Zero-value porcelain insulator detection and positioning method, device, equipment and medium

Abstract

The invention discloses a zero-value porcelain insulator detection and positioning method, device, equipment and medium, and relates to the technical field of image processing, and the method comprises the steps: obtaining a porcelain insulator real-time image collected by an unmanned plane provided with an ultraviolet imager and a visible light imager, carrying out the preprocessing of the real-time image of the porcelain insulator, and obtaining a real-time image of the porcelain insulator; the pre-processed real-time image of the porcelain insulator is obtained; carrying out discharge point identification on the preprocessed real-time image of the porcelain insulator to obtain a discharge point position, and detecting a zero-value porcelain insulator from non-discharge point positions except the discharge point position; and positioning the position information of the zero-value porcelain insulator, and generating a zero-value porcelain insulator detection and positioning report based on the porcelain insulator real-time image, the zero-value porcelain insulator and the position information. According to the technical scheme, high-altitude inspection can be achieved, the zero-value porcelain insulator detection efficiency, accuracy and flexibility are improved, and the risk of zero-value porcelain insulator detection is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a method, device, equipment and medium for detecting and locating a zero-value porcelain insulator. Background Art

[0002] During long-term operation, porcelain insulators may be affected by the natural environment (such as wind, rain, ice and snow, dirt, etc.) and electrical stress (such as overvoltage, leakage current, etc.), causing their insulation performance to deteriorate or even become zero-value. Zero-value porcelain insulators lose their insulation ability, which seriously threatens the safe operation of transmission lines. At present, the main methods and shortcomings of detecting the zero-value phenomenon of porcelain insulators are as follows: (1) Manual inspection: maintenance personnel regularly patrol the transmission lines, visually inspect the appearance and status of the insulators, and determine whether there are any damage or defects. This method is inefficient, labor-intensive, and dangerous. Especially in the high-altitude inspection of high-voltage transmission lines, there are major safety hazards. Due to the limitations of visual inspection, the accuracy of the detection results is low; (2) Using ground detection equipment to detect insulators, the detection range is limited and can only be carried out on the ground. It is difficult to cover the entire transmission line, especially for insulators at high altitudes. The sensitivity and resolution of the detection equipment are limited, making it difficult to accurately identify and locate zero-value insulators; (3) Using a mobile detection platform to travel along the transmission line to inspect insulators, this method lacks flexibility and is difficult to cope with complex terrain and environmental changes. The platform is expensive, difficult to maintain and operate, and has relatively low detection efficiency.

[0003] It can be seen from the above that how to realize high-altitude inspection, improve the efficiency, accuracy and flexibility of zero-value porcelain insulator detection, and reduce the risk of zero-value porcelain insulator detection are problems to be solved in this field. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for detecting and locating zero-value porcelain insulators, which can realize high-altitude inspection, improve the detection efficiency, accuracy and flexibility of zero-value porcelain insulators, and reduce the risk of zero-value porcelain insulator detection. The specific scheme is as follows:

[0005] In a first aspect, the present application discloses a method for detecting and locating a zero-value porcelain insulator, comprising:

[0006] Acquire a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, and preprocess the real-time image of the porcelain insulator to obtain a preprocessed real-time image of the porcelain insulator;

[0007] Performing discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detecting the zero-value porcelain insulator from the non-discharge point positions except the discharge point position;

[0008] The position information of the zero-value porcelain insulator is located, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

[0009] Optionally, the step of obtaining a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager includes:

[0010] Using an unmanned aerial vehicle equipped with an ultraviolet imager and a visible light imager to collect real-time images of porcelain insulators; the unmanned aerial vehicle includes four or more rotors, a global positioning system, a wireless transmission system, an inertial navigation system, and an autopilot system;

[0011] Obtain a real-time image of the porcelain insulator sent by the UAV.

[0012] Optionally, acquiring the real-time image of the porcelain insulator sent by the drone includes:

[0013] A real-time image of the porcelain insulator is obtained which is sent by the wireless transmission system in the UAV in the form of a wireless signal.

[0014] Optionally, preprocessing the real-time image of the porcelain insulator to obtain the preprocessed real-time image of the porcelain insulator includes:

[0015] The real-time image of the porcelain insulator is subjected to image denoising and image enhancement processing respectively by using the local ground control center system to obtain the real-time image of the porcelain insulator after preprocessing; the preprocessing includes image denoising and image enhancement processing.

[0016] Optionally, the performing discharge point identification on the preprocessed real-time image of the porcelain insulator includes:

[0017] The image processing algorithm is used to perform discharge point recognition and image analysis on the preprocessed real-time image of the porcelain insulator.

[0018] Optionally, the performing discharge point recognition on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and detecting the zero-value porcelain insulator from the non-discharge point positions other than the discharge point position, comprises:

[0019] Performing discharge point recognition on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and screening the non-discharge point position based on the discharge point position;

[0020] The porcelain insulator at the non-discharge point is determined as a zero-value porcelain insulator.

[0021] Optionally, the positioning of the position information of the zero-value porcelain insulator includes:

[0022] Obtaining global positioning data of the zero-value porcelain insulator sent by the drone;

[0023] The position information of the zero-value porcelain insulator is located by using a local positioning system based on global positioning data.

[0024] In a second aspect, the present application discloses a detection and positioning device for a zero-value porcelain insulator, comprising:

[0025] An image acquisition and preprocessing module is used to acquire a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, and preprocess the real-time image of the porcelain insulator to obtain a preprocessed real-time image of the porcelain insulator;

[0026] A discharge point recognition module is used to perform discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detect zero-value porcelain insulators from non-discharge point positions other than the discharge point position;

[0027] A positioning module is used to locate the position information of the zero-value porcelain insulator, and generate a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

[0028] In a third aspect, the present application discloses an electronic device, comprising:

[0029] Memory, used to store computer programs;

[0030] The processor is used to execute the computer program to implement the above-mentioned method for detecting and locating the zero-value porcelain insulator.

[0031] In a fourth aspect, the present application discloses a computer storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the steps of the aforementioned method for detecting and locating zero-value porcelain insulators disclosed above are implemented.

[0032] It can be seen that the present application provides a method for detecting and positioning zero-value porcelain insulators, including obtaining a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, preprocessing the real-time image of the porcelain insulator to obtain the preprocessed real-time image of the porcelain insulator; performing discharge point identification on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and detecting zero-value porcelain insulators from non-discharge point positions other than the discharge point position; locating the position information of the zero-value porcelain insulator, and generating a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information. The present application obtains real-time images of porcelain insulators collected by drones equipped with ultraviolet imagers and visible light imagers, and utilizes the high maneuverability and flexibility of drones to achieve high-altitude inspections, improve detection efficiency, and reduce the workload and risks of manual inspections. The real-time images of porcelain insulators are preprocessed and discharge points are identified to obtain the locations of discharge points, thereby detecting zero-value porcelain insulators, improving the detection efficiency, accuracy, and flexibility of zero-value porcelain insulators. In addition, the entire process of detecting and locating zero-value porcelain insulators does not require power outages, and detection can be performed when the transmission line is energized, thereby improving the operating stability of the power system. Compared with mobile detection platforms, the risk and cost of zero-value porcelain insulator detection can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A flow chart of a method for detecting and locating a zero-value porcelain insulator disclosed in the present application;

[0035] Figure 2 A flowchart of image preprocessing and discharge point identification disclosed in this application;

[0036] Figure 3 A flow chart of the location information disclosed in this application;

[0037] Figure 4 A flow chart for generating a zero-value porcelain insulator detection and positioning report disclosed in the present application;

[0038] Figure 5 A specific flow chart of detection and positioning of a zero-value porcelain insulator disclosed in this application;

[0039] Figure 6 This is a structural diagram of a non-contact zero-value porcelain insulator detection and positioning system disclosed in this application;

[0040] Figure 7 A flow chart of a method for detecting and locating a zero-value porcelain insulator disclosed in the present application;

[0041] Figure 8 This is a UV imaging diagram of a non-charged state disclosed in the present application;

[0042] Fig. 9 This is an ultraviolet imaging image of the zero-value insulator in the first sheet under dry conditions disclosed in the present application;

[0043] Fig.10 This is the UV imaging image of the zero-value insulator in dry conditions disclosed in the present application on the third sheet;

[0044] Fig.11 This is the UV imaging image of the zero-value insulator in dry conditions disclosed in this application at the 5th sheet;

[0045] Fig.12 This is the UV imaging image of the zero-value insulator in dry conditions disclosed in this application at the 7th sheet;

[0046] Fig.13 The degree of contamination disclosed for this application is 0.05 Ultraviolet observation diagram of the zero-value insulator in the first sheet under the insulator string voltage of the zero-value insulator;

[0047] Fig.14 The degree of contamination disclosed for this application is 0.05 Ultraviolet observation diagram of the zero-value insulator in the third piece under the insulator string voltage of the zero-value insulator;

[0048] Fig.15 The degree of contamination disclosed for this application is 0.05 Ultraviolet observation image of zero-value insulator in the 5th piece under the insulator string voltage of zero-value insulator;

[0049] Fig.16 The degree of contamination disclosed for this application is 0.05 Ultraviolet observation image of the zero-value insulator in the 7th piece under the insulator string voltage of the zero-value insulator;

[0050] Fig.17 The degree of contamination disclosed for this application is 0.08 Ultraviolet observation diagram of the zero-value insulator in the first sheet under the insulator string voltage of the zero-value insulator;

[0051] Fig.18 The degree of contamination disclosed for this application is 0.08 Ultraviolet observation diagram of the zero-value insulator in the third piece under the insulator string voltage of the zero-value insulator;

[0052] Fig.19 The degree of contamination disclosed for this application is 0.08 Ultraviolet observation image of zero-value insulator in the 5th piece under the insulator string voltage of zero-value insulator;

[0053] Fig. 20 The degree of contamination disclosed for this application is 0.08 Ultraviolet observation image of the zero-value insulator in the 7th piece under the insulator string voltage of the zero-value insulator;

[0054] Fig.21 The degree of contamination disclosed for this application is 0.15 Ultraviolet observation diagram of the zero-value insulator in the first sheet under the insulator string voltage of the zero-value insulator;

[0055] Fig. 22 The degree of contamination disclosed for this application is 0.15 Ultraviolet observation diagram of the zero-value insulator in the third piece under the insulator string voltage of the zero-value insulator;

[0056] Fig.23 The degree of contamination disclosed for this application is 0.15 Ultraviolet observation image of zero-value insulator in the 5th piece under the insulator string voltage of zero-value insulator;

[0057] Fig.24 The degree of contamination disclosed for this application is 0.15 Ultraviolet observation image of the zero-value insulator in the 7th piece under the insulator string voltage of the zero-value insulator;

[0058] Fig.25 This is a schematic diagram of the structure of a detection and positioning device for a zero-value porcelain insulator disclosed in this application;

[0059] Fig.26 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0061] During long-term operation, porcelain insulators may be affected by the natural environment (such as wind, rain, ice and snow, dirt, etc.) and electrical stress (such as overvoltage, leakage current, etc.), causing their insulation performance to deteriorate or even become zero-value. Zero-value porcelain insulators lose their insulation ability, which seriously threatens the safe operation of transmission lines. At present, the main methods and shortcomings of the detection of the zero-value phenomenon of porcelain insulators are as follows: (1) Manual inspection: maintenance personnel regularly patrol the transmission lines, visually inspect the appearance and status of the insulators, and determine whether there are any damage or defects. This method is inefficient, labor-intensive, and dangerous. Especially in the high-altitude inspection of high-voltage transmission lines, there are great safety hazards. Due to the limitations of visual inspection, the accuracy of the detection results is low; (2) Using ground detection equipment to detect insulators, the detection range is limited. It can only be detected on the ground, and it is difficult to cover the entire transmission line, especially the insulators at high altitudes. The sensitivity and resolution of the detection equipment are limited, and it is difficult to accurately identify and locate zero-value insulators; (3) Using a mobile detection platform to travel along the transmission line to inspect the insulators, it is not flexible enough and it is difficult to cope with complex terrain and environmental changes. The cost of the platform is high, and the maintenance and operation are difficult, and the detection efficiency is relatively low. As can be seen from the above, how to achieve high-altitude inspection, improve the efficiency, accuracy and flexibility of zero-value porcelain insulator detection, and reduce the risk of zero-value porcelain insulator detection are problems to be solved in this field.

[0062] See also Figure 1 As shown, the embodiment of the present invention discloses a method for detecting and locating a zero-value porcelain insulator, which may specifically include:

[0063] Step S11: obtaining a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, and preprocessing the real-time image of the porcelain insulator to obtain a preprocessed real-time image of the porcelain insulator.

[0064] In this embodiment, the preprocessing process of the real-time image of the porcelain insulator is: using the local ground control center system to perform image denoising and image enhancement processing on the real-time image of the porcelain insulator to obtain the preprocessed real-time image of the porcelain insulator; the preprocessing includes image denoising and image enhancement processing.

[0065] Step S12: performing discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detecting zero-value porcelain insulators from the non-discharge point positions except the discharge point position.

[0066] In this embodiment, an image processing algorithm is used to identify discharge points on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and the non-discharge point position is screened based on the discharge point position, and the porcelain insulator at the non-discharge point position is determined as a zero-value porcelain insulator.

[0067] In this embodiment, a local image processing and analysis system is used to implement image preprocessing and discharge point recognition. The process of image preprocessing and discharge point recognition is as follows: Figure 2 As shown, the image processing and analysis system is the data processing core of the present invention, which is used to process the image data transmitted by the drone, and to analyze and identify it. Image acquisition: The drone images the insulator in the air; Wireless transmission: The image data is transmitted to the ground control center via wireless signals; Image reception: The ground control center receives the image data transmitted by the drone; Image processing: Preprocess the received image, such as denoising, enhancement, etc.; Image analysis: Use image recognition technology to identify the discharge points and abnormal areas on the surface of the insulator; Positioning system: Combine the GPS (Global Positioning System) data of the drone to determine the precise position of the insulator.

[0068] Step S13: Locate the position information of the zero-value porcelain insulator, and generate a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

[0069] In this embodiment, the global positioning data of the zero-value porcelain insulator sent by the drone is obtained; the location information of the zero-value porcelain insulator is located based on the global positioning data using a local positioning system, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the location information.

[0070] Positioning the position information of the zero-value porcelain insulator is one of the key technologies of the present invention. The positioning process of the position information is as follows: Figure 3 As shown, the GPS carried by the drone can provide real-time location information, and then the positioning system of the ground control center combines the GPS data and image analysis results of the drone to determine the precise location of the zero-value porcelain insulator.

[0071] After locating the position information of the zero-value porcelain insulator, the local data management system is used to generate a zero-value porcelain insulator detection and positioning report. The specific process is as follows: Figure 4 As shown, the data management system is the data storage and analysis platform of the present invention, which is used to store test data and analysis results. Test data: store the original image data and related parameters collected by the drone; Analysis results: store the results of image processing and analysis, such as the location of the discharge point, the state of the insulator, etc.; Record: record the parameters and results of each test in detail; Report: generate a zero-value porcelain insulator test and positioning report for reference by technicians and managers.

[0072] For example, a system test was conducted on a ±800kV UHV transmission line. The specific process of detecting and locating zero-value porcelain insulators is as follows: Figure 5As shown, the steps are as follows:

[0073] (1) UAV preparation: Install ultraviolet imagers and visible light imagers, check the functions of the UAV to ensure they are normal, plan the inspection route according to the actual situation of the transmission line, and set the flight parameters;

[0074] (2) Inspection process: The drone conducts inspections along a predetermined route, flies along the transmission line and takes aerial photos. The ultraviolet imager captures the corona discharge phenomenon of the porcelain insulator in real time, and the visible light imager simultaneously captures the appearance image of the porcelain insulator.

[0075] (3) Image acquisition and transmission: The collected image data is transmitted to the ground workstation in real time through a wireless transmission system. The ground workstation performs preliminary processing on the image data to ensure data integrity and clarity.

[0076] (4) Data analysis: Use image processing algorithms to analyze ultraviolet and visible light images, identify corona discharge points and zero-value porcelain insulators, and use GPS systems to locate defects and determine the specific locations of defective insulators.

[0077] (5) Result output: Generate a test report based on the analysis results, mark the defective insulators with corona discharge and their specific locations, and provide detailed image evidence and analysis data for maintenance personnel to further process.

[0078] The present invention proposes and applies a non-contact zero-value porcelain insulator detection and positioning system based on an unmanned aerial vehicle, an ultraviolet and visible light imager, and the system structure is as follows: Figure 6 As shown in the figure, by combining drone technology, ultraviolet imaging technology and visible light imaging technology, an efficient, accurate and safe online live rapid detection and positioning system for zero-value porcelain insulators is proposed. The system can realize high-altitude inspection, accurately identify and locate zero-value porcelain insulators, improve detection efficiency and accuracy, and reduce costs and risks.

[0079] In this embodiment, a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager is obtained, and the real-time image of the porcelain insulator is preprocessed to obtain the preprocessed real-time image of the porcelain insulator; discharge point identification is performed on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and zero-value porcelain insulators are detected from non-discharge point positions other than the discharge point position; the position information of the zero-value porcelain insulator is located, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information. The present application obtains real-time images of porcelain insulators collected by drones equipped with ultraviolet imagers and visible light imagers, and utilizes the high maneuverability and flexibility of drones to achieve high-altitude inspections, improve detection efficiency, and reduce the workload and risks of manual inspections. The real-time images of porcelain insulators are preprocessed and discharge points are identified to obtain the locations of discharge points, thereby detecting zero-value porcelain insulators, improving the detection efficiency, accuracy, and flexibility of zero-value porcelain insulators. In addition, the entire process of detecting and locating zero-value porcelain insulators does not require power outages, and detection can be performed when the transmission line is energized, thereby improving the operating stability of the power system. Compared with mobile detection platforms, the risk and cost of zero-value porcelain insulator detection can be reduced.

[0080] See also Figure 7 As shown, the embodiment of the present invention discloses a method for detecting and locating a zero-value porcelain insulator, which may specifically include:

[0081] Step S21: Use a drone equipped with an ultraviolet imager and a visible light imager to collect real-time images of porcelain insulators, and obtain the real-time images of the porcelain insulators sent by the wireless transmission system in the drone in the form of wireless signals; the drone includes four or more rotors, a global positioning system, a wireless transmission system, an inertial navigation system and an automatic driving system.

[0082] This application uses a drone to collect real-time images of porcelain insulators. The structure of the drone is as follows: the drone adopts a multi-rotor design, including four or more rotors, each of which is driven by an independent motor to ensure that the drone has good stability and maneuverability during flight, and the drone is equipped with a high-precision flight control system, including GPS, inertial navigation system and autopilot system, which can achieve precise flight control and path planning. In addition, the ultraviolet imager and visible light imager are installed under the drone through a special bracket to ensure stable operation and obtain clear images during the inspection process.

[0083] Among them, the ultraviolet imager can be used to detect the corona discharge phenomenon of porcelain insulators. Corona discharge is one of the main characteristics of the zero-value phenomenon of porcelain insulators. The corona discharge point can be quickly located by the ultraviolet imager.

[0084] For example, in the experiment, the arranged insulators are placed still and UV images of the uncharged state are taken. Figure 8 As shown, for reference and comparison, the number of photons in the background noise was measured to be 12-25. Fig. 9 This is the UV imaging image of the zero-value insulator on the first sheet under dry conditions. Fig.10 This is the UV imaging image of the zero-value insulator on the third sheet under dry conditions. Fig.11 This is the UV imaging image of the zero-value insulator in the 5th slice under dry conditions. Fig.12 This is the UV imaging image of the zero-value insulator in the 7th slice under dry conditions.

[0085] At this time, the ultraviolet imaging of the insulator string containing zero-value insulators is basically the same as that of the intact insulator string and the insulator string containing low-value insulators. No matter where the single zero-value insulator is, the ultraviolet imaging still only has low background noise, and it is impossible to determine the single zero-value insulator in the insulator string.

[0086] If there is wet dirt on the surface of the insulator string, corona discharge may be induced under the electric field. Generally speaking, the higher the voltage (i.e., the greater the electric field strength) and the heavier the dirt, the more obvious the corona discharge will be. However, if there is a zero-value insulator in the insulator string, a path will be formed and corona discharge will not be induced here.

[0087] Fig.13 The degree of filthiness is 0.05 The ultraviolet observation image of the zero-value insulator in the first piece under the voltage support of the insulator string of the zero-value insulator. Fig.14 The degree of filthiness is 0.05 The UV observation image of the zero-value insulator in the third piece under the voltage support of the insulator string of the zero-value insulator. Fig.15 The degree of filthiness is 0.05 The ultraviolet observation image of the zero-value insulator in the fifth piece under the insulator string voltage of the zero-value insulator. Fig.16 The degree of filthiness is 0.05 The UV observation image of the zero-value insulator in the 7th slice under the voltage of the insulator string of the zero-value insulator. The degree of contamination is 0.05 , the number of ultraviolet photons is below 2300, which is slightly higher than that of low-value insulators; the discharge area is concentrated in one or two areas; when the zero-value insulators are in the 1st and 3rd pieces, the discharge area is near the 5th piece; when the zero value is in the 5th piece, the discharge area is near the 1st piece; when the zero value is in the 7th piece, the discharge area is near the 1st and 5th pieces, but the discharge is intermittent.

[0088] Fig.17 The degree of filthiness is 0.08 The ultraviolet observation image of the zero-value insulator in the first piece under the voltage support of the insulator string of the zero-value insulator. Fig.18 The degree of filthiness is 0.08 The UV observation image of the zero-value insulator in the third piece under the voltage support of the insulator string of the zero-value insulator. Fig.19 The degree of filthiness is 0.08 The ultraviolet observation image of the zero-value insulator in the fifth piece under the insulator string voltage of the zero-value insulator. Fig. 20 The degree of filthiness is 0.08 The UV observation image of the zero-value insulator in the 7th slice under the voltage of the insulator string of the zero-value insulator. The degree of contamination is 0.08 , the UV image has a similar pattern; when the zero-value insulator is at the 1st and 3rd piece, the discharge area is concentrated near the 5th piece; when the 5th piece is zero-value, the discharge area is displayed at the low-voltage end, but the visible light image shows that there is discharge at the steel cap of the 1st and 3rd insulators, which may be inconsistent due to the delay in image processing; when the zero-value insulator is at the 7th piece, the discharge area is at the high-voltage end, and the number of photons is between 6000 and 22000.

[0089] Fig.21 The degree of filthiness is 0.15 The ultraviolet observation image of the zero-value insulator in the first piece under the voltage support of the insulator string of the zero-value insulator. Fig. 22 The degree of filthiness is 0.15 The UV observation image of the zero-value insulator in the third piece under the voltage support of the insulator string of the zero-value insulator. Fig.23 The degree of filthiness is 0.15 The ultraviolet observation image of the zero-value insulator in the fifth piece under the insulator string voltage of the zero-value insulator. Fig.24 The degree of filthiness is 0.15 The UV observation image of the zero-value insulator in the 7th slice under the voltage of the insulator string of the zero-value insulator. The degree of contamination is 0.15 The ultraviolet imaging of zero-value insulators is consistent with the law of low-value insulators, with the number of photons between 40,000 and 140,000. When the first piece is zero value, the discharge area is near the low-voltage end. When the third, fifth, and seventh pieces are zero values, the discharge area is near the high-voltage end. The visible light image shows that there is violent discharge at the first insulator, and even the porcelain skirt breakdown phenomenon occurs.

[0090] It can be seen that when the insulator string contains zero-value insulators, except for the first defective insulator, the discharge area tends to the high-voltage end at other positions. The final UV imaging result shows that there is no discharge at the intact and contaminated insulator, but only no discharge at the defective insulator. The real discharge phenomenon is unstable and uneven, but the number of photons detected is slightly more when the defective insulator is zero value. In summary, the defect detection of porcelain insulators in DC UHV transmission lines based on UV imaging is not feasible, but the location of the discharge point can be determined.

[0091] According to the analysis, the discharge point can be determined by using ultraviolet and visible light imagers. Corona discharge will not occur at defective insulators, and the possible range of defective insulators can be roughly excluded and determined. The more serious the pollution, the more serious the discharge, and the more ultraviolet photons are detected. Based on this, it is proposed to use drones as carriers to realize non-contact zero-value porcelain insulators online live rapid detection and positioning. Because the weather is clear and the humidity is low, the insulator string is dry and dirty, and no ultraviolet photons are detected in the line, that is, there is no corona discharge phenomenon, only background noise. Practice has proved that the external ultraviolet imager detection of the comprehensive detection technology of porcelain insulator defects by drones is feasible, and all shooting results are processed and imported into the detection system to expand the gallery sample.

[0092] The innovation of this application is as follows: (1) A multi-rotor drone is used as a detection platform, which has good stability and load-bearing capacity, can fly flexibly in complex environments, and conduct high-altitude inspections. The design of the drone platform, including the integration of the power system, control system, and communication system, realizes a technical solution for efficient and high-altitude inspections; (2) Combining ultraviolet imaging technology and visible light imaging technology, the ultraviolet imager is used to detect the corona discharge phenomenon of porcelain insulators, and the visible light imager is used to obtain the appearance image and status evaluation of porcelain insulators. The combined application of ultraviolet imagers and visible light imagers, as well as the installation method of imaging equipment and the integrated processing technical solution of imaging data. (3) It is possible to perform detection when the transmission line is energized, and the collected image data is transmitted to the ground workstation in real time through a wireless transmission system. (4) Using image processing algorithms and artificial intelligence technology, the transmitted image data is analyzed to quickly identify corona discharge points and zero-value porcelain insulators. (5) From drone inspection to image acquisition, image transmission, image analysis, and result output, a complete set of automated detection processes is formed.

[0093] Step S22: performing discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detecting zero-value porcelain insulators from the non-discharge point positions except the discharge point position.

[0094] Step S23: Locate the position information of the zero-value porcelain insulator, and generate a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

[0095] In this embodiment, a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager is obtained, and the real-time image of the porcelain insulator is preprocessed to obtain the preprocessed real-time image of the porcelain insulator; discharge point identification is performed on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and zero-value porcelain insulators are detected from non-discharge point positions other than the discharge point position; the position information of the zero-value porcelain insulator is located, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information. The present application obtains real-time images of porcelain insulators collected by drones equipped with ultraviolet imagers and visible light imagers, and utilizes the high maneuverability and flexibility of drones to achieve high-altitude inspections, improve detection efficiency, and reduce the workload and risks of manual inspections. The real-time images of porcelain insulators are preprocessed and discharge points are identified to obtain the locations of discharge points, thereby detecting zero-value porcelain insulators, improving the detection efficiency, accuracy, and flexibility of zero-value porcelain insulators. In addition, the entire process of detecting and locating zero-value porcelain insulators does not require power outages, and detection can be performed when the transmission line is energized, thereby improving the operating stability of the power system. Compared with mobile detection platforms, the risk and cost of zero-value porcelain insulator detection can be reduced.

[0096] See also Fig.25 As shown, the embodiment of the present invention discloses a detection and positioning device for a zero-value porcelain insulator, which may specifically include:

[0097] The image acquisition and preprocessing module 11 is used to acquire the real-time image of the porcelain insulator collected by the drone equipped with the ultraviolet imager and the visible light imager, and preprocess the real-time image of the porcelain insulator to obtain the preprocessed real-time image of the porcelain insulator;

[0098] A discharge point recognition module 12 is used to perform discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detect zero-value porcelain insulators from non-discharge point positions other than the discharge point position;

[0099] The positioning module 13 is used to locate the position information of the zero-value porcelain insulator, and generate a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

[0100] In this embodiment, a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager is obtained, and the real-time image of the porcelain insulator is preprocessed to obtain the preprocessed real-time image of the porcelain insulator; discharge point identification is performed on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and zero-value porcelain insulators are detected from non-discharge point positions other than the discharge point position; the position information of the zero-value porcelain insulator is located, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information. The present application obtains real-time images of porcelain insulators collected by drones equipped with ultraviolet imagers and visible light imagers, and utilizes the high maneuverability and flexibility of drones to achieve high-altitude inspections, improve detection efficiency, and reduce the workload and risks of manual inspections. The real-time images of porcelain insulators are preprocessed and discharge points are identified to obtain the locations of discharge points, thereby detecting zero-value porcelain insulators, improving the detection efficiency, accuracy, and flexibility of zero-value porcelain insulators. In addition, the entire process of detecting and locating zero-value porcelain insulators does not require power outages, and detection can be performed when the transmission line is energized, thereby improving the operating stability of the power system. Compared with mobile detection platforms, the risk and cost of zero-value porcelain insulator detection can be reduced.

[0101] In some specific embodiments, the image acquisition and preprocessing module 11 may specifically include:

[0102] An image acquisition module is used to acquire real-time images of porcelain insulators using an unmanned aerial vehicle equipped with an ultraviolet imager and a visible light imager; the unmanned aerial vehicle includes four or more rotors, a global positioning system, a wireless transmission system, an inertial navigation system, and an autopilot system;

[0103] An image acquisition module is used to acquire the real-time image of the porcelain insulator sent by the drone.

[0104] In some specific embodiments, the image acquisition and preprocessing module 11 may specifically include:

[0105] The image transmission module is used to obtain the real-time image of the porcelain insulator sent by the wireless transmission system in the UAV in the form of a wireless signal.

[0106] In some specific embodiments, the image acquisition and preprocessing module 11 may specifically include:

[0107] The image processing module is used to perform image denoising and image enhancement processing on the real-time image of the porcelain insulator using the local ground control center system to obtain the pre-processed real-time image of the porcelain insulator; the pre-processing includes image denoising and image enhancement processing.

[0108] In some specific embodiments, the discharge point identification module 12 may specifically include:

[0109] The identification and analysis module is used to perform discharge point identification and image analysis on the pre-processed real-time image of the porcelain insulator using an image processing algorithm.

[0110] In some specific embodiments, the discharge point identification module 12 may specifically include:

[0111] A discharge point recognition module is used to perform discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and filter the non-discharge point position based on the discharge point position;

[0112] The zero-value porcelain insulator determination module is used to determine the porcelain insulator at the non-discharge point as a zero-value porcelain insulator.

[0113] In some specific embodiments, the positioning module 13 may specifically include:

[0114] A global positioning data acquisition module, used to acquire the global positioning data of the zero-value porcelain insulator sent by the drone;

[0115] The position information positioning module is used to locate the position information of the zero-value porcelain insulator by using a local positioning system and based on global positioning data.

[0116] Fig.26 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the method for detecting and locating a zero-value porcelain insulator performed by an electronic device disclosed in any of the aforementioned embodiments.

[0117] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0118] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon include an operating system 221, a computer program 222 and data 223, etc. The storage method can be temporary storage or permanent storage.

[0119] Among them, the operating system 221 is used to manage and control the hardware devices and computer programs 222 on the electronic device 20, so as to realize the operation and processing of the data 223 in the memory 22 by the processor 21, which can be Windows, Unix, Linux, etc. In addition to including a computer program that can be used to complete the detection and positioning method of the zero-value porcelain insulator performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks. In addition to including data transmitted from an external device received by the detection and positioning device of the zero-value porcelain insulator, the data 223 can also include data collected by its own input and output interface 25, etc.

[0120] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0121] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the steps of the method for detecting and locating zero-value porcelain insulators disclosed in any of the aforementioned embodiments are implemented.

[0122] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0123] The above is a detailed introduction to the detection and positioning method, device, equipment and storage medium of a zero-value porcelain insulator provided by the present invention. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for detecting and locating a zero-value porcelain insulator, It is characterized in that include: Acquire a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, and preprocess the real-time image of the porcelain insulator to obtain a preprocessed real-time image of the porcelain insulator; Performing discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detecting the zero-value porcelain insulator from the non-discharge point positions except the discharge point position; The position information of the zero-value porcelain insulator is located, and a zero-value porcelain insulator detection and positioning report is generated based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

2. The method for detecting and locating a zero-value porcelain insulator according to claim 1, It is characterized in that The method of obtaining a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager comprises: Using an unmanned aerial vehicle equipped with an ultraviolet imager and a visible light imager to collect real-time images of porcelain insulators; the unmanned aerial vehicle includes four or more rotors, a global positioning system, a wireless transmission system, an inertial navigation system, and an autopilot system; Obtain a real-time image of the porcelain insulator sent by the UAV.

3. The method for detecting and locating a zero-value porcelain insulator according to claim 2, It is characterized in that The step of obtaining the real-time image of the porcelain insulator sent by the drone includes: A real-time image of the porcelain insulator is obtained which is sent by the wireless transmission system in the UAV in the form of a wireless signal.

4. The method for detecting and locating a zero-value porcelain insulator according to claim 1, It is characterized in that The preprocessing of the porcelain insulator real-time image to obtain the preprocessed porcelain insulator real-time image includes: The real-time image of the porcelain insulator is subjected to image denoising and image enhancement processing respectively by using the local ground control center system to obtain the real-time image of the porcelain insulator after preprocessing; the preprocessing includes image denoising and image enhancement processing.

5. The method for detecting and locating a zero-value porcelain insulator according to claim 1, It is characterized in that The method of identifying discharge points on the pre-processed real-time image of the porcelain insulator includes: The image processing algorithm is used to perform discharge point recognition and image analysis on the preprocessed real-time image of the porcelain insulator.

6. The method for detecting and locating a zero-value porcelain insulator according to claim 1, It is characterized in that The method of performing discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detecting the zero-value porcelain insulator from the non-discharge point positions other than the discharge point position, comprises: Performing discharge point recognition on the preprocessed real-time image of the porcelain insulator to obtain the discharge point position, and screening the non-discharge point position based on the discharge point position; The porcelain insulator at the non-discharge point is determined as a zero-value porcelain insulator.

7. The method for detecting and locating a zero-value porcelain insulator according to any one of claims 1 to 6, It is characterized in that The positioning of the position information of the zero-value porcelain insulator includes: Obtaining global positioning data of the zero-value porcelain insulator sent by the drone; The position information of the zero-value porcelain insulator is located by using a local positioning system based on global positioning data.

8. A detection and positioning device for zero-value porcelain insulators, It is characterized in that include: An image acquisition and preprocessing module is used to acquire a real-time image of a porcelain insulator collected by a drone equipped with an ultraviolet imager and a visible light imager, and preprocess the real-time image of the porcelain insulator to obtain a preprocessed real-time image of the porcelain insulator; A discharge point recognition module is used to perform discharge point recognition on the pre-processed real-time image of the porcelain insulator to obtain the discharge point position, and detect zero-value porcelain insulators from non-discharge point positions other than the discharge point position; A positioning module is used to locate the position information of the zero-value porcelain insulator, and generate a zero-value porcelain insulator detection and positioning report based on the real-time image of the porcelain insulator, the zero-value porcelain insulator and the position information.

9. An electronic device, It is characterized in that include: Memory, used to store computer programs; A processor, used to execute the computer program to implement the method for detecting and locating the zero-value porcelain insulator according to any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that Used to store computer programs; wherein, when the computer program is executed by a processor, the method for detecting and locating zero-value porcelain insulators as described in any one of claims 1 to 7 is implemented.

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