Power transmission line fault diagnosis and visual early warning system

Abstract

The invention specifically relates to a power transmission line fault diagnosis and visual early warning system. The system comprises the following parts: line data acquisition; fault analysis; image information acquisition, image analysis, meteorological analysis, comprehensive processing, state monitoring and an early warning module. According to the invention, multi-dimensional data such as a current value of a power transmission line, a leakage current value of an insulator, a lightning stroke condition and image information acquired by an unmanned aerial vehicle are comprehensively and deeply analyzed and processed to obtain a line state value, an image state value and a meteorological influence value, and an early warning value is comprehensively obtained. According to the invention, the fault hidden danger of the power transmission line can be accurately diagnosed, the accuracy and timeliness of fault diagnosis are improved, and the risk and potential loss of fault occurrence are effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission lines, and in particular to a power transmission line fault diagnosis and visual early warning system. Background Art

[0002] In the power system, the reliable operation of transmission lines is crucial to ensure the stability and continuity of power supply. However, transmission lines are prone to various faults due to long-term exposure to complex and harsh natural environments.

[0003] Traditional transmission line operation and maintenance mainly relies on manual inspections, which are inefficient and difficult to conduct high-frequency and comprehensive inspections on long and widely distributed transmission lines, resulting in many potential faults being difficult to detect in a timely manner. Moreover, manual inspections are limited by human vision, experience, and the accuracy of detection tools. It is difficult to accurately judge some minor faults such as early deterioration of insulators, minor damage to wire joints, and slight icing of wires, thus affecting the timeliness and accuracy of fault diagnosis.

[0004] Therefore, a system is needed that can combine the current status of the transmission line with future meteorological information to make corresponding early warnings to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to solve the above-mentioned problem and to propose a transmission line fault diagnosis and visual early warning system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: The transmission line fault diagnosis and visual early warning system includes the following parts: Line data collection: Collect information on factors related to transmission line faults, including the current value of the transmission line, the leakage current value of the insulator, and the lightning strike condition of the transmission line; Fault analysis: Analyze and process the relevant factor information of the transmission line to obtain the line status value, set the line status threshold, and compare the line status value with its line status threshold. If the line status value is greater than the line status threshold, it is judged that the transmission line may be abnormal, and the operation drone is dispatched to shoot the corresponding transmission line; Drone determination: Analyze the relevant status information of the inspection drone to obtain the optimal value of the drone, and select the working drone for the shooting operation from the drones based on the optimal value; Image information acquisition: Control the camera installed on the operating drone to capture video information of key components on the transmission line at a set angle; key components include conductor joint skin components, insulator components, and conductor components; process the video information of key components of the transmission line frame by frame to obtain video frame image information of the corresponding key components of the transmission line; Image analysis: Analyze the video frame image information of the surface parts of the conductor joints in the transmission line to obtain the joint damage value; then analyze the video frame image information of the insulator parts in the transmission line to obtain the insulator damage value; then analyze the ice coverage of the video frame image information of the conductor parts in the transmission line to obtain the ice coverage value; perform weighted processing on the joint damage value, insulator damage value and ice coverage value to obtain the image status value; Meteorological analysis: Analyze the meteorological information in the area where the transmission line is located to obtain the meteorological impact value; Comprehensive processing: Comprehensively analyze the line status value, image status value, and meteorological impact value to obtain the warning value; Condition monitoring: Compare and process the analysis results of the image to obtain the fault information of the transmission line; Early warning module: Match the early warning value with the three preset threshold value ranges, set up three threshold value ranges corresponding to a warning level, and obtain the early warning level corresponding to the early warning value, where the early warning level includes normal level, attention level and maintenance level; = perform corresponding processing based on the early warning level.

[0007] Preferably, the analysis and processing of the relevant factor information of the power transmission line specifically includes the following parts: Establish a monitoring time zone, obtain the current value of the transmission line obtained by the current transformer; establish the current standard value of the transmission line, calculate the difference between the current value and the standard value to obtain the current standard deviation value; establish the allowable fluctuation range of the current standard deviation value, and record the current standard deviation value that is not within the allowable fluctuation range as the current deviation value; The maximum current deviation value and the minimum current deviation value are calculated by difference to obtain the current deviation extreme value; The current standard deviation value is calculated by standard deviation to obtain the current standard deviation wave value; All current standard deviation values ​​are averaged to obtain the current standard deviation mean; The current deviation value, the current deviation extreme value, the current standard deviation wave value, and the current standard deviation mean value are weightedly calculated to obtain the current circuit breaker value; According to the above-mentioned process of obtaining the current breaking value of the transmission line, similarly, the insulator leakage current is obtained through the leakage current sensor, and the leakage current is analyzed to obtain the leakage current abnormal value; The number of lightning strikes on the transmission line is determined by the number of surge protector actions recorded by the action counter, and the time between the first lightning strike and the last lightning strike in the monitoring time zone is recorded as the span time; the ratio of the number of lightning strikes on the transmission line to the span time is recorded as the lightning impact value; The weight factors corresponding to the preset current circuit breaker value, leakage current abnormal value and lightning impact value are calculated by multiplying the current circuit breaker value, leakage current abnormal value and lightning impact value with their corresponding weights respectively and then summing them to obtain the line status value.

[0008] Preferably, the analysis of the relevant status information of the inspection drones is performed to obtain the preferred value of the drones, and the operation drone for the shooting operation is selected from the drones according to the preferred value. The specific operation steps are as follows: The take-off position of the inspection drone is marked as the take-off area, and the area where the inspection drone takes images of the transmission line is marked as the operation area. The mileage between the inspection drone's take-off area and the operation area is calculated and marked as the round-trip mileage. The product of the round-trip mileage and the endurance power conversion coefficient is taken as the round-trip power. Obtain the power of any idle inspection drone at the current moment and mark it as the current power, and compare the current power of all idle inspection drones with the round-trip power in turn; mark the idle inspection drones whose current power is greater than the round-trip power as the preliminary drones; The process of the drone taking off from the take-off area, flying to the operation area, completing the transmission line image shooting operation, and returning to the take-off area is marked as a shooting task, and the time consumed by the shooting task is marked as task time consumption, and the power consumed by the shooting task is marked as actual power consumption; Obtain the actual power consumption of any preliminarily selected drone for a set number of times before the current time point, and calculate the average of the actual power consumption for the set number of times before the current time point to obtain the actual average power; mark the drones among the preliminarily selected drones whose current power consumption is greater than the actual average power as pending drones; Obtain the actual battery capacity of any undetermined drone in a fully charged state within a set time period, calculate the difference between the rated battery capacity of the undetermined drone and the actual battery capacity, and record the ratio of the difference to the rated battery capacity as the battery loss value; Then analyze the signal delay of the pending UAV in the shooting mission, specifically: A signal delay time threshold is set, and the moment when the signal delay time of the pending drone in the shooting mission is greater than the set signal delay time threshold is marked as the initial moment, and the moment when the signal delay time drops below the threshold is marked as the recovery moment; the duration between the initial moment and the recovery moment is marked as the delay duration, and the number of accumulated delay durations in the shooting mission is marked as the delay number; Obtain the delay duration, delay times, and task duration of each shooting task of the pending drone for the set number of shooting tasks before the current time point; sum up all the delay durations of the shooting tasks for the set number of shooting tasks before the current time point, and record the ratio of the sum of all the task durations for the shooting tasks for the set number of shooting tasks before the current time point to the number of shooting tasks as the task average time; record the ratio of the delay average time to the task average time as the delay ratio; The weight factors corresponding to the preset battery loss value and the delay ratio value are calculated by multiplying the battery loss value and the delay ratio value with the corresponding weight factors respectively, and then summing the results to obtain the optimal value.

[0009] Preferably, the video frame image information of the surface component of the conductor joint in the transmission line is analyzed, which is specifically as follows: Acquire a video frame image of a wire joint skin component at a set angle; construct a wire joint skin three-dimensional model based on the video frame image of the wire joint skin component; The contour recognition technology is used to identify each surface image in the three-dimensional model of the wire joint skin to obtain the outer contour line of the wire joint skin; the standard outer contour line of the wire joint skin is established, the outer contour line of the wire joint skin is overlapped and compared with the standard outer contour line, the part where the outer contour line of the wire joint skin does not overlap with the standard outer contour line is recorded as a missing area, and the area of ​​the missing area is calculated; Obtaining the missing area of ​​any surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the missing areas of each surface image in the three-dimensional model of the wire joint surface to obtain a contour defect value; The scratches in the image of the three-dimensional model of the wire joint surface are identified by edge detection method, and the length of the scratch is obtained by connecting the beginning and the end of the scratch and recorded as the length value. The wire joint is divided into several areas, and different weights are assigned to each area. According to the area where the scratch is located on the wire joint, all the length values ​​and the weights corresponding to the area where the scratch is located are weighted calculated in turn and summed to obtain the joint damage value. A pixel image of the wire joint on the surface is obtained by enlarging any surface image of the wire joint three-dimensional model, wherein the pixel image of the wire joint includes a plurality of pixel blocks; Identify the RGB values ​​of the pixel blocks of the wire joint pixel image, establish a standard RGB value range of the pixel blocks of the wire joint pixel image, record the pixel blocks corresponding to the RGB values ​​of the pixel blocks of the wire joint pixel image that are not within the standard RGB value range as difference pixel blocks, count the number of difference pixel blocks of the wire joint pixel image and record it as the difference pixel value; Obtaining difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint to obtain a color difference value; The weight factors corresponding to the preset contour defect value, joint damage value, and color difference value are calculated and the contour defect value, joint damage value, and color difference value are multiplied by their corresponding weight factors and then summed to obtain the joint damage value.

[0010] Preferably, the ice analysis of the video frame image information of the conductor components in the transmission line is performed as follows: Acquire video frame image information of conductor components in a transmission line; construct a three-dimensional conductor module based on the video frame image information of the conductor components; The contour recognition technology is used to identify each surface image in the three-dimensional model of the conductor to obtain the outer contour line of the conductor after ice coating; the standard outer contour line of the conductor is established, and the outer contour line of the conductor after ice coating is overlapped and compared with the standard outer contour line, and the distance between the standard outer contour line of the conductor and the outer contour line of the conductor ice coating thickness is the ice coating thickness and is recorded as the thickness value; The conductor is divided into several areas, and different weights are assigned to each area. According to the area where the ice is located on the conductor, all thickness values ​​and the weights corresponding to the area where the ice is located on the conductor are weighted and calculated in turn, and the total thickness value is obtained by summing them up. Obtain image information when the outer contour line of any conductor in a set time period before the current time point coincides with the standard outer contour line of the conductor, and compare the coincidence with the outer contour line of the conductor currently obtained; calculate the vertical distance between the lowest height point of the conductor under the action of gravity in the set time period before the current time point and the lowest height point of the conductor under the action of gravity currently obtained, and mark the vertical distance as the fall value; The weight factors corresponding to the total thickness value and the drop value are preset, and the total thickness value and the drop value are multiplied by the corresponding weight factors respectively and then summed to obtain the ice coverage value.

[0011] Preferably, the meteorological information of the area where the transmission line is located is analyzed to obtain the meteorological impact value, which is specifically as follows: Obtain meteorological information of the area where the transmission line is located, including environmental information and weather conditions; environmental information includes temperature, humidity, and wind speed, and weather conditions include foggy days, rainy days, snowy days, cloudy days, and sunny days, and assign weather weights to each weather condition; According to the user manual of the power transmission line, a normal value of any parameter in the environmental information is set, and the normal value corresponding to the parameter in the environmental information is subtracted to obtain the normal difference value of the environment; Set the environmental monitoring period, calculate the statistical indicators of the environmental routine difference of any parameter in the environmental information within the environmental monitoring period, including the mean, maximum value, minimum value, and variance; multiply any indicator in the statistical indicators with the weather weight corresponding to the environmental routine difference and the weather conditions, and then sum them up to obtain the meteorological impact value.

[0012] Preferably, the processing according to the analysis result obtained by image analysis is specifically: Obtain analysis results from image analysis, including joint damage value, insulator damage value and ice coverage value; A corresponding fault reference threshold is set for any result in the analysis results, and any result in the analysis results is compared with the corresponding fault reference threshold. If the joint damage value is greater than the fault reference threshold, it indicates that the wire joint is abnormal, and a joint abnormality signal is generated. The joint damage value of the joint and the position and number of the joint and the connecting wire are marked as joint fault information; If the insulator damage value is greater than its fault reference threshold, it indicates that the insulator is abnormal, and an insulator abnormality signal is generated, and the insulator damage value and the position and number of the insulator and the associated line are marked as insulator fault information; If the ice coverage value is greater than the fault reference threshold, it indicates that the conductor is iced, and a conductor ice coverage signal is generated, and the ice coverage value of the conductor and the position and number of the conductor are marked as ice coverage fault information; The joint fault information, insulator fault information, and icing fault information are marked as fault information of the transmission line; if any abnormal signal is generated, the fault information corresponding to the abnormal signal is sent to the corresponding maintenance personnel.

[0013] Preferably, the corresponding processing based on the warning level is specifically: When the warning level is normal, the joint damage value, insulator damage value and ice coverage value of the transmission line are continuously monitored and displayed in the form of charts on the display screen of the monitoring center; When the warning level is the attention level, the fault information of the transmission line is obtained and sent to the mobile terminal of the corresponding maintenance personnel; the maintenance personnel perform maintenance on the corresponding transmission line after obtaining the fault information through the mobile terminal; If the generated warning level is the maintenance level, the emergency power-off process of the corresponding transmission line is triggered; the power users in the set area are informed to send a pre-notification, which includes the power-off maintenance and the estimated time for power restoration; the fault information of the transmission line is obtained, and the fault information is sent to the mobile terminal of the corresponding maintenance personnel; the maintenance personnel obtain the fault information through the mobile terminal and carry out emergency repairs on the corresponding transmission line.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The present invention obtains line status values, image status values ​​and meteorological impact values ​​by performing comprehensive and in-depth analysis and processing on multi-dimensional data such as current values ​​of transmission lines, insulator leakage current values, lightning strike conditions and image information collected by drones, and comprehensively obtains early warning values. It can accurately diagnose hidden faults of transmission lines, improve the accuracy and timeliness of fault diagnosis, and effectively reduce the risk of faults and potential losses.

[0015] 2. The present invention determines the warning level according to the matching of the warning value with the preset threshold range, and takes corresponding processing measures for different warnings, such as continuously monitoring key data and visually displaying them at the normal level, promptly notifying maintenance personnel to carry out targeted maintenance at the attention level, and quickly starting the emergency power-off process and arranging emergency repairs at the maintenance level, etc., so that operation and maintenance decisions are more scientific, reasonable and targeted, which can significantly improve the efficiency and quality of transmission line operation and maintenance work and ensure the stable operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Further details, features and advantages of the present application are disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which: Figure 1 is a system flow chart of the present invention; DETAILED DESCRIPTION

[0017] Several embodiments of the present application will be described in more detail below with reference to the accompanying drawings so that those skilled in the art can implement the present application. The present application can be embodied in many different forms and purposes and should not be limited to the embodiments described herein. These embodiments are provided to make the present application comprehensive and complete, and to fully convey the scope of the present application to those skilled in the art. The embodiments do not limit the present application.

[0018] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the relevant art and / or the context of this specification, and will not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein.

[0019] See also Figure 1 As shown, the present invention provides a technical solution: The transmission line fault diagnosis and visual early warning system includes the following parts: Line data collection: Collect information on factors related to transmission line faults, including the current value of the transmission line, the leakage current value of the insulator, and the lightning strike condition of the transmission line; Fault analysis: Analyze and process the relevant factor information of the transmission line to obtain the line status value, set the line status threshold, and compare the line status value with its line status threshold. If the line status value is greater than the line status threshold, it is judged that the transmission line may be abnormal, and the operation drone is dispatched to shoot the corresponding transmission line; Analyze and process the relevant factor information of the transmission line, including the following parts: Establish a monitoring time zone, obtain the current value of the transmission line obtained by the current transformer; establish the current standard value of the transmission line, calculate the difference between the current value and the standard value to obtain the current standard deviation value; establish the allowable fluctuation range of the current standard deviation value, and record the current standard deviation value that is not within the allowable fluctuation range as the current deviation value; The maximum current deviation value and the minimum current deviation value are calculated by difference to obtain the current deviation extreme value; The current standard deviation value is calculated by standard deviation to obtain the current standard deviation wave value; All current standard deviation values ​​are averaged to obtain the current standard deviation mean; The current deviation value, the current deviation extreme value, the current standard deviation wave value, and the current standard deviation mean value are weightedly calculated to obtain the current circuit breaker value; According to the above-mentioned process of obtaining the current breaking value of the transmission line, similarly, the insulator leakage current is obtained through the leakage current sensor, and the leakage current is analyzed to obtain the leakage current abnormal value; The number of lightning strikes on the transmission line is determined by the number of surge protector actions recorded by the action counter, and the time between the first lightning strike and the last lightning strike in the monitoring time zone is recorded as the span time; the ratio of the number of lightning strikes on the transmission line to the span time is recorded as the lightning impact value; Preset the weight factors corresponding to the current breaking value, the leakage current abnormal value, and the lightning impact value, and calculate the product of the current breaking value, the leakage current abnormal value, and the lightning impact value with their corresponding weights, and then sum them to obtain the line state value; Drone determination: Analyze the relevant status information of the inspection drone to obtain the preferred value of the drone, and select the working drone for the shooting operation from the drones according to the preferred value; obtain the preferred value of each pending drone in turn, and arrange them in descending order according to the size of the preferred value to obtain a preferred value list, select the pending drone corresponding to the largest preferred value from the preferred value list in descending order and mark the pending drone as the working drone; The relevant status information of the inspection drone is analyzed to obtain the optimal value of the drone, and the operating drone for shooting operation is selected from the drones according to the optimal value. The specific operation steps are as follows: The take-off position of the inspection drone is marked as the take-off area, and the area where the inspection drone takes images of the transmission line is marked as the operation area. The mileage between the inspection drone's take-off area and the operation area is calculated and marked as the round-trip mileage. The product of the round-trip mileage and the endurance power conversion coefficient is taken as the round-trip power. Obtain the power of any idle inspection drone at the current moment and mark it as the current power, and compare the current power of all idle inspection drones with the round-trip power in turn; mark the idle inspection drones whose current power is greater than the round-trip power as the preliminary drones; The process of the drone taking off from the take-off area, flying to the operation area, completing the transmission line image shooting operation, and returning to the take-off area is marked as a shooting task, and the time consumed by the shooting task is marked as task time consumption, and the power consumed by the shooting task is marked as actual power consumption; Obtain the actual power consumption of any preliminarily selected drone for a set number of times before the current time point, and calculate the average of the actual power consumption for the set number of times before the current time point to obtain the actual average power; mark the drones among the preliminarily selected drones whose current power consumption is greater than the actual average power as pending drones; Obtain the actual battery capacity of any undetermined drone in a fully charged state within a set time period, calculate the difference between the rated battery capacity of the undetermined drone and the actual battery capacity, and record the ratio of the difference to the rated battery capacity as the battery loss value; Then analyze the signal delay of the pending UAV in the shooting mission, specifically: A signal delay time threshold is set, and the moment when the signal delay time of the pending drone in the shooting mission is greater than the set signal delay time threshold is marked as the initial moment, and the moment when the signal delay time drops below the threshold is marked as the recovery moment; the duration between the initial moment and the recovery moment is marked as the delay duration, and the number of accumulated delay durations in the shooting mission is marked as the delay number; Obtain the delay duration, delay times, and task duration of each shooting task of the pending drone for the set number of shooting tasks before the current time point; sum up all the delay durations of the shooting tasks for the set number of shooting tasks before the current time point, and record the ratio of the sum of all the task durations for the shooting tasks for the set number of shooting tasks before the current time point to the number of shooting tasks as the task average time; record the ratio of the delay average time to the task average time as the delay ratio; Preset the weight factors corresponding to the battery loss value and the delay ratio value, and calculate the product of the battery loss value and the delay ratio value with their corresponding weight factors and then sum them to obtain the optimal value; Image information acquisition: Control the camera installed on the operating drone to capture video information of key components on the transmission line at a set angle; key components include conductor joint skin components, insulator components, and conductor components; process the video information of key components of the transmission line frame by frame to obtain video frame image information of the corresponding key components of the transmission line; Image analysis: Analyze the video frame image information of the surface parts of the conductor joints in the transmission line to obtain the joint damage value; then analyze the video frame image information of the insulator parts in the transmission line to obtain the insulator damage value; then analyze the ice coverage of the video frame image information of the conductor parts in the transmission line to obtain the ice coverage value; The joint damage value, insulator damage value and ice coverage value are marked as , and , and substitute into the formula: ; Get the image status value ,in , and They are the joint damage reference value, insulator damage reference value and icing reference value respectively; , and are the weight factors corresponding to the joint damage value, insulator damage value and ice coverage value respectively; The video frame image information of the surface parts of the conductor joints in the transmission line is analyzed as follows: Acquire a video frame image of a surface component of a wire joint at a set angle; construct a three-dimensional model of the wire joint based on the video frame image of the surface component of the wire joint; The process of constructing the three-dimensional model: after the video frame image of the wire joint skin component is preprocessed, the feature point detection algorithm is used to extract the feature points from the video frame image of the wire joint skin component at a set angle, the feature point descriptors in the set angle image are matched, and the three-dimensional coordinates of the feature points are calculated by the triangulation principle using the matched feature points and the focal length and shooting position of the camera; the point cloud model of the wire joint skin component is constructed by calculating the three-dimensional coordinates of several feature points, and the point cloud is converted into a three-dimensional surface model by point cloud processing technology, thereby obtaining the three-dimensional model of the wire joint skin component; The contour recognition technology is used to identify each surface image in the three-dimensional model of the wire joint skin to obtain the outer contour line of the wire joint skin; the standard outer contour line of the wire joint skin is established, the outer contour line of the wire joint skin is overlapped and compared with the standard outer contour line, the part where the outer contour line of the wire joint skin does not overlap with the standard outer contour line is recorded as a missing area, and the area of ​​the missing area is calculated; Obtaining the missing area of ​​any surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the missing areas of each surface image in the three-dimensional model of the wire joint surface to obtain a contour defect value; The scratches in the image of the three-dimensional model of the wire joint surface are identified by edge detection method, and the length of the scratch is obtained by connecting the beginning and the end of the scratch and recorded as the length value. The wire joint is divided into several areas, and different weights are assigned to each area. According to the area where the scratch is located on the wire joint, all the length values ​​and the weights corresponding to the area where the scratch is located are weighted calculated in turn and summed to obtain the joint damage value. A pixel image of the wire joint on the surface is obtained by enlarging any surface image of the wire joint three-dimensional model, wherein the pixel image of the wire joint includes a plurality of pixel blocks; Identify the RGB values ​​of the pixel blocks of the wire joint pixel image, establish a standard RGB value range of the pixel blocks of the wire joint pixel image, record the pixel blocks corresponding to the RGB values ​​of the pixel blocks of the wire joint pixel image that are not within the standard RGB value range as difference pixel blocks, count the number of difference pixel blocks of the wire joint pixel image and record it as the difference pixel value; Obtaining difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint to obtain a color difference value; The contour defect value, joint damage value, and color difference value are weighted and calculated to obtain the joint damage value; The video frame image information of the conductor components in the transmission line is analyzed for ice coverage, as follows: Acquire video frame image information of conductor components in a transmission line; construct a three-dimensional conductor module based on the video frame image information of the conductor components; The contour recognition technology is used to identify each surface image in the three-dimensional model of the conductor to obtain the outer contour line of the conductor after ice coating; the standard outer contour line of the conductor is established, and the outer contour line of the conductor after ice coating is overlapped and compared with the standard outer contour line, and the distance between the standard outer contour line of the conductor and the outer contour line of the conductor ice coating thickness is the ice coating thickness and is recorded as the thickness value; The conductor is divided into several areas, and different weights are assigned to each area. According to the area where the ice is located on the conductor, all thickness values ​​and the weights corresponding to the area where the ice is located on the conductor are weighted and calculated in turn, and the total thickness value is obtained by summing them up. Obtain image information when the outer contour line of any conductor in a set time period before the current time point coincides with the standard outer contour line of the conductor, and compare the coincidence with the outer contour line of the conductor currently obtained; calculate the vertical distance between the lowest height point of the conductor under the action of gravity in the set time period before the current time point and the lowest height point of the conductor under the action of gravity currently obtained, and mark the vertical distance as the fall value; Preset weight factors corresponding to the total thickness value and the drop value, calculate the product of the total thickness value and the drop value with their corresponding weight factors, and then sum them up to obtain the ice coverage value; Meteorological analysis: Analyze the meteorological information in the area where the transmission line is located to obtain the meteorological impact value; Analyze the meteorological information of the area where the transmission line is located to obtain the meteorological impact value; the details are as follows: Obtain meteorological information of the area where the transmission line is located, including environmental information and weather conditions; environmental information includes temperature, humidity, and wind speed, and weather conditions include foggy days, rainy days, snowy days, cloudy days, and sunny days, and assign weather weights to each weather condition; According to the user manual of the power transmission line, a normal value of any parameter in the environmental information is set, and the normal value corresponding to the parameter in the environmental information is subtracted to obtain the normal difference value of the environment; Set an environmental monitoring period, calculate the statistical indicators of the environmental normal difference of any parameter in the environmental information within the environmental monitoring period, including the mean, maximum value, minimum value, and variance; perform weighted processing on any indicator in the statistical indicators and the weather weight corresponding to the environmental normal difference and weather conditions to obtain the meteorological impact value; Comprehensive processing: Comprehensively analyze the line status value, image status value, and meteorological impact value to obtain the warning value; Condition monitoring: Compare and process the analysis results of the image to obtain the fault information of the transmission line; Specifically: Obtain analysis results from image analysis, including joint damage value, insulator damage value and ice coverage value; A corresponding fault reference threshold is set for any result in the analysis results, and any result in the analysis results is compared with the corresponding fault reference threshold. If the joint damage value is greater than the fault reference threshold, it indicates that the wire joint is abnormal, and a joint abnormality signal is generated. The joint damage value of the joint and the position and number of the joint and the connecting wire are marked as joint fault information; If the insulator damage value is greater than its fault reference threshold, it indicates that the insulator is abnormal, and an insulator abnormality signal is generated, and the insulator damage value and the position and number of the insulator and the associated line are marked as insulator fault information; If the ice coverage value is greater than the fault reference threshold, it indicates that the conductor is iced, and a conductor ice coverage signal is generated, and the ice coverage value of the conductor and the position and number of the conductor are marked as ice coverage fault information; The joint fault information, insulator fault information, and icing fault information are marked as fault information of the transmission line; if any abnormal signal is generated, the fault information corresponding to the abnormal signal is sent to the corresponding maintenance personnel; Early warning module: Match the early warning value with the preset three groups of threshold value ranges, set up three groups of threshold value ranges corresponding to an early warning level, and obtain the early warning level corresponding to the early warning value, where the early warning level includes normal level, attention level and maintenance level; = perform corresponding processing based on the early warning level; Specifically: When the warning level is normal, the joint damage value, insulator damage value and ice coverage value of the transmission line are continuously monitored and displayed in the form of charts on the display screen of the monitoring center; When the warning level is the attention level, the fault information of the transmission line is obtained and sent to the mobile terminal of the corresponding maintenance personnel; the maintenance personnel perform maintenance on the corresponding transmission line after obtaining the fault information through the mobile terminal; If the generated warning level is the maintenance level, the emergency power-off process of the corresponding transmission line is triggered; the power users in the set area are informed to send a pre-notification, which includes the power-off maintenance and the estimated time for power restoration; the fault information of the transmission line is obtained, and the fault information is sent to the mobile terminal of the corresponding maintenance personnel; the maintenance personnel obtain the fault information through the mobile terminal and carry out emergency repairs on the corresponding transmission line.

[0020] The above formulas are obtained by collecting a large amount of data and performing software simulation, and a formula close to the actual value is selected. The influencing weight factor and specific coefficient value in the formula are set by technical personnel in this field according to actual conditions, and can be adjusted and modified later.

[0021] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Transmission line fault diagnosis and visual early warning system, characterized in that: Includes the following parts: Line data collection: Collect information on factors related to transmission line faults, including the current value of the transmission line, the leakage current value of the insulator, and the lightning strike condition of the transmission line; Fault analysis: Analyze and process the relevant factor information of the transmission line to obtain the line status value, set the line status threshold, and compare the line status value with its line status threshold. If the line status value is greater than the line status threshold, it is judged that the transmission line may be abnormal, and the operation drone is dispatched to shoot the corresponding transmission line; Drone determination: Analyze the relevant status information of the inspection drone to obtain the optimal value of the drone, and select the working drone for the shooting operation from the drones based on the optimal value; Image information acquisition: Control the camera installed on the operating drone to capture video information of key components on the transmission line at a set angle; key components include conductor joint skin components, insulator components, and conductor components; process the video information of key components of the transmission line frame by frame to obtain video frame image information of the corresponding key components of the transmission line; Image analysis: Analyze the video frame image information of the surface parts of the conductor joints in the transmission line to obtain the joint damage value; then analyze the video frame image information of the insulator parts in the transmission line to obtain the insulator damage value; then analyze the ice coverage of the video frame image information of the conductor parts in the transmission line to obtain the ice coverage value; perform weighted processing on the joint damage value, insulator damage value and ice coverage value to obtain the image status value; Meteorological analysis: Analyze the meteorological information in the area where the transmission line is located to obtain the meteorological impact value; Comprehensive processing: Comprehensively analyze the line status value, image status value, and meteorological impact value to obtain the warning value; Condition monitoring: Compare and process the analysis results of the image to obtain the fault information of the transmission line; Early warning module: Match the early warning value with the three preset threshold value ranges, set up three threshold value ranges corresponding to a warning level, and obtain the early warning level corresponding to the early warning value, where the early warning level includes normal level, attention level and maintenance level; = perform corresponding processing based on the early warning level.

2. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The analysis and processing of the relevant factor information of the transmission line specifically includes the following parts: Establish a monitoring time zone, obtain the current value of the transmission line obtained by the current transformer; establish the current standard value of the transmission line, calculate the difference between the current value and the standard value to obtain the current standard deviation value; Establish an allowable fluctuation range for the current standard deviation value, and record the current standard deviation value that is not within the allowable fluctuation range as the current deviation value; The maximum current deviation value and the minimum current deviation value are calculated by difference to obtain the current deviation extreme value; The current standard deviation value is calculated by standard deviation to obtain the current standard deviation wave value; All current standard deviation values ​​are averaged to obtain the current standard deviation mean; The current deviation value, the current deviation extreme value, the current standard deviation wave value, and the current standard deviation mean value are weightedly calculated to obtain the current circuit breaker value; According to the above-mentioned process of obtaining the current breaking value of the transmission line, similarly, the insulator leakage current is obtained through the leakage current sensor, and the leakage current is analyzed to obtain the leakage current abnormal value; The number of lightning strikes on the transmission line is determined by the number of surge protector actions recorded by the action counter, and the time between the first lightning strike and the last lightning strike in the monitoring time zone is recorded as the span time; the ratio of the number of lightning strikes on the transmission line to the span time is recorded as the lightning impact value; The weight factors corresponding to the preset current circuit breaker value, leakage current abnormal value and lightning impact value are calculated by multiplying the current circuit breaker value, leakage current abnormal value and lightning impact value with their corresponding weights respectively and then summing them to obtain the line status value.

3. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The analysis of the relevant status information of the inspection drones to obtain the preferred value of the drones, and the selection of the working drone for the shooting operation from the drones according to the preferred value, the specific operation steps are as follows: The take-off position of the inspection drone is marked as the take-off area, and the area where the inspection drone takes images of the transmission line is marked as the operation area. The mileage between the inspection drone's take-off area and the operation area is calculated and marked as the round-trip mileage. The product of the round-trip mileage and the endurance power conversion coefficient is taken as the round-trip power. Obtain the power of any idle inspection drone at the current moment and mark it as the current power, and compare the current power of all idle inspection drones with the round-trip power in turn; Mark the idle inspection drones whose current power is greater than the round-trip power as preliminary drones; The process of the drone taking off from the take-off area, flying to the operation area, completing the transmission line image shooting operation, and returning to the take-off area is marked as a shooting task, and the time consumed by the shooting task is marked as task time consumption, and the power consumed by the shooting task is marked as actual power consumption; Obtain the actual power consumption of any preliminarily selected drone for a set number of times before the current time point, and calculate the average of the actual power consumption for the set number of times before the current time point to obtain the actual average power; mark the drones among the preliminarily selected drones whose current power consumption is greater than the actual average power as pending drones; Obtain the actual battery capacity of any undetermined drone in a fully charged state within a set time period, calculate the difference between the rated battery capacity of the undetermined drone and the actual battery capacity, and record the ratio of the difference to the rated battery capacity as the battery loss value; Then analyze the signal delay of the pending UAV in the shooting mission, specifically: A signal delay time threshold is set, and the moment when the signal delay time of the pending drone in the shooting mission is greater than the set signal delay time threshold is marked as the initial moment, and the moment when the signal delay time drops below the threshold is marked as the recovery moment; the duration between the initial moment and the recovery moment is marked as the delay duration, and the number of accumulated delay durations in the shooting mission is marked as the delay number; Obtain the delay duration, delay times, and task duration of each shooting task of the pending drone for the set number of shooting tasks before the current time point; sum up all the delay durations of the shooting tasks for the set number of shooting tasks before the current time point, and record the ratio of the sum of all the task durations for the shooting tasks for the set number of shooting tasks before the current time point to the number of shooting tasks as the task average time; record the ratio of the delay average time to the task average time as the delay ratio; The weight factors corresponding to the preset battery loss value and the delay ratio value are calculated by multiplying the battery loss value and the delay ratio value with the corresponding weight factors respectively, and then summing the results to obtain the optimal value.

4. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The video frame image information of the surface components of the conductor joint in the transmission line is analyzed as follows: Acquire a video frame image of a wire joint skin component at a set angle; construct a wire joint skin three-dimensional model based on the video frame image of the wire joint skin component; The contour recognition technology is used to identify each surface image in the three-dimensional model of the wire joint skin to obtain the outer contour line of the wire joint skin; the standard outer contour line of the wire joint skin is established, the outer contour line of the wire joint skin is overlapped and compared with the standard outer contour line, the part where the outer contour line of the wire joint skin does not overlap with the standard outer contour line is recorded as a missing area, and the area of ​​the missing area is calculated; Obtaining the missing area of ​​any surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the missing areas of each surface image in the three-dimensional model of the wire joint surface to obtain a contour defect value; The scratches in the image of the three-dimensional model of the wire joint surface are identified by edge detection method, and the length of the scratch is obtained by connecting the beginning and the end of the scratch and recorded as the length value. The wire joint is divided into several areas, and different weights are assigned to each area. According to the area where the scratch is located on the wire joint, all the length values ​​and the weights corresponding to the area where the scratch is located are weighted calculated in turn and summed to obtain the joint damage value. A pixel image of the wire joint on the surface is obtained by enlarging any surface image of the wire joint three-dimensional model, wherein the pixel image of the wire joint includes a plurality of pixel blocks; Identify the RGB values ​​of the pixel blocks of the wire joint pixel image, establish a standard RGB value range of the pixel blocks of the wire joint pixel image, record the pixel blocks corresponding to the RGB values ​​of the pixel blocks of the wire joint pixel image that are not within the standard RGB value range as difference pixel blocks, count the number of difference pixel blocks of the wire joint pixel image and record it as the difference pixel value; Obtaining difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint, and performing weighted calculation on the difference pixel surface blocks of each surface image in the three-dimensional model of the wire joint to obtain a color difference value; The weight factors corresponding to the preset contour defect value, joint damage value, and color difference value are calculated and the contour defect value, joint damage value, and color difference value are multiplied by their corresponding weight factors and then summed to obtain the joint damage value.

5. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The ice analysis of the video frame image information of the conductor components in the transmission line is performed as follows: Acquire video frame image information of conductor components in a transmission line; construct a three-dimensional conductor module based on the video frame image information of the conductor components; The contour recognition technology is used to identify each surface image in the three-dimensional model of the conductor to obtain the outer contour line of the conductor after ice coating; Set up the standard outer contour line of the conductor, overlap and compare the outer contour line of the conductor after ice coating with the standard outer contour line, and take the distance between the standard outer contour line of the conductor and the outer contour line of the conductor ice coating thickness as the ice coating thickness and record it as the thickness value; The conductor is divided into several areas, and different weights are assigned to each area. According to the area where the ice is located on the conductor, all thickness values ​​and the weights corresponding to the area where the ice is located on the conductor are weighted and calculated in turn, and the total thickness value is obtained by summing them up. Obtain image information when the outer contour line of any conductor in a set time period before the current time point coincides with the standard outer contour line of the conductor, and compare the coincidence with the outer contour line of the conductor currently obtained; calculate the vertical distance between the lowest height point of the conductor under the action of gravity in the set time period before the current time point and the lowest height point of the conductor under the action of gravity currently obtained, and mark the vertical distance as the fall value; The weight factors corresponding to the total thickness value and the drop value are preset, and the total thickness value and the drop value are multiplied by the corresponding weight factors respectively and then summed to obtain the ice coverage value.

6. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The meteorological impact value is obtained by analyzing the meteorological information of the area where the transmission line is located, which is as follows: Obtain meteorological information of the area where the transmission line is located, including environmental information and weather conditions; environmental information includes temperature, humidity, and wind speed, and weather conditions include foggy days, rainy days, snowy days, cloudy days, and sunny days, and assign weather weights to each weather condition; According to the user manual of the power transmission line, a normal value of any parameter in the environmental information is set, and the normal value corresponding to the parameter in the environmental information is subtracted to obtain the normal difference value of the environment; Set the environmental monitoring cycle and calculate the statistical indicators of the environmental routine difference of any parameter in the environmental information within the environmental monitoring cycle, including the mean, maximum, minimum and variance; The meteorological impact value is obtained by multiplying any statistical indicator with the normal difference of the environment and the weather weight corresponding to the weather conditions and then summing them up.

7. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The processing according to the analysis result of the image analysis is specifically as follows: Obtain analysis results from image analysis, including joint damage value, insulator damage value and ice coverage value; A corresponding fault reference threshold is set for any result in the analysis results, and any result in the analysis results is compared with the corresponding fault reference threshold. If the joint damage value is greater than the fault reference threshold, it indicates that the wire joint is abnormal, and a joint abnormality signal is generated. The joint damage value of the joint and the position and number of the joint and the connecting wire are marked as joint fault information; If the insulator damage value is greater than its fault reference threshold, it indicates that the insulator is abnormal, and an insulator abnormality signal is generated, and the insulator damage value and the position and number of the insulator and the associated line are marked as insulator fault information; If the ice coverage value is greater than the fault reference threshold, it indicates that the conductor is iced, and a conductor ice coverage signal is generated, and the ice coverage value of the conductor and the position and number of the conductor are marked as ice coverage fault information; The joint fault information, insulator fault information, and icing fault information are marked as fault information of the transmission line; if any abnormal signal is generated, the fault information corresponding to the abnormal signal is sent to the corresponding maintenance personnel.

8. The power transmission line fault diagnosis and visual early warning system according to claim 1, characterized in that: The corresponding processing is performed based on the warning level, specifically: When the warning level is normal, the joint damage value, insulator damage value and ice coverage value of the transmission line are continuously monitored and displayed in the form of charts on the display screen of the monitoring center; When the warning level is the attention level, the fault information of the transmission line is obtained and sent to the mobile terminal of the corresponding maintenance personnel; Maintenance personnel obtain fault information through mobile terminals and perform maintenance on the corresponding transmission lines; If the generated warning level is the maintenance level, the emergency power outage process of the corresponding transmission line is triggered; the power users in the set area are informed to send a pre-notification, which includes the power outage maintenance and the estimated time for power restoration; Obtaining fault information of the transmission line and sending the fault information to the mobile terminal of the corresponding maintenance personnel; Maintenance personnel obtain fault information through mobile terminals and carry out emergency repairs on the corresponding transmission lines.

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