechanism according to a preset control strategy.

[0037] The beneficial effects of the present invention are:

[0038] (1) By integrating multiple technical means such as image recognition, infrared thermal sensing and laser ranging, it can effectively identify power pipelines with high recognition accuracy and strong robustness, and can adapt to the complex and changeable power pipeline environment.

[0039] (2) The movement trajectory and cleaning operation of the cleaning mechanism are controlled according to the recognition results to avoid damage to the power pipeline, achieve precise cleaning, improve cleaning efficiency, and reduce cleaning costs.

[0040] (3) Avoid the risks of manual cleaning, improve cleaning safety, and ensure the safe operation of power pipelines.

[0041] (4) It can be used in various scenarios such as coal mines, substations, and transmission lines to meet the dust cleaning needs of different power pipelines.

[0042] (5) The cleaning process is highly automated, reducing manual intervention and improving cleaning efficiency.

[0043] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0045] Figure 1 Identify technology roadmaps for roadway power equipment. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0047] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0048] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0049] In the process of lane cleaning, it is necessary to accurately identify power facilities (mainly cables) and non-power facilities. According to the characteristics of power pipelines, the recognition technology of power pipelines is planned to use image method, infrared thermal sensing method and distance method for monitoring (such as Figure 1 As shown). Infrared thermal sensing is used to monitor the heating characteristics of substations, explosion-proof power supplies, sensors, lighting lamps, and energized cables in the tunnels; the image method is used to monitor lighting equipment and luminous facilities; and the distance method is used to identify non-energized cables based on their installation characteristics on the tunnel walls. By purchasing infrared thermal sensing probes, high-definition AI image processors, and laser ranging probes, and using the established dust instrumentation laboratory, we will study the image recognition technology and sensor devices that integrate infrared thermal sensing, AI image method, and laser ranging method to achieve accurate identification of power pipelines.

[0050] Example 1: A dust cleaning robot for the auxiliary transport lane of a rubber-wheeled vehicle in a coal mine

[0051] High-precision identification sensor for dust accumulation in power pipelines:

[0052] Image acquisition module: uses a 1080P high-definition camera to collect image information of power pipelines in the tunnel.

[0053] Infrared thermal sensing module: It uses an infrared thermal sensing probe with a wavelength of 10μm to detect changes in cable surface temperature with a resolution of 0.1℃.

[0054] Laser ranging module: Use laser ranging probe to measure the distance between the cable and the sensor. The measuring range is 0.1m-10m and the accuracy is ±2mm.

[0055] Signal processing module: uses an embedded processor to run image recognition algorithm, temperature analysis algorithm and distance analysis algorithm to achieve accurate cable identification.

[0056] Cleaning mechanism: using a brush with a rotation speed of 200rpm and a bristle diameter of 5mm.

[0057] Control module: PLC control is adopted to control the movement trajectory and cleaning operation of the cleaning mechanism according to the recognition results.

[0058] Example 2: Substation Equipment Cleaning Robot

[0059] High-precision identification sensor for dust accumulation in power pipelines:

[0060] Image acquisition module: uses a 4K high-definition camera to collect cable image information on substation equipment.

[0061] Infrared thermal sensing module: It uses an infrared thermal sensing probe with a wavelength of 8μm to detect changes in cable surface temperature with a resolution of 0.05℃.

[0062] Laser ranging module: Use laser ranging probe to measure the distance between the cable and the sensor. The measuring range is 0.2m-20m and the accuracy is ±1mm.

[0063] Signal processing module: uses high-performance computers and runs deep learning algorithms to achieve accurate cable identification.

[0064] Cleaning mechanism: Use high-pressure water gun with a pressure of 20MPa and a nozzle diameter of 1mm.

[0065] Control module: The robot operating system (ROS) is used to control the motion trajectory and cleaning operation of the cleaning mechanism according to the recognition results.

[0066] Example 3: Overhead power line dust cleaning drone

[0067] High-precision identification sensor for dust accumulation in power pipelines:

[0068] Image acquisition module: uses an oblique photography camera to collect image information of transmission lines.

[0069] Infrared thermal sensing module: uses a low-light infrared camera to detect changes in surface temperature of transmission lines.

[0070] Laser ranging module: It uses laser radar to measure the distance between the transmission line and the sensor, with a measurement range of 50m-1000m and an accuracy of ±10cm.

[0071] Signal processing module: uses an embedded processor to run image recognition algorithm, temperature analysis algorithm and distance analysis algorithm to achieve accurate identification of transmission lines.

[0072] Cleaning mechanism: Use high-pressure air gun with a pressure of 5MPa.

[0073] Control module: The flight control system is used to control the flight trajectory and cleaning operation of the drone according to the recognition results.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A high-precision sensor for detecting dust accumulation on power lines, characterized in that: include: Image acquisition module: used to collect power pipeline image information. The image acquisition module includes a high-definition AI image processor, which is used to analyze and process the collected power pipeline image information and identify power pipeline features, including shape, color and texture; Infrared thermal sensing module: used to detect the surface temperature change of the power pipeline, so as to identify the power pipeline. The infrared thermal sensing module includes an infrared thermal sensing probe, which is used to collect the surface temperature information of the power pipeline; Laser ranging module: used to measure the distance between the power pipeline and the sensor, so as to assist in identifying the power pipeline. The laser ranging module includes a laser ranging probe, which is used to emit laser and receive reflected light to measure the distance; Signal processing module: used to process image information, infrared thermal sensing signals and laser ranging signals to achieve accurate identification of power pipelines. The signal processing module includes an image recognition algorithm, a temperature analysis algorithm and a distance analysis algorithm, which are used to analyze image information, infrared thermal sensing signals and laser ranging signals respectively, and perform fusion processing to finally identify power pipelines.

2. A high-precision identification sensor for dust accumulation on power lines according to claim 1, characterized in that: The image acquisition module includes a high-definition AI image processor for analyzing and processing the collected power pipeline image information.

3. The high-precision dust recognition sensor for power pipelines according to claim 1 is characterized by: The infrared thermal sensing module includes an infrared thermal sensing probe for detecting changes in the surface temperature of the power pipeline.

4. The high-precision dust recognition sensor for power pipelines according to claim 1 is characterized by: The laser distance measurement module includes a laser distance measurement probe for measuring the distance between the power pipeline and the sensor.

5. The high-precision dust identification sensor for power pipelines according to claim 1 is characterized by: The signal processing module comprises: Image recognition algorithm: used to analyze the collected power pipeline image information, identify the power pipeline features, such as shape, color, texture, etc., and determine whether it is a power pipeline according to the preset recognition rules; Temperature analysis algorithm: used to analyze infrared thermal sensing signals, identify power pipelines, and determine whether they are power pipelines by analyzing the changing patterns of the surface temperature of power pipelines; Distance analysis algorithm: used to analyze laser ranging signals, assist in identifying power lines, and assist in determining whether it is a power line by analyzing the distance information between the power line and the sensor; Fusion algorithm: used to fuse the results of image recognition algorithm, temperature analysis algorithm and distance analysis algorithm, comprehensively consider image information, infrared thermal sensing signals and laser ranging signals, and improve the accuracy and robustness of power pipeline identification.

6. A method for cleaning dust accumulation in power pipelines based on the high-precision dust accumulation identification sensor for power pipelines, characterized in that: include: The power pipeline dust accumulation high-precision identification sensor is used to identify the power pipeline, and the specific steps are as follows: Start the image acquisition module to collect image information of power pipelines; Start the infrared thermal sensing module to detect the temperature changes on the surface of the power pipeline; Start the laser distance measurement module to measure the distance between the power pipeline and the sensor; The collected image information, infrared thermal sensing signal and laser ranging signal are input into the signal processing module for processing; The signal processing module determines whether it is a power pipeline based on the results of the image recognition algorithm, temperature analysis algorithm and distance analysis algorithm; Output identification results, indicating the location and status of power pipelines. According to the identification results, the cleaning mechanism is controlled to perform dust cleaning operations to avoid damage to the power pipelines. The specific steps are as follows: According to the location and status of the power pipeline, adjust the movement trajectory of the cleaning mechanism to avoid collision; Control the cleaning mechanism to perform dust cleaning operations to remove dust accumulated on the surface of power pipelines; Monitor cleaning effectiveness and make adjustments as needed.

7. A power line dust cleaning device based on the power line dust high-precision identification sensor, characterized in that: include: The power line dust accumulation high-precision identification sensor is used to identify the power line to ensure the safety of the cleaning operation; Cleaning mechanism: used for cleaning dust on the surface of power pipelines, including brushes and vacuum cleaners; Control module: used to control the cleaning mechanism to perform dust cleaning operations according to the recognition results of the high-precision dust recognition sensor for the power pipeline to avoid damage to the power pipeline. The control module includes a microprocessor, a memory, an input and output interface, etc., which are used to receive the recognition results and control the movement and cleaning operation of the cleaning mechanism according to a preset control strategy.

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