Visual monitoring system for pay-off construction of overhead transmission line

Abstract

The invention relates to the technical field of transmission line tension pay-off monitoring, in particular to an overhead transmission line pay-off construction visual monitoring system, which comprises a memory and a processor, and is characterized in that the processor executes a computer program stored by the memory; the method comprises the following steps: collecting a lead image, an environment wind speed data sequence and a vibration data sequence of a lead; according to the deviation between the actual distribution of the wire in the wire image and the corresponding linear distribution, obtaining the paying-off construction quality evaluation in combination with the wire edge change condition; obtaining a compensation coefficient according to the position deviation of the lead in the adjacent frames of lead images in combination with the data change of the environment wind speed data sequence and the vibration data sequence; and according to the difference condition and the compensation coefficient of the paying-off construction quality evaluation of the wire and other wires, the paying-off construction quality evaluation is adjusted to obtain a quality risk index, and the paying-off construction quality of the electric line is visualized by using the quality risk index. According to the invention, the monitoring precision and reliability of the visualization system are improved.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line tension and line-laying monitoring, and in particular to a visual monitoring system for overhead power transmission line laying-out construction. Background Art

[0002] As an important part of the power system, overhead transmission lines are responsible for the transmission of electricity. In the construction of transmission lines, laying out the lines is one of the key links. Laying out the lines refers to laying cables or wires from the starting point to the end point of the transmission line, and ensuring that the technical requirements such as tension, position and verticality meet the standards. In order to ensure the progress, safety and efficiency of the construction, it is particularly important to use an effective monitoring system for real-time tracking and management.

[0003] Since the environmental conditions for monitoring the laying of overhead transmission lines are relatively complex, such as severe weather and complex terrain, or changes in various environmental data during the monitoring process, the laying of lines is easily disturbed by the external environment. The sensors and image processing technologies in the current visual monitoring system for the laying of overhead transmission lines do not consider the impact of environmental changes on the quality of the laying of lines, resulting in low accuracy of the visual monitoring results. Summary of the invention

[0004] In order to solve the technical problem that the existing monitoring system does not consider the influence of environmental changes on the quality of line laying construction, resulting in low accuracy of visual monitoring results, the purpose of the present invention is to provide a visual monitoring system for overhead transmission line laying construction, and the technical solution adopted is as follows:

[0005] The present invention provides a visual monitoring system for overhead power transmission line laying construction, comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement the following steps:

[0006] The tension visualization system is used to monitor and collect the conductor image of each conductor in a preset time period during the transmission line laying construction process, as well as the environmental wind speed data sequence and the vibration data sequence on the transmission line laying equipment in real time;

[0007] According to the distance deviation between the actual distribution of each wire in the wire image and the corresponding straight line distribution within the preset time period, combined with the change of the wire edge, the wire laying construction quality evaluation of each wire is obtained;

[0008] According to the position deviation of each wire in the adjacent frame wire image within the preset time period, combined with the data change of the environmental wind speed data sequence and the data change of the vibration data sequence, the compensation coefficient of the tension deviation state of each wire is obtained;

[0009] According to the difference in the laying-out construction quality evaluation between each conductor and other conductors and the compensation coefficient, the laying-out construction quality evaluation of each conductor is adjusted to obtain the quality risk index of each conductor, and the quality risk index is used to visualize the laying-out construction quality of the power line.

[0010] Preferably, the wire laying construction quality evaluation of each wire is obtained according to the distance deviation between the actual distribution of each wire in the wire image and the corresponding straight line distribution within the preset time period, combined with the change of the wire edge, and specifically includes:

[0011] Any conductor is recorded as a target conductor, and the target conductor is a transmission line between any two electric poles. Each moment in a preset time period corresponds to a conductor image of the target conductor; edge detection is performed on the conductor image to obtain the conductor contour line of the target conductor, and the straight line between the two electric poles in the conductor image is recorded as a characteristic straight line segment of the target conductor;

[0012] For any conductor image, the pixel points on the conductor contour line of the conductor image of the target conductor are recorded as contour pixel points;

[0013] According to the distribution of the distance between the target wire contour line and the center position of the characteristic straight line segment in the wire image, combined with the slope difference of adjacent contour pixel points on the wire contour line of the target wire in the wire image, the tension deviation index of the target wire in the wire image is obtained;

[0014] According to the difference and fluctuation of the distance distribution between the wire contour line and the characteristic straight line segment of the target wire in the wire image at each corresponding position, a tension non-uniformity index of the target wire in the wire image is obtained;

[0015] The wire laying construction quality evaluation of the target wire is determined based on the negative correlation coefficient between the mean value of the tension deviation index of the target wire in all wire images and the mean value of the tension non-uniform index in all wire images.

[0016] Preferably, the step of obtaining the tension deviation index of the target wire in the wire image based on the distribution of the distance between the wire contour line of the target wire in the wire image and the center position of the characteristic straight line segment, in combination with the slope difference of adjacent contour pixel points on the wire contour line of the target wire in the wire image, specifically includes:

[0017] A vertical line passing through the central pixel point of the wire contour line of the target wire in the wire image and perpendicular to the characteristic straight line segment is obtained, and the straight line segment of the vertical line between the wire contour line and the characteristic straight line segment is the center deviation line;

[0018] The difference in slope values ​​between each two adjacent contour pixels is taken as the local wire difference corresponding to each two adjacent contour pixels;

[0019] The product of the mean value of all local wire differences on the wire contour line of the wire image of the target wire and the length of the center deviation line is calculated to obtain the tension deviation index of the target wire in the wire image.

[0020] Preferably, obtaining the tension non-uniformity index of the target wire in the wire image according to the difference and fluctuation of the distance distribution between the wire contour line and the characteristic straight line segment at each corresponding position in the wire image specifically includes:

[0021] A straight line parallel to the center deviation line is obtained at the location of each contour pixel point, and a line segment of the straight line between the wire contour line and the characteristic straight line segment is recorded as a characteristic deviation line corresponding to each contour pixel point;

[0022] The first characteristic coefficient is determined based on the fluctuation degree of the length of the characteristic deviation line of all the contour pixels; the second characteristic coefficient is determined based on the balance of the length difference between the characteristic deviation lines of each two adjacent alternating pixels;

[0023] The product of the first characteristic coefficient and the second characteristic coefficient is used as a tension non-uniformity index of the target wire in the wire image.

[0024] Preferably, the compensation coefficient of the tension deviation state of each wire is obtained according to the position deviation of each wire in the adjacent frame wire image within the preset time period, combined with the data change of the environmental wind speed data sequence and the data change of the vibration data sequence, specifically including:

[0025] The distance between the wire image of each contour pixel at each moment and the wire image at the next adjacent moment is used as the position offset of each contour pixel at each moment; the average of the position offsets of all contour pixels corresponding to the target wire at each moment is used to form an offset sequence of the target wire in chronological order;

[0026] Respectively obtaining a first correlation index between the offset sequence and the ambient wind speed data sequence, and a second correlation index between the offset sequence and the vibration data sequence;

[0027] According to the first correlation index and the second correlation index, combined with the fluctuation degree of the data in the environmental wind speed sequence and the fluctuation degree of the data in the vibration data sequence, a compensation coefficient of the target wire tension deviation state is obtained.

[0028] Preferably, the first correlation index is specifically the mean square error between the offset sequence and the ambient wind speed data sequence, and the second correlation index is specifically the mean square error between the offset sequence and the vibration data sequence.

[0029] Preferably, the compensation coefficient of the target conductor tension deviation state is obtained according to the first correlation index, the second correlation index, and the fluctuation degree of the data in the ambient wind speed sequence and the fluctuation degree of the data in the vibration data sequence, specifically including:

[0030] The first variance of all data in the ambient wind speed data sequence is calculated, and the second variance of all data in the vibration data sequence is calculated; a compensation coefficient of the target conductor tension deviation state is obtained according to the first correlation index, the second correlation index, the first variance, and the second variance; wherein the first correlation index, the second correlation index, the first variance, and the second variance are all negatively correlated with the compensation coefficient.

[0031] Preferably, the wire laying construction quality evaluation of each wire is adjusted according to the difference between the wire laying construction quality evaluation of each wire and other wires and the compensation coefficient to obtain the quality risk index of each wire, which specifically includes:

[0032] Any one conductor is recorded as a selected conductor, and the conductors other than the selected conductor are recorded as reference conductors. The quality difference coefficient of the selected conductor is obtained according to the difference distribution between the wire laying construction quality evaluation of the selected conductor and each reference conductor.

[0033] Determine a quality adjustment coefficient based on a compensation coefficient corresponding to the selected conductor, wherein the value range of the quality adjustment coefficient is [1,2];

[0034] The product of the quality difference coefficient, the quality adjustment coefficient and the wire setting construction quality evaluation of the selected conductor is normalized to obtain the quality risk index of the selected conductor.

[0035] Preferably, obtaining the quality difference coefficient of the selected conductor according to the difference distribution between the wire laying construction quality evaluation of the selected conductor and each reference conductor specifically includes:

[0036] The absolute value of the difference between the wire laying construction quality evaluation of the selected wire and each reference wire is calculated respectively to obtain the evaluation difference between the selected wire and each reference wire, and the average of the evaluation differences between the selected wire and all reference wires is taken as the quality difference coefficient of the selected wire.

[0037] Preferably, the use of the quality risk indicator to visualize the quality of the power line laying construction specifically includes:

[0038] When the quality risk index of the conductor is less than a preset first threshold, the quality risk level of the conductor is low, and the visual warning color is green; when the quality risk index of the conductor is greater than or equal to the first threshold and less than a preset second threshold, the quality risk level of the conductor is medium, and the visual warning color is yellow; when the quality risk index of the conductor is greater than or equal to the second threshold, the quality risk level of the conductor is high, and the visual warning color is red; the first threshold is less than the second threshold.

[0039] The embodiments of the present invention have at least the following beneficial effects:

[0040] The present invention first collects the image data of the conductor and two aspects of environmental factor data, providing a data basis for the subsequent impact of environmental changes on conductor tension. Then, by analyzing the deviation of the actual distribution of the conductor from the corresponding straight line distribution, combined with the changes in the edge of the conductor, the tension deviation and uniformity distribution on the conductor are comprehensively analyzed to obtain the quality evaluation of the wire laying construction, and characterize the construction quality evaluation results of each conductor during the transmission line laying construction process. Further, the position deviation of each conductor in the adjacent frame conductor image is used to reflect the position offset of the conductor, and the interference of the external environment is analyzed in combination with the changes in the external environment to obtain the compensation coefficient required for the deviation state of the conductor tension. Finally, combined with the individuality of the wire laying construction quality, the preliminary obtained wire laying construction quality evaluation is adjusted to obtain the final quality risk evaluation of the wire laying construction, which fully considers the quality evaluation corresponding to the wire tension distribution under environmental interference, improves the monitoring accuracy and reliability of the visualization system, and also provides a strong guarantee for improving construction safety, efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a flowchart of the steps of a visual monitoring method for overhead power transmission line laying construction provided by the present invention;

[0043] Figure 2 It is a flowchart of the steps of the method for obtaining the wire laying construction quality evaluation of each conductor provided by the present invention;

[0044] Figure 3 It is a schematic diagram of the conductor construction provided by the present invention;

[0045] Figure 4is a distribution diagram of characteristic deviation lines provided by the present invention;

[0046] Figure 5 It is a schematic diagram of a length fitting curve of a characteristic deviation line provided by the present invention;

[0047] Figure 6 It is a flow chart of the steps of the method for obtaining the compensation coefficient of the tension deviation state of each conductor provided by the present invention. DETAILED DESCRIPTION

[0048] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation method, structure, features and effects of a visual monitoring system for overhead power transmission line laying construction proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0049] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0050] The following is a detailed description of a specific scheme of a visual monitoring system for overhead power line laying construction provided by the present invention in conjunction with the accompanying drawings. Specifically, the visual monitoring system for overhead power line laying construction provided by this embodiment includes a memory and a processor, and the processor executes a computer program stored in the memory to implement the steps of a visual monitoring method for overhead power line laying construction.

[0051] See also Figure 1 , which shows a flowchart of a method for visual monitoring of overhead transmission line laying construction provided by an embodiment of the present invention, the method comprising the following steps:

[0052] Step S100, using the tension visualization system to monitor and collect in real time the conductor image of each conductor within a preset time period during the transmission line laying construction process, as well as the environmental wind speed data sequence and the vibration data sequence on the transmission line laying equipment.

[0053] In the process of overhead transmission line and other high-altitude operations, the tensioning process is a crucial link. The tensioning process involves applying a certain pulling force to the conductor or cable to ensure that it has appropriate tension during the line laying construction process to ensure the safety and durability of the transmission line. The tensioning visualization system can be used to effectively monitor the overhead transmission line laying construction process.

[0054] It is understandable that the tension visualization system is a well-known technology, and only a brief introduction is given here. The tension visualization system can monitor the laying of overhead power lines in real time during the laying construction. The equipment adopts the market's advanced signal transmission technology and high-definition monitoring system, and transmits the monitoring and shooting content to the real-time monitoring platform of the tension field and the tension field through a repeater using a radio transmission signal. The equipment consists of a command and control platform, a signal relay module, a video monitoring module and a power supply module. The command and control platform includes a PC, a server and a communication device, the communication device is connected to the server, and the PC is connected to the server. The signal relay module consists of a signal receiver, a signal transmitter, and a mobile power supply, and the signal receiver and the signal transmitter are respectively connected to the mobile power supply. The video monitoring module consists of a high-definition camera and a hard disk recorder. The power supply module consists of a mobile power supply.

[0055] During the construction of overhead power transmission line laying, the tension visualization system can be used to monitor the tension distribution of the conductor in real time to ensure that the conductor tension is within a safe range during the construction. Because under complex environmental conditions, when the conductor crosses a river, environmental factors such as wind force and flow rate may have a certain impact on the tension of the conductor, which in turn causes certain problems with the local tension of the conductor. Therefore, when evaluating the construction quality of overhead power transmission line laying, this embodiment needs to fully consider the impact of environmental factors on the construction quality of laying. In order to provide a data basis for the subsequent compensation analysis of environmental impacts, it is first necessary to collect various environmental data in the current construction environment and collect visual images of the constructed conductors in real time.

[0056] In this embodiment, the tension visualization system is used to monitor the transmission line laying construction process in real time and collect data, specifically collecting the conductor image of each conductor within a preset time period during the transmission line laying construction process, as well as the environmental wind speed data sequence and the vibration data sequence on the transmission line laying equipment.

[0057] More specifically, each adjacent pair of electric poles is regarded as a conductor, and each conductor corresponds to a visualized image of the conductor. The visualized image of the conductor collected by the monitoring system is grayed to facilitate data analysis, and a conductor image of each conductor is obtained. In this embodiment, the preset time period is the length of time for monitoring the construction process of the transmission line laying, and the time interval between two adjacent data collection moments in the time period is equal. Data collection operations are performed at each moment in the preset time period, that is, a conductor corresponds to a conductor image at each moment.

[0058] For the same reason, each moment in the preset time period corresponds to an environmental wind speed data and a vibration data. The environmental wind speed data is obtained through the wind speed monitoring equipment, and the vibration data is obtained through the vibration monitoring equipment in the transmission line laying equipment (such as a tension machine or a traction machine). It should be noted that in order to avoid the impact of dimensionality problems on subsequent data analysis results, the environmental wind speed data and vibration data collected in this embodiment are standardized data. The environmental wind speed data within the preset time period are arranged in chronological order to obtain an environmental wind speed data sequence. Similarly, the vibration data within the preset time period are arranged in chronological order to obtain a vibration data sequence on the transmission line laying equipment.

[0059] Step S200, obtaining a wire laying construction quality evaluation of each wire according to the distance deviation between the actual distribution of each wire in the wire image and the corresponding straight line distribution within a preset time period and the change of the wire edge.

[0060] Under normal circumstances, when the conductor tension is moderate, the actual distribution of the conductor is approximately straight or slightly curved. Under normal circumstances, when the conductor tension distribution does not meet the standard, the actual distribution of the conductor is obviously irregular, that is, the conductor distribution may be too loose, resulting in a more curved bending line, or the bending state of the conductor is irregular. Based on this, first of all, if you want to analyze whether the performance of the conductor tension during the wiring construction process meets the actual standards, you can analyze whether the edge changes of the actual distribution of the conductor are regular, and then compare the actual distribution of the conductor with the straight line distribution between the two poles. The deviation between the two, the straight line distribution between the two poles represents the distribution of the conductor in the ideal state, and the actual distribution of the conductor reflects the performance of the current conductor tension in real time. Finally, it can more accurately quantify whether the distribution of tension on the conductor meets the standard, and then reflect the quality of the wiring construction.

[0061] In this embodiment, if Figure 2 As shown, the method for obtaining the wire laying construction quality evaluation of each conductor can be implemented by steps S201 to S204.

[0062] Step S201, any one conductor is recorded as a target conductor, the target conductor is a power transmission line between any two electric poles, and each moment in a preset time period corresponds to a conductor image of the target conductor; edge detection is performed on the conductor image to obtain a conductor contour line of the target conductor, and the straight line between the two electric poles in the conductor image is recorded as a characteristic straight line segment of the target conductor.

[0063] In this embodiment, the distribution of any one wire is taken as an example for description, that is, any one wire is recorded as a target wire. It can be understood that each moment in the preset time period corresponds to a wire image of the target wire. This embodiment still takes the wire of the target wire corresponding to any moment as an example for description. The wire image mentioned in step 201 to step S203 refers to the wire image corresponding to the target wire at any moment.

[0064] Furthermore, the wire image of the target wire can be processed by the canny edge detection algorithm to obtain the wire contour of the target wire, such as Figure 3 This is a schematic diagram of wire construction. In the figure, A represents the wire contour line of the target wire, that is, the actual distribution of the target wire, and B represents the characteristic straight line segment of the target wire, that is, the distribution of the straight line between the two poles in the figure. At the same time, the pixel points on the wire contour line of the wire image of the target wire are recorded as contour pixels.

[0065] Step S202, obtaining a tension deviation index of the target wire in the wire image based on a distribution of distances between a wire contour line of the target wire in the wire image and a center position of a characteristic straight line segment, combined with a difference in slopes of adjacent contour pixels on the wire contour line of the target wire in the wire image.

[0066] The first step is to obtain a perpendicular line passing through the center pixel point of the wire contour line in the wire image and perpendicular to the characteristic straight line segment. The straight line segment between the wire contour line and the characteristic straight line segment is the center deviation line, such as Figure 3 As shown in the figure, L represents the center deviation line. It can be understood that the center deviation line should be perpendicular to the characteristic straight line segment and is used to express the deviation of the actual distribution of the target conductor relative to the ideal distribution state. The length distribution of the center deviation line reflects the size of the deviation.

[0067] The second step is to analyze whether the shape distribution of the target wire contour in the wire image is relatively regular. The difference in slope value between each two adjacent contour pixels is used as the local wire difference corresponding to each two adjacent contour pixels. The slope value can reflect the contour change of the contour pixel on the corresponding wire contour to a certain extent. The calculation method is a well-known technology and is only briefly introduced here.

[0068] In this embodiment, the slope value can be calculated by obtaining the pixel coordinates of each contour pixel point on the wire contour line in the wire image, wherein the method for obtaining the pixel coordinates is a well-known technique and will not be described in detail here. As a specific example, the slope value K of the i-th contour pixel point on the wire contour line in the wire image is i It can be expressed as Among them, (xi ,y i ) represents the pixel coordinates of the i-th contour pixel, (x i+1 ,y i+1 ) represents the pixel coordinates of the i+1th contour pixel.

[0069] In other embodiments, the implementer may also use other methods to obtain the slope value of each contour pixel point, such as by function fitting and derivation, etc., which will not be introduced in detail here. It should be noted that in this embodiment, the index that cannot be calculated is not considered.

[0070] Furthermore, the local wire difference between each two adjacent contour points can be expressed as |K i -K i+1 |, K i+1 represents the slope value of the i+1th contour pixel point on the wire contour line in the wire image. In this embodiment, the difference between the two is represented by the absolute value of the difference. i -K i+1 | represents the local wire difference between the i-th contour pixel point and the i+1-th contour pixel point, reflecting the difference and similarity of the shape distribution between the two on the wire contour line.

[0071] The third step is to calculate the product of the mean of all local wire differences on the wire contour line of the wire image of the target wire and the length of the center deviation line to obtain the tension deviation index of the target wire in the wire image. As a specific example, the calculation method of the tension deviation index can be expressed as:

[0072]

[0073] Where P0 represents the tension deviation index of the target wire in the wire image, D L represents the length of the center deviation line of the target wire in the wire image, N represents the total number of contour pixels contained in the wire contour line of the target wire in the wire image, and K i K represents the slope value of the i-th contour pixel point on the wire contour line of the target wire in the wire image. i+1 Indicates the slope value of the i+1th contour pixel point on the wire contour line of the target wire in the wire image.

[0074] It is the mean of all local wire differences on the wire contour line of the wire image of the target wire. The larger the value, the greater the difference in the shape distribution of the contour pixels on the wire contour line, which further indicates that the target wire has obvious fluctuations or regular states in the actual distribution in the wire image. The smaller the value, the smaller the difference in the shape distribution of the contour pixels on the wire contour line, which further indicates that the target wire is more likely to be slightly bent, indicating that the distribution state of the target wire meets the standard to a greater extent.

[0075] The length of the center deviation line reflects the deviation of the actual distribution of the target wire from the ideal distribution. The larger the length of the center deviation line, the larger the value of the tension deviation index, indicating that the tension performance of the target wire is inappropriate and the target wire has a large vertical deviation from the ideal state, which may mean that the target wire is too loose, that is, the target wire has a "falling" trend. The tension deviation index preliminarily reflects the tension deviation of the target wire from the actual distribution of the target wire.

[0076] Step S203, obtaining a tension non-uniformity index of the target wire in the wire image according to the difference and fluctuation of the distance distribution between the wire contour line and the characteristic straight line segment of the target wire in the wire image at each corresponding position.

[0077] When visually monitoring the line-laying construction process, the uniformity of conductor tension is an important part of evaluating the distribution quality of the conductor on the entire transmission line. The vertical deviation state of each conductor at each local position can better reflect the uniformity and non-uniformity of the conductor tension distribution, and uniform tension distribution helps to ensure the safety and construction quality of the conductor.

[0078] Specifically, a straight line parallel to the center deviation line is obtained at the location of each contour pixel point, and the line segment of the straight line between the wire contour line and the characteristic straight line segment is recorded as the characteristic deviation line corresponding to each contour pixel point. It can be understood that the characteristic deviation line corresponding to each contour pixel point is also perpendicular to the characteristic straight line segment. Figure 4 As shown in the figure, L' represents the characteristic deviation line, such as Figure 5 It is a schematic diagram of the length fitting curve of the characteristic deviation line corresponding to the position of each contour pixel point on the wire contour line of the wire image. The curve shows that the characteristic deviation line of the wire presents a trend of change in an approximately normal distribution under relatively normal conditions, indicating that the shape distribution of the wire is relatively uniform, and the deviation of the actual distribution of the wire from the ideal state is also relatively uniform.

[0079] Furthermore, a first characteristic coefficient is determined based on the fluctuation degree of the length of the characteristic deviation line of all contour pixels; and a second characteristic coefficient is determined based on the balance of the length difference between the characteristic deviation lines of each two adjacent alternating pixels. In this embodiment, the variance of the length of the characteristic deviation line of all contour pixels is used as the first characteristic coefficient, and the mean of the length difference between the characteristic deviation lines of each two adjacent contour pixels is used as the second characteristic coefficient. The product of the first characteristic coefficient and the second characteristic coefficient is used as the tension non-uniformity index of the target wire in the wire image.

[0080] In this embodiment, the calculation formula of the tension non-uniformity index of the target wire in the wire image can be expressed as:

[0081]

[0082] Among them, U0 represents the tension non-uniformity index of the target wire in the wire image, σ(L ′ ) represents the variance of the length of the characteristic deviation line of all contour pixels, which is also the first characteristic coefficient; D i (L ′ ) represents the length of the characteristic deviation line of the i-th contour pixel point of the target wire on the wire contour line of the wire image, D i+1 (L ′ ) represents the length of the characteristic deviation line of the i+1th contour pixel point of the target wire on the wire contour line of the wire image, L ′ represents the feature deviation line, and N represents the total number of contour pixels contained in the wire contour line of the target wire in the wire image.

[0083] The larger the value of the first characteristic coefficient, the greater the fluctuation of the actual distribution of the target wire compared with the ideal distribution distance. The larger the value of is, the greater the difference in the vertical offset of the actual distribution of the target conductor at adjacent positions is, which further indicates that the tension distribution uniformity of the target conductor is poor, that is, the greater the degree of non-uniformity of the conductor tension distribution, the larger the value of the corresponding tension non-uniformity index.

[0084] Step S204, determining the wire laying construction quality evaluation of the target wire based on the negative correlation coefficient between the mean value of the tension deviation index of the target wire in all wire images and the mean value of the tension non-uniform index in all wire images.

[0085] In this embodiment, the target wire corresponds to a tension deviation index and a tension non-uniform index in each wire image. In order to more accurately reflect the tension distribution of the target wire and accurately reflect the construction quality of the target wire, the actual distribution of the target wire in all wire images within a preset time period is calculated and analyzed by taking the average.

[0086] Specifically, the target conductor laying construction quality evaluation W0 can be expressed as: in It represents the mean value of the tension deviation index of all wire images of the target wire within the preset time period. It represents the mean value of the tension non-uniformity index of the target wire in all wire images within a preset time period, and exp() represents an exponential function with the natural constant e as the base.

[0087] The larger the value is, the stronger the tension deviation of the target conductor is during the actual wire laying construction process, and the lower the uniformity of the overall tension distribution on the target conductor is, which means that the construction quality of the target conductor is worse, and the larger the value of the corresponding defense line construction quality evaluation is.

[0088] At this point, the quality of each conductor can be evaluated according to the same analysis method as the target conductor, and the construction quality evaluation results of each conductor during the transmission line laying construction process can be preliminarily determined. However, considering that the real-time monitoring of the laying construction process may be interfered by other factors such as the environment, which in turn affects the monitoring results, it is necessary to further study the impact of changes in environmental conditions on changes in conductor tension in order to improve the accuracy of construction visualization monitoring.

[0089] Step S300, according to the position deviation of each wire in the adjacent frame wire image within the preset time period, combined with the data change of the environmental wind speed data sequence and the data change of the vibration data sequence, a compensation coefficient of the tension deviation state of each wire is obtained.

[0090] In the process of visually monitoring the overhead transmission line laying construction process, the conductor may be affected by environmental factors, resulting in certain dynamic changes in the stress state of the conductor. For example, strong winds will exert additional force on the conductor, causing partial tension changes in the conductor. The wind may cause the conductor to swing and vibrate, thereby affecting the tension distribution state of the conductor and further increasing the tension deviation of the local conductor. At the same time, it is also considered that during the laying construction process, if the laying equipment produces irregular vibrations, it will also affect the actual tension distribution of the conductor. Therefore, this embodiment reflects the changing trend of the actual distribution of the conductor by analyzing the position deviation of the conductor over time, and performs feature analysis in combination with the changing trends of environmental factors, quantifying the degree to which the current conductor tension deviation state is affected by the environment, so as to determine the degree to which the quality evaluation needs to be compensated.

[0091] In this embodiment, if Figure 6 As shown, the method for obtaining the compensation coefficient of the tension deviation state of each conductor can be implemented by steps S301 to S303.

[0092] Step S301, taking the distance between the wire image of each contour pixel at each moment and the wire image at the next adjacent moment as the position offset of each contour pixel at each moment; taking the average of the position offsets of all contour pixels corresponding to the target wire at each moment to form an offset sequence of the target wire in chronological order.

[0093] During the preset time period corresponding to the visual monitoring of the overhead transmission line laying construction process, as time goes by, the wind will blow the wires and cause them to swing, thereby affecting the tension distribution of the wires. Therefore, the displacement changes of the wires in the wire image can be analyzed to characterize the situation.

[0094] Specifically, still taking the target wire as an example for explanation, taking the contour pixel points on the wire contour line on the wire image corresponding to the first moment in the preset time period of the target wire as a reference, respectively obtaining the Euclidean distance between the position of each contour pixel point in the wire image at the tth moment and the position in the wire image at the t+1th moment, the position offset of each contour pixel point at the tth moment can be obtained. The situation that the last moment cannot be obtained is not considered in this embodiment.

[0095] For any wire image, all contour pixels of the target wire correspond to a position offset, and then the comprehensive position offset of all contour pixels of the target wire in the wire image is obtained by calculating the mean. Then, each moment corresponds to a wire image, and the position offset of each wire image is arranged in chronological order to obtain the offset sequence of the target wire. The offset sequence reflects the change of the actual distribution of the target wire over time.

[0096] Step S302, respectively obtaining a first correlation index between the offset sequence and the ambient wind speed data sequence, and a second correlation index between the offset sequence and the vibration data sequence.

[0097] The environmental wind speed data sequence reflects the actual changes in environmental conditions over time, and the vibration data sequence reflects the changes in vibration of the transmission line laying equipment over time. In this embodiment, by calculating the correlation index, the correlation relationship between the wind speed change and the conductor offset, and the correlation relationship between the equipment vibration change and the conductor offset are analyzed respectively.

[0098] Specifically, the first correlation index is specifically the mean square error between the offset sequence and the environmental wind speed data sequence, and the second correlation index is specifically the mean square error between the offset sequence and the vibration data sequence. It should be noted that when calculating the mean square error, the data in each sequence needs to be standardized and dimensioned before calculation. The smaller the value of the mean square error, the smaller the value of the first correlation index, indicating that the correlation and association between the wind speed and the conductor offset are stronger, which further indicates that the conductor position offset in the quality inspection result is more likely to be caused by changes in the wind speed in the environment, thereby affecting the tension change during the wire laying construction process. The smaller the value of the second correlation index, the stronger the correlation and association between the equipment vibration change and the conductor offset, which further indicates that the conductor position offset in the quality inspection result is more likely to be caused by changes in the equipment vibration, thereby affecting the tension change during the wire laying construction process.

[0099] Step S303, obtaining a compensation coefficient for a target conductor tension deviation state according to the first correlation index, the second correlation index, and the fluctuation degree of the data in the ambient wind speed sequence and the fluctuation degree of the data in the vibration data sequence.

[0100] Specifically, the first variance of all data in the ambient wind speed data sequence is calculated, and the second variance of all data in the vibration data sequence is calculated; the compensation coefficient of the target conductor tension deviation state is obtained according to the first correlation index, the second correlation index, the first variance and the second variance; wherein the first correlation index and the second correlation index are both positively correlated with the compensation coefficient, and the first variance and the second variance are both negatively correlated with the compensation coefficient.

[0101] In this embodiment, as a specific example, the calculation formula of the compensation coefficient of the target wire tension deviation state can be expressed as:

[0102]

[0103] Among them, H0 represents the compensation coefficient of the target wire tension deviation state, S1 represents the first correlation index, S2 represents the second correlation index, σ1 represents the first variance of all data in the ambient wind speed data sequence, σ2 represents the second variance of all data in the vibration data sequence, and exp() represents an exponential function with the natural constant e as the base.

[0104] In this embodiment, the calculation results of the correlation index and the variance index are combined by calculating the Euclidean norm to reflect the influence of objective factors and the degree of compensation required for the current conductor. The smaller the value of the first correlation index and the second correlation index, the stronger the correlation between the change of objective factors such as the environment and the deviation of the conductor position. At this time, the larger the value of the first variance and the second variance, the greater the change and fluctuation of the objective factors of the environment.

[0105] When the value of the calculated Euclidean norm is larger, it means that the change of conductor tension is more likely to be affected by greater environmental interference, which means that environmental factors have a certain impact on the quality monitoring results of the wire laying construction. At this time, due to the strong interference factors, the degree of effective compensation is limited, so the compensation coefficient should be smaller. The compensation coefficient represents the degree of compensation for the tension deviation state of the target conductor under the influence of the environment.

[0106] Step S400, according to the difference in the laying-out construction quality evaluation between each conductor and other conductors and the compensation coefficient, the laying-out construction quality evaluation of each conductor is adjusted to obtain the quality risk index of each conductor, and the quality risk index is used to visualize the laying-out construction quality of the power line.

[0107] The wire-laying construction quality evaluation characterizes the wire-laying construction quality of each conductor. The compensation coefficient characterizes the degree of compensation required for each conductor affected by environmental interference. Further considering the individual differences in the construction quality of different conductors, the comprehensive evaluation is adjusted in combination with the compensation coefficient to quantify a more comprehensive degree of quality risk performance.

[0108] First, this embodiment is still described by taking any one wire as an example, that is, any one wire is recorded as a selected wire, and other wires except the selected wire are recorded as reference wires.

[0109] Specifically, the quality difference coefficient of the selected conductor is obtained according to the difference distribution between the wire-setting construction quality evaluation of the selected conductor and each reference conductor; the quality adjustment coefficient is determined based on the compensation coefficient corresponding to the selected conductor, and the value range of the quality adjustment coefficient is [1,2]; the product of the quality difference coefficient, the quality adjustment coefficient and the wire-setting construction quality evaluation of the selected conductor is normalized to obtain the quality risk index of the selected conductor.

[0110] The absolute value of the difference between the wire laying construction quality evaluation of the selected wire and each reference wire is calculated respectively to obtain the evaluation difference between the selected wire and each reference wire, and the average of the evaluation differences between the selected wire and all reference wires is taken as the quality difference coefficient of the selected wire.

[0111] In this embodiment, as a specific example, the calculation formula of the quality risk index of the selected wire can be expressed as:

[0112]

[0113] Among them, F represents the quality risk index of the selected conductor, W represents the construction quality evaluation of the selected conductor, H represents the compensation coefficient of the tension deviation state of the selected conductor, M represents the total number of reference conductors, and W m It indicates that the laying out of the mth reference conductor is the construction quality evaluation, and th represents the hyperbolic tangent function, which can normalize the data values.

[0114] (1+H) is the mass adjustment factor, It is the quality difference coefficient, which indicates the individuality of the construction quality of the selected conductor during the wire-laying construction process, that is, the difference in construction quality between the selected conductor and other reference conductors. The larger the difference, the more individual the construction quality of the selected conductor is, and the greater the difference is from the construction quality of most conductors, which further indicates that there is a greater possibility of risk in the construction quality of the selected conductor.

[0115] The larger the product value of is, the worse the laying-out construction quality of the selected conductor is during the visual monitoring of the laying-out construction, and the more the tension distribution on the selected conductor deviates from the ideal or expected state, which means that the corresponding risk of the construction quality of the selected conductor is higher, and the larger the value of the quality risk index is.

[0116] Based on this, the quality risk evaluation results of each conductor can be obtained in the same way as the selected conductor. The quality risk index represents the construction quality evaluation of the conductor and the degree of risk in the construction quality. Based on this, the construction quality risk value of each conductor can be visualized through the evaluation results.

[0117] As a specific example, different color codes can be used to represent different construction quality risk levels. Specifically, when the quality risk index of the conductor is less than a preset first threshold, the quality risk level of the conductor is low, and the visual warning color is green; when the quality risk index of the conductor is greater than or equal to the first threshold and less than a preset second threshold, the quality risk level of the conductor is medium, and the visual warning color is yellow; when the quality risk index of the conductor is greater than or equal to the second threshold, the quality risk level of the conductor is high, and the visual warning color is red; the first threshold is less than the second threshold.

[0118] Among them, in this embodiment, the value of the first threshold is 0.3, and the value of the second threshold is 0.75. In other embodiments, the implementer can set it according to the specific implementation scenario. When the red warning color appears, it means that the construction quality risk value of the lower conductor is high. The relevant construction personnel should immediately check and adjust the conductor to ensure the construction quality. At the same time, the risk assessment results can also be recorded in the database for subsequent analysis and statistics, to promote the continuous improvement of construction quality, provide reference for future construction, and effectively improve the safety and efficiency of overhead transmission line laying construction.

[0119] In summary, considering that the laying-out construction is easily disturbed by the external environment, which leads to the reduction of the accuracy of the laying-out construction monitoring, the present invention first obtains the contour edge distribution characteristics of the conductor according to the image data of the conductor and the maximum vertical offset to obtain the tension deviation evaluation of the conductor; then obtains the non-uniformity of the tension distribution of the conductor according to the difference between the pixel points on the edge of the conductor contour and the standard straight line, and calculates the laying-out construction quality of the conductor by combining these two aspects. Further, according to the correlation between the position deviation of the conductor and the external environmental interference, such as wind speed and equipment vibration, in the dynamic monitoring process, the compensation coefficient required for the conductor tension deviation state is obtained in combination with the actual fluctuation of the external environmental interference, and finally the final quality risk evaluation of the laying-out construction is obtained in combination with the individuality of the laying-out construction quality of the conductor. According to the quality risk of the laying-out construction, the tension visualization system is further optimized and upgraded, and the quality risk of the laying-out construction will provide a strong guarantee for improving the construction safety, efficiency and quality, and improve the automation of the tension visualization system while also improving the monitoring accuracy and reliability of the visualization system.

[0120] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A visual monitoring system for overhead power transmission line laying construction, comprising a memory and a processor, characterized in that: The processor executes the computer program stored in the memory to implement the following steps: The tension visualization system is used to monitor and collect the conductor image of each conductor in a preset time period during the transmission line laying construction process, as well as the environmental wind speed data sequence and the vibration data sequence on the transmission line laying equipment in real time; According to the distance deviation between the actual distribution of each wire in the wire image and the corresponding straight line distribution within the preset time period, combined with the change of the wire edge, the wire laying construction quality evaluation of each wire is obtained; According to the position deviation of each wire in the adjacent frame wire image within the preset time period, combined with the data change of the environmental wind speed data sequence and the data change of the vibration data sequence, the compensation coefficient of the tension deviation state of each wire is obtained; According to the difference in the laying-out construction quality evaluation between each conductor and other conductors and the compensation coefficient, the laying-out construction quality evaluation of each conductor is adjusted to obtain the quality risk index of each conductor, and the quality risk index is used to visualize the laying-out construction quality of the power line.

2. According to claim 1, a visual monitoring system for overhead power line laying construction is characterized in that: The method of obtaining the wire laying construction quality evaluation of each wire according to the distance deviation between the actual distribution of each wire in the wire image and the corresponding straight line distribution within the preset time period and the change of the wire edge includes: Any conductor is recorded as a target conductor, and the target conductor is a transmission line between any two electric poles. Each moment in a preset time period corresponds to a conductor image of the target conductor; edge detection is performed on the conductor image to obtain the conductor contour line of the target conductor, and the straight line between the two electric poles in the conductor image is recorded as a characteristic straight line segment of the target conductor; For any conductor image, the pixel points on the conductor contour line of the conductor image of the target conductor are recorded as contour pixel points; According to the distribution of the distance between the target wire contour line and the center position of the characteristic straight line segment in the wire image, combined with the slope difference of adjacent contour pixel points on the wire contour line of the target wire in the wire image, the tension deviation index of the target wire in the wire image is obtained; According to the difference and fluctuation of the distance distribution between the wire contour line and the characteristic straight line segment of the target wire in the wire image at each corresponding position, a tension non-uniformity index of the target wire in the wire image is obtained; The wire laying construction quality evaluation of the target wire is determined based on the negative correlation coefficient between the mean value of the tension deviation index of the target wire in all wire images and the mean value of the tension non-uniform index in all wire images.

3. A visual monitoring system for overhead power line laying construction according to claim 2, characterized in that: The method of obtaining the tension deviation index of the target wire in the wire image according to the distribution of the distance between the wire contour line of the target wire in the wire image and the center position of the characteristic straight line segment, combined with the slope difference of adjacent contour pixel points on the wire contour line of the target wire in the wire image, specifically includes: A vertical line passing through the central pixel point of the wire contour line of the target wire in the wire image and perpendicular to the characteristic straight line segment is obtained, and the straight line segment of the vertical line between the wire contour line and the characteristic straight line segment is the center deviation line; The difference in slope values ​​between each two adjacent contour pixels is taken as the local wire difference corresponding to each two adjacent contour pixels; The product of the mean value of all local wire differences on the wire contour line of the wire image of the target wire and the length of the center deviation line is calculated to obtain the tension deviation index of the target wire in the wire image.

4. A visual monitoring system for overhead power line laying construction according to claim 3, characterized in that: The method of obtaining a tension non-uniformity index of the target wire in the wire image according to the difference and fluctuation of the distance distribution between the wire contour line and the characteristic straight line segment at each corresponding position in the wire image specifically includes: A straight line parallel to the center deviation line is obtained at the location of each contour pixel point, and a line segment of the straight line between the wire contour line and the characteristic straight line segment is recorded as a characteristic deviation line corresponding to each contour pixel point; The first characteristic coefficient is determined based on the fluctuation degree of the length of the characteristic deviation line of all the contour pixels; the second characteristic coefficient is determined based on the balance of the length difference between the characteristic deviation lines of each two adjacent alternating pixels; The product of the first characteristic coefficient and the second characteristic coefficient is used as a tension non-uniformity index of the target wire in the wire image.

5. The visual monitoring system for overhead power line laying construction according to claim 2, characterized in that: The compensation coefficient of the tension deviation state of each wire is obtained according to the position deviation of each wire in the adjacent frame wire image within the preset time period, combined with the data change of the environmental wind speed data sequence and the data change of the vibration data sequence, specifically including: The distance between the wire image of each contour pixel at each moment and the wire image at the next adjacent moment is used as the position offset of each contour pixel at each moment; the average of the position offsets of all contour pixels corresponding to the target wire at each moment is used to form an offset sequence of the target wire in chronological order; Respectively obtaining a first correlation index between the offset sequence and the ambient wind speed data sequence, and a second correlation index between the offset sequence and the vibration data sequence; According to the first correlation index and the second correlation index, combined with the fluctuation degree of the data in the environmental wind speed sequence and the fluctuation degree of the data in the vibration data sequence, a compensation coefficient of the target wire tension deviation state is obtained.

6. A visual monitoring system for overhead power line laying construction according to claim 5, characterized in that: The first correlation index is specifically the mean square error between the offset sequence and the ambient wind speed data sequence, and the second correlation index is specifically the mean square error between the offset sequence and the vibration data sequence.

7. The visual monitoring system for overhead power line laying construction according to claim 5, characterized in that: The compensation coefficient of the target conductor tension deviation state is obtained according to the first correlation index and the second correlation index, combined with the fluctuation degree of the data in the ambient wind speed sequence and the fluctuation degree of the data in the vibration data sequence, specifically including: The first variance of all data in the ambient wind speed data sequence is calculated, and the second variance of all data in the vibration data sequence is calculated; a compensation coefficient of the target conductor tension deviation state is obtained according to the first correlation index, the second correlation index, the first variance, and the second variance; wherein the first correlation index, the second correlation index, the first variance, and the second variance are all negatively correlated with the compensation coefficient.

8. The visual monitoring system for overhead power line laying construction according to claim 1, characterized in that: According to the difference in the wire laying construction quality evaluation between each wire and other wires and the compensation coefficient, the wire laying construction quality evaluation of each wire is adjusted to obtain the quality risk index of each wire, which specifically includes: Any one conductor is recorded as a selected conductor, and the conductors other than the selected conductor are recorded as reference conductors. The quality difference coefficient of the selected conductor is obtained according to the difference distribution between the wire laying construction quality evaluation of the selected conductor and each reference conductor. Determine a quality adjustment coefficient based on a compensation coefficient corresponding to the selected conductor, wherein the value range of the quality adjustment coefficient is [1,2]; The product of the quality difference coefficient, the quality adjustment coefficient and the wire setting construction quality evaluation of the selected conductor is normalized to obtain the quality risk index of the selected conductor.

9. A visual monitoring system for overhead power line laying construction according to claim 8, characterized in that: The quality difference coefficient of the selected conductor is obtained according to the difference distribution between the wire laying construction quality evaluation of the selected conductor and each reference conductor, specifically including: The absolute value of the difference between the wire laying construction quality evaluation of the selected wire and each reference wire is calculated respectively to obtain the evaluation difference between the selected wire and each reference wire, and the average of the evaluation differences between the selected wire and all reference wires is taken as the quality difference coefficient of the selected wire.

10. The visual monitoring system for overhead power line laying construction according to claim 8, characterized in that: The use of the quality risk indicators to visualize the quality of the power line laying construction specifically includes: When the quality risk index of the conductor is less than a preset first threshold, the quality risk level of the conductor is low, and the visual warning color is green; when the quality risk index of the conductor is greater than or equal to the first threshold and less than a preset second threshold, the quality risk level of the conductor is medium, and the visual warning color is yellow; when the quality risk index of the conductor is greater than or equal to the second threshold, the quality risk level of the conductor is high, and the visual warning color is red; the first threshold is less than the second threshold.

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