Overhead line defect identification method, apparatus and device, and storage medium

Abstract

The invention discloses an overhead line defect identification method, device and equipment and a storage medium, and relates to the technical field of computer vision, and the method comprises the steps: determining potential defect points through employing an infrared image collected by a thermal infrared imager in the inspection process of a to-be-detected power transmission line; determining a first temperature measuring point and a second temperature measuring point based on the potential defect points; the distance between the first temperature measuring point and the potential defect point and the distance between the second temperature measuring point and the potential defect point are consistent and are not smaller than a preset distance threshold; and collecting temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point to determine a target coefficient for representing the defect degree of the potential defect point, and determining whether the potential defect point needs to be overhauled based on the target coefficient. The temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point are collected and calculated, so that the defect degree of the potential defect point is determined, and the accuracy and reliability of overhead line defect identification are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of computer vision technology, and in particular to an overhead line defect recognition method, device, equipment and storage medium. Background Art

[0002] At present, line defect detection is mainly achieved through visible light cameras and infrared thermal imagers carried by robots. Visible light images are mainly used to directly observe defects, usually from the upward perspective of the hanging robot, that is, the lower side of the transmission line close to the ground, while the upper side and internal defects need to be observed in combination with infrared thermal imagers. However, for a normally operating transmission line, its cross-section and model are usually designed with local long-term loads in mind, and the maximum current carrying capacity is strictly limited. The current density is usually below 1 A / mm². In addition, there is usually natural wind at high altitudes where overhead lines are located, resulting in the line temperature rise not being high compared to the ambient temperature. The measurement accuracy of conventional infrared thermal imagers on the market is usually 2°C. If the temperature rise of the conductor being measured is low, the accuracy and reliability of the defect identification results will be greatly reduced.

[0003] It can be seen from the above that how to improve the recognition accuracy of overhead line defects is a problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an overhead line defect identification method, device, equipment and storage medium, which can improve the identification accuracy of overhead line defects. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a method for identifying defects in an overhead line, comprising:

[0006] During the inspection of the transmission line to be tested, the infrared image collected by the infrared thermal imager is used to determine the potential defect points on the transmission line to be tested;

[0007] Determine a first temperature measurement point and a second temperature measurement point on the transmission line to be tested based on the potential defect point; the distances between the first temperature measurement point and the second temperature measurement point and the potential defect point are consistent and not less than a preset distance threshold;

[0008] Collecting the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point, respectively, to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point;

[0009] A target coefficient for characterizing the degree of defect of the potential defect point is determined based on the potential defect point temperature, the first measurement point temperature, and the second measurement point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

[0010] Optionally, the inspection robot is equipped with a plurality of mechanical arms, each of which is provided with a wire contact component made of a thermally conductive metal material;

[0011] The wire contact component is a gripper or a pulley in contact with the power transmission line to be tested, and the wire contact component is a component whose surface is coated with a thermally conductive metal material of a preset thickness or a component completely made of a thermally conductive metal material.

[0012] Optionally, the inspection robot is equipped with a first mechanical arm and a second mechanical arm; accordingly, collecting the temperatures corresponding to the potential defect point, the first temperature measuring point, and the second temperature measuring point to obtain the temperature of the potential defect point, the temperature of the first measuring point, and the temperature of the second measuring point includes:

[0013] Controlling the wire contact components on the first robot arm and the second robot arm to contact the first temperature measuring point and the potential defect point respectively, and collecting the temperatures corresponding to the first temperature measuring point and the potential defect point respectively, so as to obtain the corresponding first measuring point temperature and first defect point temperature;

[0014] Controlling the wire contact components on the first robot arm and the second robot arm to contact the potential defect point and the second temperature measuring point respectively, and collecting the temperatures corresponding to the potential defect point and the second temperature measuring point respectively, so as to obtain the corresponding second defect point temperature and second measuring point temperature;

[0015] A potential defect point temperature is determined based on the first defect point temperature and the second defect point temperature.

[0016] Optionally, the inspection robot is equipped with a first mechanical arm, a second mechanical arm and a third mechanical arm; accordingly, collecting the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point includes:

[0017] The wire contact components on the first robotic arm, the second robotic arm and the third robotic arm are controlled to contact the first temperature measuring point, the potential defect point and the second temperature measuring point respectively, and the temperatures corresponding to the first temperature measuring point, the potential defect point and the second temperature measuring point are collected to obtain the first measuring point temperature, the potential defect point temperature and the second measuring point temperature.

[0018] Optionally, determining a target coefficient for characterizing a defect degree of the potential defect point based on the potential defect point temperature, the first measuring point temperature, and the second measuring point temperature includes:

[0019] Measuring the current ambient temperature to obtain the corresponding ambient temperature;

[0020] Determine the difference between the potential defect point temperature, the first measuring point temperature, the second measuring point temperature and the ambient temperature respectively to obtain the potential defect point temperature rise, the first measuring point temperature rise and the second measuring point temperature rise;

[0021] If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet a first preset abnormal condition, a first target difference between the temperature of the potential defect point and the ambient temperature, a second target difference between the temperature of the potential defect point and the temperature of the first measuring point, and a third target difference between the temperature of the potential defect point and the temperature of the second measuring point are determined, and then a first ratio between the second target difference and the first target difference and a second ratio between the third target difference and the first target difference are determined, and a minimum value between the first ratio and the second ratio is used as a target coefficient for characterizing the defect degree of the potential defect point;

[0022] If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, or the maximum spacing between the wire contact parts on any two mechanical arms of the inspection robot is less than the target spacing, a fourth target difference between the temperature rise of the potential defect point and the theoretical temperature rise of the non-defective line under the current environment is determined, and a ratio between the fourth target difference and the temperature rise of the potential defect point is determined as a target coefficient for characterizing the defect degree of the potential defect point;

[0023] The target distance is the distance between the potential defect point and the first temperature measuring point or the second temperature measuring point.

[0024] Optionally, the first preset abnormal condition is that the absolute value of the difference between the temperature rise of the first measuring point and the temperature rise of the second measuring point is greater than a first preset threshold, and the absolute value of the difference between the target measuring point temperature rise and the theoretical temperature rise is less than a second preset threshold, and the target measuring point temperature rise is the temperature rise of the measuring point with the smallest value between the first measuring point temperature rise and the second measuring point temperature rise; the second preset abnormal condition is that the temperature rise of the first measuring point and the temperature rise of the second measuring point are both greater than the theoretical temperature rise, and the differences between the first measuring point temperature rise and the second measuring point temperature rise and the theoretical temperature rise meet the preset significant difference condition.

[0025] Optionally, determining a target coefficient for characterizing a defect degree of the potential defect point based on the potential defect point temperature, the first measuring point temperature, and the second measuring point temperature includes:

[0026] If the temperature rise of the first measuring point and the temperature rise of the second measuring point do not meet the first preset abnormal condition and the second preset abnormal condition, and the maximum spacing between the wire contact parts on any two robotic arms in the inspection robot is not less than the target spacing, then the first ratio or the second ratio is directly used as the target coefficient for characterizing the defect degree of the potential defect point.

[0027] Optionally, also include:

[0028] If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, determining a fifth target difference between the temperature rise of the potential defect point and the theoretical temperature rise;

[0029] Respectively determining the ratios of the first measuring point temperature rise and the second measuring point temperature rise to the fifth target difference to obtain a third ratio and a fourth ratio;

[0030] Based on a predetermined target exponential decay constant corresponding to the target spacing, the target spacing, the third ratio and the fourth ratio, the actual defect length on the current transmission line to be tested is determined; the target exponential decay constant is an exponential decay constant corresponding to the axial temperature rise decaying to a preset ratio.

[0031] In a second aspect, the present application provides an overhead line defect recognition device, which is applied to an inspection robot, comprising:

[0032] A defect point determination module is used to determine potential defect points on the transmission line to be tested by using infrared images collected by an infrared thermal imager during the inspection of the transmission line to be tested;

[0033] A temperature measurement point determination module, used to determine a first temperature measurement point and a second temperature measurement point on the transmission line to be tested based on the potential defect point; the distances between the first temperature measurement point and the second temperature measurement point and the potential defect point are consistent and not less than a preset distance threshold;

[0034] A temperature acquisition module, used to acquire the temperatures corresponding to the potential defect point, the first temperature measurement point and the second temperature measurement point, respectively, to obtain the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point;

[0035] A target coefficient determination module is used to determine a target coefficient for characterizing the defect degree of the potential defect point based on the potential defect point temperature, the first measuring point temperature and the second measuring point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

[0036] In a third aspect, the present application provides an electronic device, including:

[0037] Memory, used to store computer programs;

[0038] The processor is used to execute the computer program to implement the above-mentioned overhead line defect identification method.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program implements the aforementioned overhead line defect identification method when executed by a processor.

[0040] In the present application, during the inspection of the transmission line to be tested, the infrared image collected by the infrared thermal imager is used to determine the potential defect points on the transmission line to be tested; based on the potential defect points, the first temperature measuring point and the second temperature measuring point on the transmission line to be tested are determined; the distances between the first temperature measuring point and the second temperature measuring point and the potential defect point are consistent and not less than a preset distance threshold; the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point are collected to obtain the potential defect point temperature, the first measuring point temperature and the second measuring point temperature; based on the potential defect point temperature, the first measuring point temperature and the second measuring point temperature, a target coefficient for characterizing the defect degree of the potential defect point is determined to determine whether the potential defect point needs to be repaired based on the target coefficient. As can be seen from the above, during the inspection of the transmission line to be tested by the inspection robot, the infrared image collected by the thermal imager is first used to locate the defects of the transmission line to be tested to obtain the potential defect points on the transmission line to be tested, and then the first temperature measurement point and the second temperature measurement point on the transmission line to be tested are determined based on the potential defect points. By collecting the temperature of the potential defect point, the first temperature measurement point and the second temperature measurement point, the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point are obtained. Then, based on the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point, the target coefficient for characterizing the degree of defect of the potential defect point is determined, so as to determine whether the potential defect point needs to be repaired by the target coefficient. In this way, the potential defect points on the transmission line to be tested determined by the infrared thermal imager are collected and calculated by collecting and calculating the temperatures corresponding to the potential defect points, the first temperature measurement point and the second temperature measurement point, and the degree of defect of the potential defect points is determined based on the calculation results, which can greatly improve the accuracy and reliability of overhead line defect identification, reduce the difficulty of inspection, thereby ensuring the safety and stability of the power grid and reducing unnecessary economic losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 A flow chart of an overhead line defect identification method disclosed in the present application;

[0043] Figure 2 A schematic diagram of a pincer gripper on a specific inspection robot provided in this application;

[0044] Figure 3 A specific schematic diagram of temperature measurement points provided for this application;

[0045] Figure 4 A schematic diagram of the degree of defects of a power transmission line provided for this application;

[0046] Figure 5 This is a schematic diagram of the structure of an overhead line defect identification device disclosed in this application;

[0047] Figure 6 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0048] 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.

[0049] At present, line defect detection is mainly achieved through visible light cameras and infrared thermal imagers carried by robots, and visible light images need to be combined with infrared thermal imagers to observe defects. However, for a normally operating transmission line, the maximum current carrying capacity is strictly limited. In addition, there is usually natural wind at the high altitude where the overhead line is located, resulting in the line temperature rise not being high compared to the ambient temperature. If the temperature rise of the conductor under test is low, the accuracy and reliability of the defect identification results will be greatly reduced. Therefore, the present application proposes a method for identifying defects in overhead lines, which uses an infrared thermal imager to determine the potential defect points on the transmission line to be tested, collects and calculates the temperatures corresponding to the potential defect points, the first temperature measurement point, and the second temperature measurement point, and determines the defect degree of the potential defect points based on the calculation results, which can greatly improve the accuracy and reliability of overhead line defect identification, reduce the difficulty of inspection, thereby ensuring the safety and stability of the power grid and reducing unnecessary economic losses.

[0050] See also Figure 1 As shown, an embodiment of the present invention discloses an overhead line defect recognition method, which is applied to an inspection robot, comprising:

[0051] Step S11: during the inspection of the transmission line to be tested, infrared images collected by an infrared thermal imager are used to determine potential defect points on the transmission line to be tested.

[0052] In this embodiment, during the inspection of the transmission line to be tested by the inspection robot, the infrared image collected by the infrared thermal imager and the heat and mass transfer theory are used to locate the defects of the transmission line to be tested, so as to obtain the target temperature point of the local temperature anomaly on the transmission line to be tested, and determine the target temperature point as a potential defect point. It should be pointed out that the inspection robot is an inspection robot obtained after heat transfer modification, and a plurality of mechanical arms are installed on the inspection robot, each of which is provided with a wire contact component made of thermally conductive metal material; wherein the wire contact component is a gripper or pulley in contact with the transmission line to be tested, and the wire contact component is a component whose surface is coated with a thermally conductive metal material of a preset thickness or a component made entirely of thermally conductive metal material.

[0053] It is understandable that for the initial inspection robot that is easy to modify or has no insulation requirements, the material of the gripper or pulley of the mechanical arm that grabs the wire needs to be changed to a metal material with high thermal conductivity, such as aluminum and other metal materials with high thermal conductivity, in order to obtain the inspection robot; for the initial inspection robot that is inconvenient to modify or has insulation requirements, a layer of thermal conductive metal material with a thickness of at least 1 mm can be applied to the part where the gripper or pulley is in direct contact with the wire, and the grasping program can be modified to match the grasping force with the mechanical arm of the inspection robot; in addition, a thermal conductive mechanical arm can be directly added. The modified mechanical arm is directly connected to the thermocouple, and the read thermocouple data is stored and transmitted in real time via the inspection robot host. In a specific embodiment, Figure 2 For the pulley-type robot arm, in order to increase the contact area and friction between the thermal conductive layer and the wire, the thermal conductive metal layer can be shaped in proportion to the outer twisted layer of the wire to be tested (such as aluminum stranded wire), so that the concave and convex parts of the contact surface of the two can be butted as much as possible.

[0054] Step S12: determining a first temperature measuring point and a second temperature measuring point on the transmission line to be tested based on the potential defect point; the distances between the first temperature measuring point and the second temperature measuring point and the potential defect point are consistent and not less than a preset distance threshold.

[0055] In this embodiment, after obtaining the potential defect point, the temperatures of two symmetrical points with a distance not less than a preset threshold along the axial direction of the transmission line to be tested are measured with the potential defect point as the center to obtain the first temperature measurement point and the second temperature measurement point on the transmission line to be tested. Figure 3 Schematic diagram of temperature measurement points. If the potential defect point is at A, the first temperature measurement point and the second temperature measurement point are measurement point B and measurement point C respectively, and the spacing d between AB and the spacing d between AC are equal. It should be noted that the preset distance threshold can be 200 mm, and the preset distance threshold can be adjusted accordingly according to actual conditions.

[0056] Step S13, collecting the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point, respectively, to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point.

[0057] In this embodiment, the corresponding temperature measurement operation is determined based on the number of mechanical arms of the inspection robot. In a specific embodiment, if the inspection robot has two mechanical arms, the temperature of the potential defect point and the adjacent point of one of the temperature measurement points must be measured first, and then the temperature of the potential defect point and the adjacent point of the other temperature measurement point must be measured, and the temperature of the potential defect point is obtained by taking the average of the two defect point temperatures of the potential defect point. Specifically, the inspection robot is equipped with a first robotic arm and a second robotic arm; accordingly, the collecting of the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point to obtain the potential defect point temperature, the first measuring point temperature and the second measuring point temperature includes: controlling the wire contact components on the first robotic arm and the second robotic arm to contact the first temperature measuring point and the potential defect point respectively, and collecting the temperatures corresponding to the first temperature measuring point and the potential defect point respectively, to obtain the corresponding first measuring point temperature and the first defect point temperature; controlling the wire contact components on the first robotic arm and the second robotic arm to contact the potential defect point and the second temperature measuring point respectively, and collecting the temperatures corresponding to the potential defect point and the second temperature measuring point respectively, to obtain the corresponding second defect point temperature and the second measuring point temperature; determining the potential defect point temperature based on the first defect point temperature and the second defect point temperature.

[0058] In another specific embodiment, the inspection robot is equipped with a plurality of mechanical arms, and any three adjacent mechanical arms among the plurality of mechanical arms are used to measure the temperature of the potential defect point, the first temperature measuring point and the second temperature measuring point to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point. Specifically, the inspection robot is equipped with a first mechanical arm, a second mechanical arm and a third mechanical arm; accordingly, the collecting of the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point includes: controlling the wire contact parts on the first mechanical arm, the second mechanical arm and the third mechanical arm to contact the first temperature measuring point, the potential defect point and the second temperature measuring point respectively, and collecting the temperatures corresponding to the first temperature measuring point, the potential defect point and the second temperature measuring point to obtain the temperature of the first measuring point, the temperature of the potential defect point and the second measuring point.

[0059] Step S14: determining a target coefficient for characterizing the degree of defect of the potential defect point based on the temperature of the potential defect point, the first measuring point temperature and the second measuring point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

[0060] In this embodiment, the current ambient temperature is measured to obtain the corresponding ambient temperature; the difference between the potential defect point temperature, the first measuring point temperature, the second measuring point temperature and the ambient temperature is determined respectively to obtain the potential defect point temperature rise, the first measuring point temperature rise and the second measuring point temperature rise; the temperature of each measuring point is set to , and , let the ambient temperature be , the calculation formulas for the temperature rise of the potential defect point, the temperature rise of the first measuring point and the temperature rise of the second measuring point are as follows:

[0061] ;

[0062] in, is the ambient temperature, is the potential defect point temperature, is the temperature of the first measuring point, is the temperature of the second measuring point, is the temperature rise of the potential defect point, is the temperature rise of the first measuring point, is the temperature rise of the second measuring point.

[0063] It can be understood that if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the first preset abnormal condition, a first target difference between the temperature of the potential defect point and the ambient temperature, a second target difference between the temperature of the potential defect point and the first measuring point temperature, and a third target difference between the temperature of the potential defect point and the second measuring point temperature are determined, and then a first ratio between the second target difference and the first target difference, and a second ratio between the third target difference and the first target difference are determined, and the minimum value of the first ratio and the second ratio is used as the value for characterizing the potential defect point. The target coefficient of defect degree; the first preset abnormal condition is that the absolute value of the difference between the temperature rise of the first measuring point and the temperature rise of the second measuring point is greater than the first preset threshold, and the absolute value of the difference between the target measuring point temperature rise and the theoretical temperature rise is less than the second preset threshold, and the target measuring point temperature rise is the temperature rise of the measuring point with the smallest value between the first measuring point temperature rise and the second measuring point temperature rise; the target spacing is the spacing between the potential defect point and the first temperature measuring point or the second temperature measuring point, and the target spacing can be 200mm. The first preset threshold, the second preset threshold and the target spacing can be adjusted accordingly according to actual needs.

[0064] In a specific implementation, the absolute value of the difference between the temperature rise of the first measuring point and the temperature rise of the second measuring point is greater than a first preset threshold, and the difference between the target measuring point temperature rise with the smallest value between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the theoretical temperature rise does not exceed 10%, then the calculation formula of the target coefficient is as follows:

[0065] ;

[0066] in, is the target coefficient, is the ambient temperature, is the potential defect point temperature, is the temperature of the first measuring point, is the temperature of the second measuring point.

[0067] Furthermore, the temperature rise of the first measuring point and the temperature rise of the second measuring point are both significantly greater than the theoretical temperature rise, and the calculation formula of the target coefficient is as follows:

[0068] ;

[0069] in, is the target coefficient, is the temperature rise of the potential defect point, is the theoretical temperature rise, and the theoretical temperature rise is the temperature rise of a defect-free line in the current environment. Specifically, if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, or the maximum spacing between the wire contact parts on any two mechanical arms of the inspection robot is less than the target spacing, then the fourth target difference between the temperature rise of the potential defect point and the theoretical temperature rise of the defect-free line in the current environment is determined, and the ratio between the fourth target difference and the temperature rise of the potential defect point is determined as the target coefficient for characterizing the defect degree of the potential defect point; the second preset abnormal condition is that the temperature rise of the first measuring point and the temperature rise of the second measuring point are both greater than the theoretical temperature rise, and the differences between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the theoretical temperature rise meet the preset significant difference condition. The preset significant difference condition can be adjusted according to the actual situation; the specific calculation formula of the theoretical temperature rise is as follows:

[0070] ;

[0071] in, is the theoretical temperature rise, in K, is the transmission line current, in A; is the wire resistance, in Ω; is the average convection heat transfer coefficient of the conductor surface, in units of ; is the surface heat dissipation area, in units of .

[0072] It should be noted that when the temperature rise of the first measuring point and the temperature rise of the second measuring point are both greater than the theoretical temperature rise, and the differences between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the theoretical temperature rise meet the preset significant difference conditions, it indicates that the axial length of the defect involved in the potential defect point is longer, the temperature rise of the potential defect point will be higher than the defect-free area on the transmission line to be tested, and the maximum temperature will also appear at the position corresponding to the potential defect point, and decay along the line axial direction toward the defect-free area. Specifically, if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, the fifth target difference between the temperature rise of the potential defect point and the theoretical temperature rise is determined; the ratios between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the fifth target difference are determined respectively to obtain the third ratio and the fourth ratio; based on the predetermined target exponential decay constant corresponding to the target spacing, the target spacing, the third ratio and the fourth ratio, the actual defect length on the current transmission line to be tested is determined; the target exponential decay constant is the exponential decay constant corresponding to the axial temperature rise decaying to a preset ratio.

[0073] In a specific embodiment, when the target spacing is 200 mm, the temperature rise of the potential defect point decays to 1% along the axial direction, that is, it is approximately the same as the temperature rise of the defect-free area, and the corresponding exponential decay constant is 43.4. At this time, the calculation formula of the actual defect length corresponding to the potential defect point is as follows:

[0074] ;

[0075] in, is the actual defect length on the current transmission line to be tested, is the temperature rise of the potential defect point, is the temperature rise of the first measuring point, is the temperature rise of the second measuring point.

[0076] In this embodiment, if the temperature rise of the first measuring point and the temperature rise of the second measuring point do not satisfy the first preset abnormal condition and the second preset abnormal condition, and the maximum spacing between the wire contact parts on any two mechanical arms of the inspection robot is not less than the target spacing, the first ratio or the second ratio is directly used as the target coefficient for characterizing the defect degree of the potential defect point. That is, the calculation formula of the target coefficient is as follows:

[0077] ;

[0078] in, is the target coefficient, is the ambient temperature, is the potential defect point temperature, is the temperature of the first measuring point, is the temperature of the second measuring point.

[0079] Understandably, Figure 4 A transmission line defect degree table is provided. After obtaining the target coefficient, the corresponding defect degree in the transmission line defect degree table is determined according to the target coefficient, so as to repair the potential defect point based on the defect degree. In a specific implementation, if the defect degree corresponding to the target coefficient is an emergency defect, immediate repair is required.

[0080] As can be seen from the above, during the inspection of the transmission line to be tested by the inspection robot, the infrared image collected by the thermal imager is first used to locate the defects of the transmission line to be tested to obtain the potential defect points on the transmission line to be tested, and then the first temperature measurement point and the second temperature measurement point on the transmission line to be tested are determined based on the potential defect points. By collecting the temperature of the potential defect point, the first temperature measurement point and the second temperature measurement point, the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point are obtained. Then, based on the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point, the target coefficient for characterizing the degree of defect of the potential defect point is determined, so as to determine whether the potential defect point needs to be repaired by the target coefficient. In this way, the potential defect points on the transmission line to be tested determined by the infrared thermal imager are collected and calculated by collecting and calculating the temperatures corresponding to the potential defect points, the first temperature measurement point and the second temperature measurement point, and the degree of defect of the potential defect points is determined based on the calculation results, which can greatly improve the accuracy and reliability of overhead line defect identification, reduce the difficulty of inspection, thereby ensuring the safety and stability of the power grid and reducing unnecessary economic losses.

[0081] Accordingly, see Figure 5 As shown, the present application also provides an overhead line defect identification device, which is applied to an inspection robot, comprising:

[0082] The defect point determination module 11 is used to determine potential defect points on the transmission line to be tested by using infrared images collected by an infrared thermal imager during the inspection of the transmission line to be tested;

[0083] A temperature measurement point determination module 12 is used to determine a first temperature measurement point and a second temperature measurement point on the transmission line to be tested based on the potential defect point; the distance between the first temperature measurement point and the second temperature measurement point and the potential defect point is consistent and not less than a preset distance threshold;

[0084] The temperature acquisition module 13 is used to acquire the temperatures corresponding to the potential defect point, the first temperature measurement point and the second temperature measurement point, so as to obtain the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point;

[0085] The target coefficient module 14 is used to determine a target coefficient for characterizing the defect degree of the potential defect point based on the potential defect point temperature, the first measuring point temperature and the second measuring point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

[0086] As can be seen from the above, during the inspection of the transmission line to be tested by the inspection robot, the infrared image collected by the thermal imager is first used to locate the defects of the transmission line to be tested to obtain the potential defect points on the transmission line to be tested, and then the first temperature measurement point and the second temperature measurement point on the transmission line to be tested are determined based on the potential defect points. By collecting the temperature of the potential defect point, the first temperature measurement point and the second temperature measurement point, the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point are obtained. Then, based on the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point, the target coefficient for characterizing the degree of defect of the potential defect point is determined, so as to determine whether the potential defect point needs to be repaired by the target coefficient. In this way, the potential defect points on the transmission line to be tested determined by the infrared thermal imager are collected and calculated by collecting and calculating the temperatures corresponding to the potential defect points, the first temperature measurement point and the second temperature measurement point, and the degree of defect of the potential defect points is determined based on the calculation results, which can greatly improve the accuracy and reliability of overhead line defect identification, reduce the difficulty of inspection, thereby ensuring the safety and stability of the power grid and reducing unnecessary economic losses.

[0087] In some specific embodiments, the inspection robot is equipped with a first mechanical arm and a second mechanical arm;

[0088] Accordingly, the temperature acquisition module 13 may specifically include:

[0089] a first temperature acquisition unit, used for controlling the wire contact components on the first robot arm and the second robot arm to contact the first temperature measuring point and the potential defect point respectively, and acquiring the temperatures corresponding to the first temperature measuring point and the potential defect point respectively, so as to obtain the corresponding first measuring point temperature and first defect point temperature;

[0090] a first temperature acquisition unit, used for controlling the wire contact components on the first robot arm and the second robot arm to contact the potential defect point and the second temperature measurement point respectively, and acquiring the temperatures corresponding to the potential defect point and the second temperature measurement point respectively, so as to obtain the corresponding second defect point temperature and second measurement point temperature;

[0091] The first temperature determining unit is used to determine the potential defect point temperature based on the first defect point temperature and the second defect point temperature.

[0092] In some specific embodiments, the inspection robot is equipped with a first mechanical arm, a second mechanical arm and a third mechanical arm;

[0093] Accordingly, the temperature acquisition module 13 may specifically include:

[0094] The second temperature determination unit is used to control the wire contact components on the first robotic arm, the second robotic arm and the third robotic arm to contact the first temperature measuring point, the potential defect point and the second temperature measuring point respectively, and collect the temperatures corresponding to the first temperature measuring point, the potential defect point and the second temperature measuring point respectively to obtain the first measuring point temperature, the potential defect point temperature and the second measuring point temperature.

[0095] In some specific implementations, the target coefficient determination module 14 may specifically include:

[0096] An ambient temperature measuring unit, used to measure the current ambient temperature to obtain the corresponding ambient temperature;

[0097] a temperature rise determination unit, used to respectively determine the difference between the temperature of the potential defect point, the temperature of the first measuring point, the temperature of the second measuring point and the ambient temperature, so as to obtain the temperature rise of the potential defect point, the temperature rise of the first measuring point and the temperature rise of the second measuring point;

[0098] a first coefficient determination unit, configured to determine, if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet a first preset abnormal condition, a first target difference between the temperature of the potential defect point and the ambient temperature, a second target difference between the temperature of the potential defect point and the first measuring point, and a third target difference between the temperature of the potential defect point and the second measuring point, and then determine a first ratio between the second target difference and the first target difference, and a second ratio between the third target difference and the first target difference, and use the minimum value of the first ratio and the second ratio as a target coefficient for characterizing the defect degree of the potential defect point;

[0099] a second coefficient determination unit, for determining a fourth target difference between the temperature rise of the potential defect point and the theoretical temperature rise of a non-defective line under a current environment if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet a second preset abnormal condition, or if the maximum spacing between the wire contact parts on any two mechanical arms of the inspection robot is less than a target spacing, and determining a ratio between the fourth target difference and the temperature rise of the potential defect point as a target coefficient for characterizing the defect degree of the potential defect point; wherein the target spacing is the spacing between the potential defect point and the first temperature measuring point or the second temperature measuring point.

[0100] In some specific implementations, the target coefficient determination module 14 may specifically include:

[0101] The third coefficient determination unit is used to directly use the first ratio or the second ratio as the target coefficient for characterizing the defect degree of the potential defect point if the temperature rise of the first measuring point and the temperature rise of the second measuring point do not meet the first preset abnormal condition and the second preset abnormal condition, and the maximum spacing between the wire contact parts on any two robotic arms in the inspection robot is not less than the target spacing.

[0102] In some specific implementations, the overhead line defect identification device may further include:

[0103] a difference determination unit, configured to determine a fifth target difference between the temperature rise of the potential defect point and the theoretical temperature rise if the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition;

[0104] a ratio determination unit, used to respectively determine the ratios between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the fifth target difference, so as to obtain a third ratio and a fourth ratio;

[0105] A defect length determination unit is used to determine the actual defect length on the current transmission line to be tested based on a predetermined target exponential decay constant corresponding to the target spacing, the target spacing, the third ratio and the fourth ratio; the target exponential decay constant is an exponential decay constant corresponding to the axial temperature rise decaying to a preset ratio.

[0106] Furthermore, the present application also discloses an electronic device. Figure 6This is a structural diagram of an electronic device 20 according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this 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, and the computer program is loaded and executed by the processor 21 to implement the relevant steps in the overhead line defect identification method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0107] 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.

[0108] In addition, the memory 22 as a carrier for storing resources may be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon may include an operating system 221, a computer program 222, etc., and the storage method may be temporary storage or permanent storage.

[0109] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the overhead line defect identification method 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.

[0110] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the above-disclosed overhead line defect identification method is implemented. The specific steps of the method can refer to the corresponding contents disclosed in the above-disclosed embodiments, and will not be repeated here.

[0111] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0112] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0113] 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.

[0114] 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.

[0115] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for identifying defects in overhead lines, characterized in that: Applied to inspection robots, including: During the inspection of the transmission line to be tested, the infrared image collected by the infrared thermal imager is used to determine the potential defect points on the transmission line to be tested; Determine a first temperature measurement point and a second temperature measurement point on the transmission line to be tested based on the potential defect point; the distances between the first temperature measurement point and the second temperature measurement point and the potential defect point are consistent and not less than a preset distance threshold; Collecting the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point, respectively, to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point; A target coefficient for characterizing the degree of defect of the potential defect point is determined based on the potential defect point temperature, the first measurement point temperature, and the second measurement point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

2. The overhead line defect identification method according to claim 1, characterized in that: The inspection robot is equipped with a plurality of mechanical arms, each of which is provided with a wire contact component made of a thermally conductive metal material; The wire contact component is a gripper or a pulley in contact with the power transmission line to be tested, and the wire contact component is a component whose surface is coated with a thermally conductive metal material of a preset thickness or a component completely made of a thermally conductive metal material.

3. The overhead line defect identification method according to claim 2, characterized in that: The inspection robot is equipped with a first mechanical arm and a second mechanical arm; accordingly, collecting the temperatures corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point includes: Controlling the wire contact components on the first robot arm and the second robot arm to contact the first temperature measuring point and the potential defect point respectively, and collecting the temperatures corresponding to the first temperature measuring point and the potential defect point respectively, so as to obtain the corresponding first measuring point temperature and first defect point temperature; Controlling the wire contact components on the first robot arm and the second robot arm to contact the potential defect point and the second temperature measuring point respectively, and collecting the temperatures corresponding to the potential defect point and the second temperature measuring point respectively, so as to obtain the corresponding second defect point temperature and second measuring point temperature; A potential defect point temperature is determined based on the first defect point temperature and the second defect point temperature.

4. The overhead line defect identification method according to claim 2, characterized in that: The inspection robot is equipped with a first mechanical arm, a second mechanical arm and a third mechanical arm; accordingly, the temperature corresponding to the potential defect point, the first temperature measuring point and the second temperature measuring point is collected to obtain the temperature of the potential defect point, the temperature of the first measuring point and the temperature of the second measuring point, including: The wire contact components on the first robotic arm, the second robotic arm and the third robotic arm are controlled to contact the first temperature measuring point, the potential defect point and the second temperature measuring point respectively, and the temperatures corresponding to the first temperature measuring point, the potential defect point and the second temperature measuring point are collected to obtain the first measuring point temperature, the potential defect point temperature and the second measuring point temperature.

5. The overhead line defect identification method according to claim 3 or 4, characterized in that: The determining of a target coefficient for characterizing the degree of defect of the potential defect point based on the potential defect point temperature, the first measuring point temperature, and the second measuring point temperature includes: Measuring the current ambient temperature to obtain the corresponding ambient temperature; Determine the difference between the potential defect point temperature, the first measuring point temperature, the second measuring point temperature and the ambient temperature respectively to obtain the potential defect point temperature rise, the first measuring point temperature rise and the second measuring point temperature rise; If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet a first preset abnormal condition, a first target difference between the temperature of the potential defect point and the ambient temperature, a second target difference between the temperature of the potential defect point and the temperature of the first measuring point, and a third target difference between the temperature of the potential defect point and the temperature of the second measuring point are determined, and then a first ratio between the second target difference and the first target difference and a second ratio between the third target difference and the first target difference are determined, and a minimum value between the first ratio and the second ratio is used as a target coefficient for characterizing the defect degree of the potential defect point; If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, or the maximum spacing between the wire contact parts on any two mechanical arms of the inspection robot is less than the target spacing, a fourth target difference between the temperature rise of the potential defect point and the theoretical temperature rise of the non-defective line under the current environment is determined, and a ratio between the fourth target difference and the temperature rise of the potential defect point is determined as a target coefficient for characterizing the defect degree of the potential defect point; The target distance is the distance between the potential defect point and the first temperature measuring point or the second temperature measuring point.

6. The overhead line defect identification method according to claim 5, characterized in that: The first preset abnormal condition is that the absolute value of the difference between the temperature rise of the first measuring point and the temperature rise of the second measuring point is greater than a first preset threshold, and the absolute value of the difference between the temperature rise of the target measuring point and the theoretical temperature rise is less than a second preset threshold, and the temperature rise of the target measuring point is the temperature rise of the measuring point with the smallest value between the temperature rise of the first measuring point and the temperature rise of the second measuring point; The second preset abnormal condition is that the temperature rise of the first measuring point and the temperature rise of the second measuring point are both greater than the theoretical temperature rise, and the differences between the temperature rise of the first measuring point and the temperature rise of the second measuring point and the theoretical temperature rise meet the preset significant difference condition.

7. The overhead line defect identification method according to claim 6, characterized in that: The determining of a target coefficient for characterizing the degree of defect of the potential defect point based on the potential defect point temperature, the first measuring point temperature, and the second measuring point temperature includes: If the temperature rise of the first measuring point and the temperature rise of the second measuring point do not meet the first preset abnormal condition and the second preset abnormal condition, and the maximum spacing between the wire contact parts on any two robotic arms in the inspection robot is not less than the target spacing, then the first ratio or the second ratio is directly used as the target coefficient for characterizing the defect degree of the potential defect point.

8. The overhead line defect identification method according to claim 6, characterized in that: Also includes: If the temperature rise of the first measuring point and the temperature rise of the second measuring point meet the second preset abnormal condition, determining a fifth target difference between the temperature rise of the potential defect point and the theoretical temperature rise; Respectively determining the ratios of the first measuring point temperature rise and the second measuring point temperature rise to the fifth target difference to obtain a third ratio and a fourth ratio; Based on a predetermined target exponential decay constant corresponding to the target spacing, the target spacing, the third ratio and the fourth ratio, the actual defect length on the current transmission line to be tested is determined; the target exponential decay constant is an exponential decay constant corresponding to the axial temperature rise decaying to a preset ratio.

9. An overhead line defect identification device, characterized in that: Applied to inspection robots, including: A defect point determination module is used to determine potential defect points on the transmission line to be tested by using infrared images collected by an infrared thermal imager during the inspection of the transmission line to be tested; A temperature measurement point determination module, used to determine a first temperature measurement point and a second temperature measurement point on the transmission line to be tested based on the potential defect point; the distances between the first temperature measurement point and the second temperature measurement point and the potential defect point are consistent and not less than a preset distance threshold; A temperature acquisition module, used to acquire the temperatures corresponding to the potential defect point, the first temperature measurement point and the second temperature measurement point, respectively, to obtain the temperature of the potential defect point, the temperature of the first measurement point and the temperature of the second measurement point; A target coefficient determination module is used to determine a target coefficient for characterizing the defect degree of the potential defect point based on the potential defect point temperature, the first measuring point temperature and the second measuring point temperature, so as to determine whether the potential defect point needs to be repaired based on the target coefficient.

10. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the overhead line defect identification method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the overhead line defect identification method according to any one of claims 1 to 8 is implemented.

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