Visual monitoring system for the stringing construction of overhead transmission lines

Abstract

The present invention relates to the technical field of tension stringing monitoring for transmission lines, and particularly relates to a visual monitoring system for stringing construction of overhead transmission lines, which includes a memory and a processor. The processor executes the computer program stored in the memory to implement the following steps: collecting wire images, environmental wind speed data sequences, and vibration data sequences of the wire; obtaining an evaluation of stringing construction quality according to the deviation between the actual distribution and the corresponding straight-line distribution of the wire in the wire image, in combination with the change of the wire edge; obtaining a compensation coefficient according to the position deviation of the wire in adjacent-frame wire images, in combination with the data changes of the environmental wind speed data sequence and the vibration data sequence; adjusting the evaluation of stringing construction quality according to the difference situation of the evaluation of stringing construction quality between the wire and other wires and the compensation coefficient to obtain a quality risk index, and visualizing the quality of the stringing construction of the electric line by using the quality risk index. The present invention improves the monitoring accuracy and reliability of the visual monitoring system.

Description

Technical Field

[0001] The present invention relates to the technical field of tension stringing monitoring for transmission lines, and particularly relates to a visual monitoring system for stringing construction of overhead transmission lines. Background Art

[0002] As an important part of the power system, overhead transmission lines undertake the task of power transmission. During the construction of transmission lines, stringing construction is one of the key links. Stringing construction refers to laying the cable or conductor from the starting point to the ending point of the transmission line and ensuring that technical requirements such as its tension, position, and verticality meet the standards. In order to ensure the construction progress, safety, and construction efficiency, it is particularly important to use an effective monitoring system for real-time tracking and management.

[0003] Since the environmental conditions for monitoring the stringing construction of overhead transmission lines are relatively complex, for example, adverse weather and complex terrain may be encountered, or various environmental data in the environment change during the monitoring process, the stringing construction is easily interfered by the external environment. Currently, in the visual monitoring system for the stringing construction of overhead transmission lines, the sensor and image processing technologies do not consider the influence of environmental changes on the quality of stringing construction, 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 stringing construction, resulting in low accuracy of the visual monitoring results, the purpose of the present invention is to provide a visual monitoring system for stringing construction of overhead transmission lines, and the specific technical solution adopted is as follows:

[0005] A visual monitoring system for stringing construction of overhead transmission lines provided by the present invention includes a memory and a processor. The processor executes the computer program stored in the memory to implement the following steps:

[0006] Utilize the tension and stringing visualization system to continuously monitor and collect the wire images of each wire during the stringing construction of the transmission line within a preset time period, as well as the environmental wind speed data sequence and the vibration data sequence on the stringing equipment of the transmission line;

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

[0008] According to the position deviation of each wire in adjacent frame wire images 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, obtain the compensation coefficient of the tension deviation state of each wire;

[0009] Adjust the construction quality evaluation of each wire according to the difference in the construction quality evaluation of each wire and other wires and the compensation coefficient to obtain the quality risk index of each wire, and visualize the construction quality of the electric wire laying using the quality risk index.

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

[0011] Denote any wire as the target wire, where the target wire is the transmission line between any two utility poles, and there is a wire image of the target wire corresponding to each moment within the preset time period; perform edge detection on the wire image to obtain the wire contour line of the target wire, and denote the straight line between the two utility poles in the wire image as the characteristic straight-line segment of the target wire;

[0012] For any wire image; denote the pixel points on the wire contour line of the wire image of the target wire as contour pixel points;

[0013] According to the distance distribution between the wire contour line and the center position of the characteristic straight-line segment of the target wire 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, obtain the tension deviation index of the target wire in the wire image;

[0014] 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 of the target wire in the wire image, obtain the tension non-uniformity index of the target wire in the wire image;

[0015] 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-uniformity index in all wire images, determine the construction quality evaluation of the target wire.

[0016] Preferably, the tension deviation index of the target wire in the wire image is obtained according to the distance distribution between the wire contour line and the center position of the characteristic straight-line segment of the target wire 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, and specifically includes:

[0017] Obtain a perpendicular line passing through the center pixel point of the wire contour line of the target wire in the wire image and perpendicular to the characteristic straight-line segment, and the straight-line segment between the wire contour line and the characteristic straight-line segment of this perpendicular line is the center deviation line;

[0018] Take the difference in the slope values between every two adjacent contour pixel points as the local wire difference corresponding to every two adjacent contour pixel points;

[0019] Calculate 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 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 situation and fluctuation situation of the distance distribution between the wire contour line and the characteristic straight line segment of the target wire at each corresponding position in the wire image specifically includes:

[0021] At the position of each contour pixel point, obtain a straight line parallel to the center deviation line, and record the line segment between the wire contour line and the characteristic straight line segment of this straight line as the characteristic deviation line corresponding to each contour pixel point;

[0022] Based on the fluctuation degree of the lengths of the characteristic deviation lines of all contour pixel points, determine the first characteristic coefficient; based on the equilibrium situation of the length differences between the characteristic deviation lines of every two adjacent contour pixel points, determine the second characteristic coefficient;

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

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

[0025] Take the distance between the wire image of each contour pixel point at each moment and the wire image of the next adjacent moment as the position offset of each contour pixel point at each moment; the mean value of the position offsets of all contour pixel points corresponding to the target wire at each moment forms the offset sequence of the target wire in chronological order;

[0026] Respectively obtain the first correlation index between the offset sequence and the environmental wind speed data sequence, and the second correlation index between the offset sequence and the vibration data sequence;

[0027] According to the first correlation index, 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, obtain the compensation coefficient of the tension deviation state of the target wire.

[0028] Preferably, 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.

[0029] Preferably, obtaining a compensation coefficient for the deviation state of the target conductor tension according to the first correlation index, the second correlation index, and by combining the fluctuation degree of the data in the environmental wind speed sequence and the fluctuation degree of the data in the vibration data sequence specifically includes:

[0030] Calculating the first variance of all the data in the environmental wind speed data sequence, and calculating the second variance of all the data in the vibration data sequence; obtaining a compensation coefficient for the deviation state of the target conductor tension 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, adjusting the construction quality evaluation of each conductor according to the difference situation of the construction quality evaluation of each conductor and other conductors and the compensation coefficient to obtain a quality risk index for each conductor, specifically including:

[0032] Denoting any one conductor as the selected conductor, and denoting the other conductors except the selected conductor as reference conductors, and obtaining a quality difference coefficient of the selected conductor according to the difference distribution situation between the construction quality evaluation of the selected conductor and each reference conductor;

[0033] Based on the compensation coefficient corresponding to the selected conductor, determining a quality adjustment coefficient, and the value range of the quality adjustment coefficient is [1, 2];

[0034] Performing normalization processing on the product of the quality difference coefficient, the quality adjustment coefficient, and the construction quality evaluation of the selected conductor to obtain a quality risk index of the selected conductor.

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

[0036] Calculating the absolute value of the difference between the construction quality evaluation of the selected conductor and each reference conductor respectively to obtain an evaluation difference between the selected conductor and each reference conductor, and taking the average value of the evaluation differences between the selected conductor and all the reference conductors as the quality difference coefficient of the selected conductor.

[0037] Preferably, visualizing the construction quality of the electric line using the quality risk index, specifically including:

[0038] When the quality risk index of the wire is less than a preset first threshold, the quality risk level of the wire is low, and the visual warning color is green; when the quality risk index of the wire is greater than or equal to the first threshold and less than a preset second threshold, the quality risk level of the wire is medium, and the visual warning color is yellow; when the quality risk index of the wire is greater than or equal to the second threshold, the quality risk level of the wire 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 wire and the environmental factor data in two aspects, providing a data basis for the subsequent impact of environmental changes on the wire tension. Then, by analyzing the deviation between the actual distribution of the wire and the corresponding straight-line distribution, combined with the change of the wire edge, comprehensively analyzing the deviation and uniformity distribution of the tension on the wire, an evaluation of the construction quality of the wire laying is obtained, which represents the evaluation result of the construction quality of each wire in the process of the wire laying of the transmission line. Further, the position deviation of the wire in the wire images of adjacent frames is used to reflect the position deviation of the wire, and combined with the change of the external environment, the interference of the external environment is analyzed to obtain the compensation coefficient required for the deviation state of the wire tension. Finally, considering the individuality of the construction quality of the wire laying, the initially obtained evaluation of the construction quality of the wire laying is adjusted to obtain the final quality risk evaluation of the wire laying construction, fully considering the quality evaluation situation corresponding to the wire tension distribution under the interference of the environment, improving the monitoring accuracy and reliability of the visualization system, and also providing a strong guarantee for improving the 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 following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

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

[0045] Figure 4It is a schematic diagram of the distribution of the feature deviation line provided by the present invention;

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

[0047] Figure 6 It is a step flowchart of the method for obtaining the compensation coefficient of the tension deviation state of each wire provided by the present invention. Detailed implementation manners

[0048] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following combines the accompanying drawings and preferred embodiments to detail the specific implementation manners, structures, features and effects of an overhead transmission line stringing construction visualization monitoring system proposed according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0050] The following specifically describes the specific solution of an overhead transmission line stringing construction visualization monitoring system provided by the present invention with reference to the accompanying drawings. Specifically, an overhead transmission line stringing construction visualization monitoring system provided in this embodiment includes a memory and a processor, and the processor executes the computer program stored in the memory to implement the steps of an overhead transmission line stringing construction visualization monitoring method.

[0051] Please refer to Figure 1 , which shows a step flowchart of an overhead transmission line stringing construction visualization monitoring method provided by an embodiment of the present invention. The method includes the following steps:

[0052] Step S100, using the tensioning visualization system to continuously monitor and collect the wire images of each wire within a preset time period during the overhead transmission line stringing construction process, as well as the environmental wind speed data sequence and the vibration data sequence on the overhead transmission line stringing equipment.

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

[0054] It is understandable that the tension visualization system is a well-known technology and only a simple introduction is provided here. The tension visualization system can monitor the wire laying situation in real time during the wire laying construction of overhead transmission lines. This set of equipment adopts advanced signal transmission technology and high-definition monitoring systems in the market, and uses radio transmission signals to transmit the monitored and captured content to the real-time monitoring platforms of the traction field and tension field through repeaters. This set of equipment consists of a command platform, a signal relay module, a video monitoring module, and a power supply module. The command platform includes a PC, a server, and communication equipment. The communication equipment 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. 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 video recorder. The power supply module consists of a mobile power supply.

[0055] During the wire laying construction process of overhead transmission lines, the tension visualization system can be used to monitor the tension distribution of the conductors in real time to ensure that the conductor tension is within the safe range during the wire laying construction process. Because under complex environmental conditions, when the conductor crosses a river, environmental factors such as wind force and flow velocity may have a certain impact on the tension of the conductor, which may in turn cause certain problems with the local tension of the conductor. Therefore, when evaluating the quality of the wire laying construction of overhead transmission lines in this embodiment, it is necessary to fully consider the impact of environmental factors on the quality of the wire laying construction. 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 the visual images of the conductors under construction in real time.

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

[0057] More specifically, each section between two adjacent utility poles is regarded as a conductor, and one conductor corresponds to one visual image of the conductor. The visual images of the conductors collected by the monitoring system are grayscale processed for easy data analysis to obtain the conductor images of each conductor. In this embodiment, the preset time period is the time length of monitoring the wire laying construction process of the transmission line. The time interval between two adjacent data collection times within this time period is equal, and data collection operations are performed at each moment within the preset time period. That is, one conductor corresponds to one conductor image at each moment.

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

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

[0060] Under normal circumstances, when the wire tension is moderate, it is manifested that the actual distribution of the wire shows an approximately straight or slightly curved state. Under normal circumstances, when the wire tension distribution does not meet the standard, the actual distribution of the wire has a relatively obvious irregular state, that is, it may be that the wire is too loose, resulting in a more curved bending line of the wire, or the bending state of the wire is more irregular. Based on this, first, if you want to analyze whether the wire tension performance during the stringing construction process meets the actual standard, you can analyze whether the edge change of the current actual distribution of the wire is regular, and then compare the actual distribution of the wire with the straight-line distribution between two telegraph poles. The deviation between the two represents the distribution of the wire in the ideal state, and the actual distribution of the wire reflects the current performance of the wire tension in real time. Finally, the compliance of the current wire tension distribution with the standard can be more accurately quantified, thereby reflecting the quality of the stringing construction.

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

[0062] Step S201, record any wire as the target wire. The target wire is the transmission line between any two telegraph poles. At each moment within a preset time period, there corresponds a wire image of the target wire; perform edge detection on the wire image to obtain the wire contour line of the target wire, and record the straight line between the two telegraph poles in the wire image as the characteristic straight-line segment of the target wire.

[0063] In this embodiment, taking the distribution of any one wire as an example for illustration, any one wire is denoted as the target wire. It can be understood that at each moment within a preset time period, there corresponds a wire image of the target wire. In this embodiment, still taking the wire of the target wire corresponding to any one moment as an example for illustration, the wire image mentioned in steps 201 to S203 refers to the wire image of the target wire corresponding to any one moment.

[0064] Furthermore, the wire image of the target wire can be processed by the canny edge detection algorithm, and the wire contour line of the target wire can be obtained. For example, Figure 3 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 straight-line distribution between two telegraph 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 denoted as contour pixel points.

[0065] Step S202: According to the distance distribution of the wire contour line of the target wire from 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, obtain the tension deviation index of the target wire in the wire image.

[0066] The first step: Obtain a perpendicular line passing through the center pixel point of the wire contour line of the target wire 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 of this perpendicular line is the center deviation line. For example, Figure 3 as shown in the figure, L in the figure 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 represent the deviation of the actual distribution of the target wire from the ideal distribution state. The length distribution of the center deviation line reflects the magnitude of the deviation.

[0067] The second step: Analyze whether the shape distribution of the wire contour line of the target wire in the wire image is relatively regular. Take the difference in the slope values between every two adjacent contour pixel points as the local wire difference corresponding to every two adjacent contour pixel points. The slope value can, to a certain extent, reflect the change of the contour line of the contour pixel point on the corresponding wire contour line. Its calculation method is a well-known technology and will only be briefly introduced here.

[0068] In this embodiment, the pixel coordinates of each contour pixel point on the wire contour line in the wire image can be obtained, and then the calculation of the slope value can be carried out. The method for obtaining the pixel coordinates is a well-known technology and will not be introduced in detail here. As a specific example, the slope value K i of the i-th contour pixel point on the wire contour line in the wire image can be expressed as where, (xi , y i ) represents the pixel coordinates of the i-th contour pixel point, (x i+1 , y i+1 ) represents the pixel coordinates of the (i + 1)-th contour pixel point.

[0069] In other embodiments, the implementer can 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 indicators that cannot be calculated are not considered.

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

[0071] The third step is to calculate 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 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 P 0 represents the tension deviation index of the target wire in the wire image, D L represents the length value of the center deviation line of the target wire in the wire image, N represents the total number of contour pixel points included in the wire contour line of the target wire in the wire image, K i represents the slope value of the i-th contour pixel point on the wire contour line of the target wire in the wire image, and K i+1 represents the slope value of the (i + 1)-th 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] Further, based on the degree of fluctuation of the lengths of the feature deviation lines of all contour pixels, a first feature coefficient is determined; based on the balance of the length differences between the feature deviation lines of every two adjacent contour pixels in turn, a second feature coefficient is determined. In this embodiment, the variance of the lengths of the feature deviation lines of all contour pixels is used as the first feature coefficient, and the mean value of the length differences between the feature deviation lines of every two adjacent contour pixels is used as the second feature coefficient. The product of the first feature coefficient and the second feature coefficient is used as the tension non-uniformity index of the target wire in the wire image.

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

[0081]

[0082] where, U 0 represents the tension non-uniformity index of the target wire in the wire image, σ(L ′ ) represents the variance of the lengths of the feature deviation lines of all contour pixels, that is, the first feature coefficient; D i (L ′ ) represents the length value of the feature deviation line of the i-th contour pixel on the wire contour line of the target wire in the wire image, D i+1 (L ′ ) represents the length value of the feature deviation line of the (i + 1)-th contour pixel on the wire contour line of the target wire in the wire image, L ′ represents the feature deviation line, and N represents the total number of contour pixels included in the wire contour line of the target wire in the wire image.

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

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

[0085] In this embodiment, a tension deviation index and a tension non-uniformity index are respectively corresponding to the target wire in each wire image. Further, 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 mean value.

[0086] Specifically, the evaluation W of the construction quality of the target wire during wire laying 0 can be expressed as: where represents the mean value of the tension deviation indexes of the target wire in all wire images within a preset time period, represents the mean value of the tension non-uniformity indexes of the target wire in all wire images within a preset time period, and exp() represents the exponential function with the natural constant e as the base.

[0087] The larger the value of

[0088] is, the stronger the tension deviation of the target wire during the actual wire laying construction process, and the lower the overall tension distribution uniformity on the target wire. Furthermore, it indicates that the construction quality of the target wire is worse, and the value of the corresponding wire laying construction quality evaluation is larger.

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

[0090] In the process of visual monitoring of the stringing construction process of overhead transmission lines, since the conductor may be affected by environmental factors, the stress state of the conductor may undergo certain dynamic changes. For example, strong winds will exert additional forces on the conductor, causing changes in the tension of some parts of the conductor. Wind may cause the conductor to swing and vibrate, thereby affecting the tension distribution state of the conductor and further increasing the deviation of the local conductor tension. At the same time, it is also considered that during the stringing construction process, if the stringing equipment generates irregular vibrations, it will also affect the actual tension distribution of the conductor. Therefore, in this embodiment, the change trend of the actual distribution of the conductor is reflected by analyzing the position deviation of the conductor over time, and feature analysis is carried out in combination with the change trend of environmental factors to quantify the degree to which the current tension deviation state of the conductor is affected by the environment, so as to determine the magnitude of the compensation required for quality evaluation.

[0091] In this embodiment, as Figure 6 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: Take the distance between the conductor image of each contour pixel point at each moment and the conductor image of the next adjacent moment as the position offset of each contour pixel point at each moment; the mean value of the position offsets of all contour pixel points corresponding to the target conductor at each moment is formed into an offset sequence of the target conductor in chronological order.

[0093] During the preset time period corresponding to the process of visual monitoring of the stringing construction process of overhead transmission lines, as time increases, the wind will blow the conductor and cause the conductor to swing, thereby affecting the tension distribution of the conductor. Therefore, it can be characterized by analyzing the displacement change of the conductor in the conductor image.

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

[0095] For any wire image, all the contour pixel points of the target wire correspond to a position offset. Then, by calculating the mean value, the comprehensive position offset of all the contour pixel points of the target wire in the wire image is obtained. Further, each moment corresponds to a wire image. By arranging the position offset conditions of each wire image in chronological order, an offset sequence of the target wire can be obtained. The offset sequence reflects the change of the actual distribution of the target wire over time.

[0096] Step S302: Obtain the first correlation index between the offset sequence and the environmental wind speed data sequence, and the second correlation index between the offset sequence and the vibration data sequence respectively.

[0097] The environmental wind speed data sequence reflects the actual change of environmental conditions over time, and the vibration data sequence reflects the vibration change of the transmission line wire laying equipment over time. In this embodiment, by calculating the correlation index, the correlation between the wind speed change and the wire offset condition, and the correlation between the equipment vibration change and the wire offset condition 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 to unify the dimension 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 the relationship between the wind speed and the wire offset condition are stronger. Further, it shows that the position offset of the wire in the quality inspection result is more likely to be caused by the wind speed change in the environment, thus affecting the tension change in the wire laying construction process. The smaller the value of the second correlation index, the stronger the correlation and the relationship between the equipment vibration change and the wire offset condition. Further, it shows that the position offset of the wire in the quality inspection result is more likely to be caused by the equipment vibration change, thus affecting the tension change in the wire laying construction process.

[0099] Step S303: 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, obtain the compensation coefficient of the deviation state of the target wire tension.

[0100] Specifically, calculate the first variance of all data in the environmental wind speed data sequence, and calculate the second variance of all data in the vibration data sequence; obtain the compensation coefficient for the deviation state of the target wire tension according to the first correlation index, the second correlation index, the first variance, and the second variance; wherein, both the first correlation index and the second correlation index are positively correlated with the compensation coefficient, and both the first variance and the second variance are negatively correlated with the compensation coefficient.

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

[0102]

[0103] Wherein, H 0 represents the compensation coefficient for the deviation state of the target wire tension, S 1 represents the first correlation index, S 2 represents the second correlation index, σ 1 represents the first variance of all data in the environmental wind speed data sequence, σ 2 represents the second variance of all data in the vibration data sequence, and exp() represents the exponential function with the natural constant e as the base.

[0104] In this embodiment, by calculating the form of the Euclidean norm, the calculation results of the two aspects of the correlation index and the variance index are integrated to reflect the influence of objective factors and the required compensation degree of the lower wire. The smaller the values of the first correlation index and the second correlation index, the stronger the correlation between the changes of objective factors such as the environment and the wire position deviation. At this time, the larger the values of the first variance and the second variance, the greater the change and fluctuation degree of the environmental objective factors.

[0105] When the calculated value of the Euclidean norm is larger, it indicates that the change of the wire tension is more likely to be affected by a large environmental interference, which further indicates that the environmental factors have a certain impact on the monitoring results of the wire laying construction quality. 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 characterizes the size of the compensation degree for the deviation state of the target wire under the influence of the environment.

[0106] Step S400, adjust the evaluation of the wire laying construction quality of each wire according to the difference situation of the evaluation of the wire laying construction quality of each wire and other wires and the compensation coefficient, obtain the quality risk index of each wire, and use the quality risk index to visualize the wire laying construction quality of the electric circuit.

[0107] The evaluation of the construction quality of wire laying characterizes the construction quality of each wire, and the compensation coefficient characterizes the degree of compensation required for each wire due to environmental interference. Further considering the individuality of the construction quality of wires among different wires, the comprehensive evaluation is adjusted in combination with the compensation coefficient to quantify the more comprehensive degree of quality risk manifestation.

[0108] First of all, in this embodiment, any one wire is still taken as an example for illustration. That is, any one wire is denoted as the selected wire, and the other wires except the selected wire are denoted as the reference wires.

[0109] Specifically, the quality difference coefficient of the selected wire is obtained according to the difference distribution between the evaluation of the construction quality of wire laying of the selected wire and each reference wire; based on the compensation coefficient corresponding to the selected wire, a quality adjustment coefficient is determined, 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 evaluation of the construction quality of wire laying of the selected wire is normalized to obtain the quality risk index of the selected wire.

[0110] Among them, the absolute value of the difference between the evaluation of the construction quality of wire laying 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 value of the evaluation differences between the selected wire and all reference wires is used 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 wire, W represents the evaluation of the construction quality of wire laying of the selected wire, H represents the compensation coefficient of the deviation state of the tension of the selected wire, M represents the total number of reference wires, and W m represents the evaluation of the construction quality of wire laying of the m-th reference wire, and th represents the hyperbolic tangent function, which can normalize the data values.

[0114] (1 + H) is the quality adjustment coefficient, is the quality difference coefficient, which represents the individuality of the construction quality of the selected wire during the wire laying construction process, that is, the result of the construction quality difference between the selected wire and other reference wires. The greater this difference, the more individual the construction quality of the selected wire is, and the greater the difference from the construction quality of most wires, which further indicates that the possibility of quality risk in the construction quality of the selected wire is greater.

[0115] The larger the product value is, it indicates that during the visual monitoring of the wire laying construction, the quality of the selected wire laying construction is worse, the tension distribution on the selected wire deviates more from the ideal or expected state, and further indicates that the risk corresponding to the construction quality of the selected wire is higher, and thus the value of the quality risk index is larger.

[0116] Based on this, the evaluation results of the quality risks of each wire can be obtained in the same way as the selected wire. The quality risk index characterizes the evaluation of the wire laying construction quality and the degree of risk existing in the construction quality. Based on this, the magnitude of the construction quality risk value of each wire can be visually processed through this evaluation result.

[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 wire is less than the preset first threshold, the quality risk level of the wire is low, and the visual warning color is green; when the quality risk index of the wire is greater than or equal to the first threshold and less than the preset second threshold, the quality risk level of the wire is medium, and the visual warning color is yellow; when the quality risk index of the wire is greater than or equal to the second threshold, the quality risk level of the wire 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 according to the specific implementation scenario. When the red warning color appears, it indicates that the situation of a relatively high construction quality risk value of the current wire occurs, and the relevant construction personnel should immediately check and adjust the wire 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, promoting the continuous improvement of the construction quality, providing reference for future construction, and effectively improving the safety and efficiency of the overhead transmission line wire laying construction.

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

[0120] The above embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various 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 a quality risk index of each conductor, and the quality risk index is used to visualize the laying-out construction quality of the power line; The method for obtaining the quality evaluation of the setting-out construction 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.

2. According to claim 1, a visual monitoring system for overhead power line laying construction is 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.

3. A visual monitoring system for overhead power line laying construction according to claim 2, 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.

4. The visual monitoring system for overhead power line laying construction according to claim 1, 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.

5. A visual monitoring system for overhead power line laying construction according to claim 4, 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.

6. A visual monitoring system for overhead power line laying construction according to claim 4, 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.

7. 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.

8. The visual monitoring system for overhead power line laying construction according to claim 7, 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.

9. The visual monitoring system for overhead power line laying construction according to claim 7, 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.

Images