Electric power system intelligent analysis method and platform based on image processing

Abstract

The invention provides a power system intelligent analysis method and platform based on image processing, and the method comprises the steps: controlling a collection device to obtain the icing data of a power line in a monitoring destination, determining a severe icing point according to the icing data, determining the dynamic maintenance range of a target line according to the operation range of a collaborative maintenance device, and carrying out the maintenance of the target line. Based on the severe ice accumulation point in the dynamic maintenance range, dynamic operation duration of the collaborative maintenance equipment is obtained, deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration are obtained, and the dynamic maintenance range and the dynamic operation duration are updated according to the deicing detection data. And obtaining linkage deicing data of the collaborative maintenance equipment.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to an intelligent analysis method and platform for a power system based on image processing. Background Art

[0002] In the power system, icing of power lines is a serious safety hazard. Icing will not only increase the load on the lines and cause line breakage, but may also cause short circuits and power outages, posing a serious threat to the stable operation of the power system. In order to deal with the problem of icing on power lines, it is necessary to perform corresponding de-icing operations on the power lines to ensure the safety of the lines.

[0003] In the prior art, when de-icing power lines, de-icing drones are often manually controlled to impact the power lines to de-ice and ensure the safety of the lines. However, in the case of thick ice, a single impact method may be difficult to quickly remove all the ice, resulting in low de-icing efficiency and poor thoroughness.

[0004] Therefore, how to effectively dispatch and coordinate different types of drones to perform de-icing operations and improve the overall efficiency and thoroughness of de-icing work has become an urgent problem to be solved. Summary of the invention

[0005] The present invention provides an intelligent analysis method and platform for power systems based on image processing, which can effectively dispatch and coordinate different types of drones to perform deicing operations, thereby improving the overall efficiency of deicing work and the thoroughness of deicing.

[0006] A first aspect of the present invention provides an intelligent analysis method for a power system based on image processing, comprising: Controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data; Determine a dynamic maintenance range of the target line according to the operation range of the collaborative maintenance equipment, and obtain the dynamic operation duration of the collaborative maintenance equipment based on the severe freezing point in the dynamic maintenance range; Acquire deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration; The dynamic maintenance range and the dynamic operation duration are updated according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance equipment.

[0007] Optionally, in a possible implementation manner of the first aspect, controlling a collection device to obtain ice coverage data of a power line in a monitoring destination, and determining a severe icing point according to the ice coverage data includes: Acquire a front view image of the power line taken by the acquisition device at each monitoring point, wherein the ice coverage data includes the front view image; Determine an ice-covered contour in the front view image, obtain an ice-covered thickness of the ice-covered contour in a thickness direction, and determine a contour segment in which the ice-covered thickness is greater than or equal to a severe ice accretion threshold as an ice accretion segment; Acquire a length direction perpendicular to the thickness direction and an image boundary of the front view image in the length direction, and determine a first span of a center point of the ice accumulation segment from the image boundary in the length direction; Acquire a shooting sub-segment corresponding to the monitoring point in the power line, and determine a traversal direction corresponding to the length direction and a starting point corresponding to the image boundary in the shooting sub-segment; The first span is actually converted into a second span, and a position point in the shooting sub-segment that is at the second span from the starting point is determined as a severe ice accumulation point according to the traversal direction.

[0008] Optionally, in a possible implementation of the first aspect, determining a dynamic maintenance range of a target line according to an operation range of a collaborative maintenance device, and acquiring a dynamic operation duration of the collaborative maintenance device based on a severe freezing point in the dynamic maintenance range includes: Acquire the power line currently maintained by the collaborative maintenance equipment as the target line, wherein the collaborative maintenance equipment includes an ice melting device and a cleaning device; Determine the operating range of the cleaning equipment, obtain the operating starting point corresponding to the target line in the operating direction, and determine the line segment corresponding to the operating range in the target line as the dynamic maintenance range based on the operating starting point; Obtaining the ice accretion interval of each of the severe ice accretion points in the dynamic maintenance range, determining that the severe ice accretion points whose ice accretion interval is smaller than the heating range of the ice melting equipment are in the same maintenance group, and determining the dispatch quantity of the ice melting equipment according to the quantity of the maintenance groups; dispatching the dispatched number of ice melting devices, obtaining ice accumulation parameters of each of the maintenance groups, and determining the ice melting operation duration of each of the ice melting devices and the cleaning operation duration of the cleaning devices according to the ice accumulation parameters; The dynamic operation duration of the collaborative maintenance device is obtained according to the ice melting operation duration and the cleaning operation duration.

[0009] Optionally, in a possible implementation manner of the first aspect, obtaining ice accretion parameters of each maintenance group, and determining the ice melting operation duration of each ice melting device and the cleaning operation duration of the cleaning device according to the ice accretion parameters include: Obtaining the ice accretion span of the ice accretion segment in the length direction in the ice accretion image corresponding to each maintenance group, counting the total ice accretion span of the ice accretion span, and obtaining a first offset coefficient according to the ratio of the span difference between the total ice accretion span and the standard ice accretion span to the standard span difference; Determine the maximum ice thickness of each ice accretion section in the thickness direction, and obtain a second offset coefficient according to the ratio of the thickness difference between the maximum ice accretion thickness and the standard ice accretion thickness to the standard thickness difference, wherein the ice accretion parameters include the total ice accretion span and the maximum ice accretion thickness; Obtain an ice melting offset coefficient according to the sum of the first offset coefficient and the second offset coefficient, and obtain an ice melting operation duration based on the product of the ice melting offset coefficient and a standard ice melting duration; The average ice accretion area of ​​each ice accretion section is counted, and the duration offset coefficient is obtained according to the ratio of the average ice accretion area to the standard ice accretion area. The cleaning operation duration is obtained based on the product of the duration offset coefficient and the standard cleaning duration corresponding to the cleaning equipment.

[0010] Optionally, in a possible implementation manner of the first aspect, obtaining deicing detection data of the collaborative maintenance device based on the dynamic maintenance range and the dynamic operation duration includes: Determine the middle position point of each of the heavy ice accumulation points in each of the maintenance groups as an ice melting operation point, control the ice melting equipment to go to the ice melting operation point, and perform ice melting operation based on the ice melting operation duration corresponding to the corresponding maintenance group; When all ice-melting devices respond to the ice-melting completion information, controlling the cleaning device to perform de-icing operation on the dynamic maintenance range based on the cleaning operation duration; In response to de-icing completion information, a detection video shot by the cleaning equipment from a bird's-eye view of the dynamic maintenance range is obtained, and the de-icing detection data is obtained based on the detection video.

[0011] Optionally, in a possible implementation manner of the first aspect, updating the dynamic maintenance range and the dynamic operation duration according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance device includes: Acquire multiple video frames corresponding to the deicing detection data, and extract the line contour in each of the video frames; Determine a video frame containing multiple segments of the line contours as a detection frame, and connect the line contours in the detection frame to obtain a calibrated line contour; Acquire an ice accumulation area in the calibration route profile, and offset the standard operation time of the collaborative maintenance equipment according to ice detection parameters of the ice accumulation area to obtain a standard adjustment time; Determine the collection point corresponding to each detection frame as the residual ice accumulation point, obtain the collection point closest to the operation starting point of the dynamic maintenance range as the next operation starting point, and re-determine the next dynamic maintenance range according to the operation range of the collaborative maintenance equipment and the operation starting point; Based on the next severe ice accretion point and the residual ice accretion point within the dynamic maintenance range, the standard adjustment duration is offset to obtain an updated dynamic operation duration, and the linkage deicing data is obtained according to the updated dynamic maintenance range and the dynamic operation duration.

[0012] Optionally, in a possible implementation manner of the first aspect, obtaining an ice accretion area in the calibration route profile, and offsetting the standard operation duration of the collaborative maintenance equipment according to an ice detection parameter of the ice accretion area to obtain a standard adjustment duration, including: Obtaining pixel points whose pixel values ​​in the calibration line profile are located in the ice accumulation interval as target points, and obtaining ice accumulation areas based on adjacent target points; Determine an ice accretion area whose ice accretion area is greater than an ice accretion area threshold as an ice melting detection area, and calculate a first area average of each of the ice melting detection areas; Obtaining a first area difference between a first area mean and a reference ice-melting area, obtaining an ice-melting adjustment coefficient according to a ratio of the first area difference to the reference ice-melting difference, and obtaining an ice-melting adjustment duration based on a product of the ice-melting adjustment coefficient and a standard ice-melting duration of an ice-melting device; Counting the second area averages of all the ice accumulation areas, and obtaining a second area difference between the second area average and the reference deicing area; A deicing adjustment coefficient is obtained according to the ratio of the second area difference and the benchmark deicing difference, and a cleaning adjustment time is obtained according to the product of the deicing adjustment coefficient and a standard cleaning time of the cleaning equipment, wherein the standard adjustment time includes an ice melting adjustment time and a cleaning adjustment time.

[0013] Optionally, in a possible implementation of the first aspect, based on the next severe ice accretion point and the residual ice accretion point within the dynamic maintenance range, offsetting the standard adjustment duration to obtain an updated dynamic operation duration includes: Determine the residual ice accumulation point in the ice melting detection area as the ice accumulation point to be detected, and determine the position point in the front view shooting direction corresponding to the target line and the front view shooting distance from the ice accumulation point to be detected as the point to be detected; Obtaining a front view to be inspected taken by the cleaning device based on the point to be inspected, and if there is an ice accretion section with an ice coating thickness greater than or equal to a severe ice accretion threshold in the front view to be inspected, determining the corresponding residual ice accretion point as a severe ice accretion point; Determine that the heavy ice accretion points where the ice accretion distance is less than the heating range of the ice melting device are in the same update maintenance group, and determine the update quantity of the ice melting device according to the update maintenance group; Acquire updated ice accretion parameters of each of the update maintenance groups, offset the ice melting adjustment time according to the updated ice accretion parameters to obtain an ice melting update time, and offset the cleaning adjustment time according to the updated ice accretion parameters to obtain a cleaning update time; The updated dynamic operation duration is obtained according to the ice melting update duration and the cleaning update duration.

[0014] Optionally, in a possible implementation manner of the first aspect, obtaining updated ice accretion parameters of each of the update maintenance groups, offsetting the ice melting adjustment time according to the updated ice accretion parameters to obtain an ice melting update time, and offsetting the cleaning adjustment time according to the updated ice accretion parameters to obtain a cleaning update time, includes: Counting the total update span corresponding to the update maintenance group in the length direction, obtaining the update span difference between the total update span and the standard ice accumulation span, and obtaining a first update coefficient according to the ratio of the update span difference to the standard span difference; Obtaining the maximum ice thickness of each update maintenance group, determining an updated thickness difference between the maximum ice thickness and the standard ice thickness, and obtaining a second update coefficient according to a ratio of the updated thickness difference to the standard thickness difference; Obtaining an ice melting update coefficient according to the sum of the first update coefficient and the second update coefficient, obtaining an ice melting update duration based on the product of the ice melting update coefficient and the ice melting adjustment duration, wherein the updated ice accumulation parameters include updating a total span and a maximum ice thickness; The average updated area of ​​each of the ice accretion sections is counted, an updated offset coefficient is obtained according to a ratio of the updated area average to a standard ice accretion area, and the cleaning update duration is obtained based on a product of the updated offset coefficient and the cleaning adjustment duration.

[0015] A second aspect of the present invention provides an intelligent analysis platform for a power system based on image processing, comprising: A control module, used for controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data; A determination module, configured to determine a dynamic maintenance range of a target line according to an operation range of a collaborative maintenance device, and obtain a dynamic operation duration of the collaborative maintenance device based on a severe freezing point in the dynamic maintenance range; An acquisition module, configured to acquire deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration; An updating module is used to update the dynamic maintenance range and the dynamic operation duration according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance equipment.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention can perform more efficient deicing work on power lines with severe icing by reasonably dispatching collaborative maintenance equipment. The collaborative maintenance equipment includes an ice melting device that can quickly melt severely iced lines and a cleaning device that can thoroughly clean the remaining ice after melting. Two different types of deicing equipment can work together efficiently, which can not only improve the deicing efficiency, but also improve the thoroughness of the deicing work. When performing deicing operations, the present invention can determine the dynamic maintenance range of the collaborative maintenance equipment when performing deicing operations in combination with the operating range of the collaborative maintenance equipment. According to the actual icing conditions within the dynamic maintenance range, the dynamic operation time of the collaborative maintenance equipment can be more accurately determined, and the thoroughness of the deicing work can be ensured.

[0017] 2. After the de-icing work is completed, the present invention can detect the actual de-icing situation within the dynamic maintenance range. If the accumulated ice in the dynamic maintenance range is not completely cleared, the dynamic maintenance range and dynamic operation duration corresponding to the next de-icing work of the collaborative maintenance equipment can be updated in combination with the actual de-icing situation. The accumulated ice in the dynamic maintenance range can be calibrated and cleaned to ensure the thoroughness of cleaning the accumulated ice, so that the ice in the dynamic maintenance range is completely cleared.

[0018] 3. When the present invention updates the dynamic maintenance range of the collaborative maintenance equipment, the position point corresponding to the residual ice accumulation closest to the operation starting point of the current dynamic maintenance range can be determined as the operation starting point of the next deicing operation. According to the operation range of the collaborative maintenance equipment, the dynamic maintenance range of the collaborative maintenance equipment for the next deicing operation is determined, which can improve the deicing efficiency of the collaborative maintenance equipment when performing deicing work, and at the same time ensure that the residual ice accumulation within the current dynamic maintenance range can be completely removed. When the present invention updates the dynamic operation duration of the collaborative maintenance equipment, the dynamic operation duration can be updated in combination with the actual deicing effect, and an operation duration that is more in line with the actual situation can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flowchart of an intelligent analysis method for a power system based on image processing provided by an embodiment of the present invention; Figure 2 is a schematic diagram of determining a first span provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a calibration line profile provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of an electric power system intelligent analysis platform based on image processing provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0022] See also Figure 1 , is a schematic diagram of an intelligent analysis method for a power system based on image processing provided by an embodiment of the present invention, Figure 1 The execution subject of the method shown may be a software and / or hardware device. The execution subject of the present application may include but is not limited to at least one of the following: user equipment, network equipment, etc. Among them, user equipment may include but is not limited to computers, smart phones, personal digital assistants (PDA) and the electronic devices mentioned above. Network equipment may include but is not limited to a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of computers or network servers, wherein cloud computing is a type of distributed computing, a super virtual computer composed of a group of loosely coupled computers. This embodiment does not limit this. It includes steps S1 to S4, as follows: S1, controlling a collection device to obtain ice coverage data of power lines in a monitoring destination, and determining a severe ice accumulation point according to the ice coverage data.

[0023] Among them, the collection equipment refers to a device that can capture image data of power lines, such as a drone with a camera. The monitoring destination refers to the destination of the power lines that need to be de-iced. The ice coverage data refers to the length and thickness of the ice on the power lines. The severe ice accumulation point refers to the location on the power line where the ice coverage is more serious.

[0024] With the rapid development of drone technology, the application of drones in deicing has gradually been promoted. It is understandable that when deicing operations are performed by drones, different types of drones have different operating characteristics and advantages. For example, flamethrower drones can quickly melt thicker ice by spraying high-temperature flames, while deicing drones with deicing sticks can remove ice by physical knocking. However, if you only rely on flamethrower drones for deicing, it may not be possible to ensure that the ice is completely removed. At this time, deicing drones with deicing sticks can be used to accurately remove the remaining ice after being processed by the flamethrower drone. Similarly, if you only rely on deicing drones for deicing, it cannot ensure that thicker ice can be effectively removed. This solution can reasonably dispatch and coordinate these two different types of drones to give full play to their respective advantages, improve deicing efficiency and thoroughness during deicing.

[0025] Specifically, when de-icing operations are required on power lines, the data on ice coverage on the power lines can first be acquired by controlling the acquisition equipment to capture images of the power lines. In actual applications, the position points and shooting postures of the acquisition equipment for capturing images of the power lines can be configured in advance. According to the acquired ice coverage data corresponding to the power lines, the locations on the power lines where ice coverage is more serious can be determined, i.e., the above-mentioned heavy ice accumulation points. Subsequently, flamethrower drones can be used to quickly melt the thicker ice areas corresponding to the heavy ice accumulation points, and then de-icing drones can be used to physically impact and remove the remaining ice, thereby improving the de-icing efficiency and the thoroughness of the de-icing work.

[0026] In some embodiments, the specific implementation of step S1 may be: S11, obtaining a front view image of the power line taken by the acquisition device at each monitoring point, wherein the ice coverage data includes the front view image.

[0027] In actual applications, power lines are usually long, and the icing conditions may vary at different locations. This solution can pre-configure multiple locations for taking images of the power lines, namely monitoring points, and control the acquisition equipment to go to each monitoring point to acquire images of the power lines. In order to more accurately reflect the actual icing conditions of the power lines, the monitoring points can be configured on the side of the power lines, so that the front view images of the power lines corresponding to each monitoring point can be obtained. By analyzing the front view images of the power lines, more accurate icing data can be obtained.

[0028] The monitoring point refers to a pre-configured location point for collecting image data of the power line, and the front view image refers to an image obtained by photographing the power line at the monitoring point.

[0029] S12, determining an ice-covered contour in the front view image, obtaining an ice-covered thickness of the ice-covered contour in a thickness direction, and determining a contour segment in which the ice-covered thickness is greater than or equal to a severe ice accretion threshold as an ice accretion segment.

[0030] It is understandable that the color of the power line may change when it is covered with ice, for example, the power line may appear black, while the power line covered with ice may appear white. The color change of the power line is reflected as a difference in pixel values ​​on the image. The pixel value interval corresponding to the pixel points of the ice-covered power line can be pre-configured, such as a white pixel value interval. By comparing the pixel values ​​corresponding to multiple pixel points in the front view image with the pre-configured pixel value interval, when the pixel value of the pixel point is within the pixel value interval, the pixel point can be determined as a contour point of the power line covered with ice. Through multiple adjacent contour points, the contour covered by ice on the power line, that is, the ice-covered contour, can be identified. After obtaining the ice-covered contour, the ice-covered thickness of the ice-covered contour in the image can be further obtained.

[0031] Specifically, when determining the ice thickness, the thickness direction can be pre-configured, and the thickness direction can be determined according to the direction of the power line in the front view image. For example, in the front view image, the direction of the power line can be from left to right, then the thickness direction can be configured as from bottom to top. After determining the thickness direction, multiple outer contour points of the ice contour can be obtained, and the two corresponding contour points in the thickness direction are determined as the same judgment group. Multiple judgment groups can be obtained. According to the span between the corresponding two outer contour points, the ice thickness of each judgment group in the thickness direction can be obtained. When the ice thickness corresponding to consecutive adjacent judgment groups is greater than the severe ice accumulation threshold, the consecutive adjacent judgment groups can be determined as the same contour segment, and the contour segment can be determined as an ice accumulation segment.

[0032] Among them, the ice-covered contour refers to the contour corresponding to the ice-covered power line, the thickness direction refers to the direction in which the ice thickness can be determined, the ice thickness refers to the span of the ice-covered contour in the thickness direction, the severe ice accretion threshold refers to the threshold that can be used to judge the severity of ice accretion corresponding to the contour segment, when the ice thickness is greater than the severe ice accretion threshold, it can be considered that the ice accretion degree of the corresponding contour segment is relatively serious, when the ice thickness is less than the severe ice accretion threshold, it can be considered that the ice accretion degree of the corresponding contour segment is not serious, the contour segment refers to a continuous area segment on the ice-covered contour, and the ice accretion segment refers to the contour segment whose ice thickness exceeds the severe ice accretion threshold.

[0033] S13, acquiring a length direction perpendicular to the thickness direction and an image boundary of the front view image in the length direction, and determining a first span of a center point of the ice accumulation segment from the image boundary in the length direction.

[0034] See also Figure 2 , which is a schematic diagram of determining a first span provided by an embodiment of the present invention, such as Figure 2 As shown in , when the thickness direction is from bottom to top, the direction perpendicular to the thickness direction can be determined as the length direction. In the length direction, the image boundary 1 and the image boundary 2 corresponding to the front view image can be determined, and the distance between the center point of the ice accumulation segment and the image boundary can be determined as the first span.

[0035] It is understandable that when obtaining the front view image of the power line, since the shooting range of the acquisition device is certain, when the position of the monitoring point is determined, the line segment of the power line photographed by the acquisition device can also be determined, and the image boundaries on both sides of the front view image can correspond to the shooting limit start point and shooting limit end point of the shooting sub-segment, for example Figure 2 The image boundary 1 in the image may correspond to the starting point of the shooting limit of the shooting sub-segment, and the image boundary 2 may correspond to the end point of the shooting limit of the shooting sub-segment. Therefore, according to the first span between the center point of the ice accumulation segment in the front view image and the image boundary in the length direction, the direction and distance of the position point corresponding to the ice accumulation segment in the image in reality can be determined, so that the position point where there is actually severe icing in the power line can be determined, which can improve the accuracy of subsequent de-icing work.

[0036] The length direction refers to the direction perpendicular to the thickness direction, the image boundary refers to the two image edges perpendicular to the length direction in the front view image, and the first span refers to the distance between the center point of the ice accumulation segment and the image boundary.

[0037] S14, obtaining a shooting sub-segment corresponding to the monitoring point in the power line, and determining a traversal direction corresponding to the length direction and a starting point corresponding to the image boundary in the shooting sub-segment.

[0038] Specifically, after obtaining the position of each monitoring point and the shooting range of the acquisition device, the shooting sub-segment corresponding to each monitoring point can be obtained. In the shooting sub-segment, the traversal direction parallel to the length direction can be determined. Since the two image boundaries of the front view image have corresponding position points on the actual shooting sub-segment, the starting point corresponding to the image boundary can be determined in the shooting sub-segment, for example Figure 2 As shown in , when the length direction is from left to right, the traversal direction corresponding to the shooting sub-segment is also from left to right, and the position point corresponding to the image boundary 1 in the shooting sub-segment can be determined as the starting point.

[0039] The shooting sub-segment refers to the power line segment within the shooting range of the acquisition device, the traversal direction refers to the direction parallel to the length direction in the shooting sub-segment, and the starting point refers to the position point in the shooting sub-segment corresponding to the image boundary.

[0040] S15, actually converting the first span to obtain a second span, and determining, according to the traversal direction, a position point in the shooting subsegment that is at the second span from the starting point as a severe ice accumulation point.

[0041] Specifically, when the monitoring point of the acquisition device is determined, the distance at which the acquisition device takes images of the power lines is also determined. Therefore, the conversion ratio corresponding to the shooting distance can be obtained. After the first span is obtained, it can be converted into the actual second span according to the conversion ratio. Combined with the traversal direction, the position point in the shooting sub-segment that is the second span away from the starting point can be determined, and the position point can be determined as the severe ice accumulation point.

[0042] The second span refers to the span corresponding to the first span after conversion in reality, and the severe ice accumulation point refers to the position point corresponding to the center point of the ice accumulation segment in the actual shooting sub-segment.

[0043] Through the above implementation, the position of the severe ice accumulation point in the actual power line can be accurately located, thereby providing more accurate guidance for the deicing operation of the collaborative maintenance equipment.

[0044] S2, determining a dynamic maintenance range of the target line according to the operating range of the collaborative maintenance equipment, and obtaining a dynamic operating duration of the collaborative maintenance equipment based on a severe freezing point in the dynamic maintenance range.

[0045] It is understandable that power lines are usually long, especially those passing through cold areas such as mountains, which are prone to severe icing and may pose a threat to power supply. In order to solve this problem, this solution can de-ice power lines with severe icing through collaborative maintenance equipment. The collaborative maintenance equipment can remove ice on the power lines through collaborative work.

[0046] Specifically, due to the long power lines, the collaborative maintenance equipment cannot clear the ice on the entire line at one time. Therefore, an area where the ice can be actually cleared can be determined based on its operating range, namely the dynamic maintenance range. The dynamic maintenance range is different, and the ice accumulation conditions in the corresponding line sections are also different. By evaluating the number of heavy ice accumulation points and the degree of ice coverage within the dynamic maintenance range, it can be determined how long the collaborative maintenance equipment needs to work to complete the de-icing work, thereby obtaining the dynamic operating time of the collaborative maintenance equipment within the dynamic maintenance range.

[0047] Among them, collaborative maintenance equipment refers to equipment that can collaborate in de-icing work, including flamethrower drones and de-icing drones. For example, when performing de-icing work, the flamethrower drone can first be used to quickly melt the ice layer at the severely iced location, and then the de-icing drone can be used to physically impact and remove the remaining ice. The operating range refers to the range of ice that can be removed by the collaborative maintenance equipment, which can be the operating range of the de-icing drone. The target line refers to the power line where the collaborative maintenance equipment is currently located. The dynamic maintenance range refers to the area on the target line corresponding to the operating range. The dynamic operating time refers to the time required for the collaborative maintenance equipment to perform de-icing work.

[0048] Based on the above embodiment, the specific implementation of step S2 may be: S21, obtaining a power line currently maintained by the collaborative maintenance equipment as the target line, wherein the collaborative maintenance equipment includes an ice melting equipment and a cleaning equipment.

[0049] Among them, ice-melting equipment refers to equipment that can quickly melt severely iced lines, such as a flamethrower drone, and cleaning equipment refers to equipment that can thoroughly clean the remaining ice after melting, such as a deicing drone with a deicing stick.

[0050] It is understandable that there may be multiple power lines in the area corresponding to the monitoring destination, and the icing conditions corresponding to each power line may be different. The power line currently maintained by the collaborative maintenance equipment can be determined as the target line, and the corresponding de-icing operation can be performed subsequently according to the actual icing conditions of the target line. The target line may be the power line closest to the current location of the collaborative maintenance equipment.

[0051] S22, determining the operating range of the cleaning equipment, obtaining the operating starting point corresponding to the target line in the operating direction, and determining the line segment in the target line corresponding to the operating range as the dynamic maintenance range based on the operating starting point.

[0052] The operation direction refers to the moving direction of the cleaning equipment when performing deicing work, and the operation starting point refers to the starting position point on the target line when the cleaning equipment performs deicing work, for example, it can be the starting point of the power line.

[0053] It is understandable that when the collaborative maintenance equipment is performing de-icing work, the ice-melting equipment only melts the ice on the line areas that are severely covered with ice, while the cleaning equipment can thoroughly clean the ice in all ice-covered areas. In actual applications, not all ice-covered areas on the power lines are severely covered with ice, so not all areas need to be melted, but all ice-accumulated areas require the cleaning equipment to perform corresponding de-icing operations. Therefore, the operating range of the cleaning equipment is larger than that of the ice-melting equipment. In order to quickly and thoroughly clear the ice-covered areas on the power lines, the dynamic maintenance range on the power lines can be determined by the operating range of the cleaning equipment.

[0054] Specifically, the operating range of the cleaning equipment when performing de-icing work can be obtained. In the operating direction, the target line has corresponding starting point and ending point. For example, when the operating direction is from left to right, the leftmost position point on the target line can be determined as the line starting point, and the rightmost position point on the target line can be determined as the line ending point. Therefore, when the cleaning equipment performs de-icing work according to the operating direction, the line starting point of the target line can be used as the starting point of the de-icing work. Taking the starting point as the reference, the line segment on the target line within the operating range from the starting point can be determined as the dynamic maintenance range.

[0055] S23, obtaining the ice accretion distance of each of the severe ice accretion points in the dynamic maintenance range, determining that the severe ice accretion points whose ice accretion distance is smaller than the heating range of the ice melting equipment are in the same maintenance group, and determining the dispatch quantity of the ice melting equipment according to the quantity of the maintenance groups.

[0056] Specifically, after the dynamic maintenance range is determined, there may be multiple severe ice accretion points within the dynamic maintenance range. When the multiple severe ice accretion points are close to each other, the severe ice can be melted by the same ice melting equipment to improve the ice melting efficiency. Therefore, the interval distance between the severe ice accretion points within the dynamic maintenance range, that is, the ice accretion distance, can be obtained. When the ice accretion distance is smaller than the heating range of the ice melting equipment, it can be considered that the ice melting equipment can melt the multiple severe ice accretion points at the same time. At this time, the corresponding multiple severe ice accretion points can be determined as the same maintenance group. Each maintenance group can be melted by one ice melting equipment. Therefore, the number of ice melting equipment to be dispatched can be determined according to the number of maintenance groups.

[0057] Among them, the ice accumulation distance refers to the interval distance between severe ice accumulation points, the heating range refers to the area where the ice melting equipment can effectively melt ice, the maintenance group refers to a group composed of multiple severe ice accumulation points that can be melted by the same ice melting equipment, and the dispatch quantity refers to the number of ice melting equipment required.

[0058] S24, dispatching the dispatched number of ice melting devices, obtaining ice accumulation parameters of each maintenance group, and determining the ice melting operation duration of each ice melting device and the cleaning operation duration of the cleaning device according to the ice accumulation parameters.

[0059] Among them, the ice accumulation parameters include the total length and maximum thickness of the ice accumulation section corresponding to the maintenance group, the ice melting operation time refers to the time required for the ice melting equipment to melt the ice, and the cleaning operation time refers to the time required for the cleaning equipment to perform the cleaning work.

[0060] Specifically, after obtaining the dispatch quantity, a corresponding number of ice-melting equipment can be dispatched to perform corresponding ice-melting operations at the same time to improve the efficiency of ice melting. According to the ice accumulation parameters such as the length and thickness of the ice accumulation section corresponding to each maintenance group, the severity of the icing situation can be judged. Therefore, the ice-melting operation duration of the ice-melting equipment when performing ice-melting work and the cleaning operation duration of the cleaning equipment when performing ice-cleaning work can be determined according to the actual ice covering situation. The more severe the ice covering, the more operation time the maintenance group needs.

[0061] In some embodiments, the step S24 of "obtaining ice accumulation parameters of each maintenance group, and determining the ice melting operation duration of each ice melting device and the cleaning operation duration of the cleaning device according to the ice accumulation parameters" includes the following steps: S241, obtaining ice accretion spans of ice accretion segments in the length direction in the ice accretion images corresponding to the maintenance groups, calculating a total ice accretion span of the ice accretion spans, and obtaining a first offset coefficient according to a ratio of a span difference between the total ice accretion span and a standard ice accretion span to a standard span difference.

[0062] In actual applications, after obtaining multiple maintenance groups, the acquisition equipment can be controlled to capture images of each maintenance group from the side of each maintenance group to obtain ice-covered images corresponding to each maintenance group. The ice-covered images corresponding to the maintenance group can be used to determine the span of the ice-accumulated segment in the ice-covered image in the length direction, that is, the ice-accumulation span. Since a maintenance group may correspond to multiple ice-covered images, and the corresponding ice-covered image may contain multiple ice-accumulated segments, multiple ice-accumulation spans can be obtained. By counting the sum of multiple ice-accumulation spans, the total ice-accumulation span corresponding to the maintenance group can be obtained. According to the total ice-accumulation span and the pre-configured standard ice-accumulation span, the span difference between the two can be calculated. By calculating the ratio of the span difference to the pre-configured standard span difference, the corresponding first offset coefficient can be obtained. The first offset coefficient can reflect the degree of deviation of the actual ice-accumulated length from the standard ice-accumulated length. The larger the first offset coefficient, the longer the ice-melting operation time required by the maintenance group.

[0063] Among them, the ice accretion span refers to the span of the ice accretion section in the length direction, the total ice accretion span refers to the sum of multiple ice accretion spans corresponding to the maintenance group, the standard ice accretion span refers to the standard ice accretion span corresponding to the pre-configured maintenance group, the span difference refers to the difference between the total ice accretion span and the standard ice accretion span, the standard span difference refers to the pre-configured standard span difference corresponding to the maintenance group, and the first offset coefficient refers to the value obtained by calculating the ratio of the span difference to the standard span difference.

[0064] S242, determining the maximum ice thickness of each ice accretion segment in the thickness direction, and obtaining a second offset coefficient according to the ratio of the thickness difference between the maximum ice accretion thickness and the standard ice accretion thickness to the standard thickness difference, wherein the ice accretion parameters include the total ice accretion span and the maximum ice accretion thickness.

[0065] Among them, the maximum ice thickness refers to the maximum thickness among multiple ice thicknesses corresponding to the ice accumulation section, the standard ice thickness refers to the pre-configured ice thickness under normal ice conditions, the thickness difference refers to the difference between the maximum ice thickness and the standard ice thickness, the standard thickness difference refers to the pre-configured thickness difference under normal ice conditions, and the second offset coefficient refers to the value obtained by calculating the ratio of the thickness difference to the standard thickness difference.

[0066] Specifically, in order to ensure that the ice can be completely cleared, the maximum ice thickness in the thickness direction of each ice accumulation section can be determined through the ice image, and the thickness difference between the maximum ice thickness and the standard ice thickness can be calculated. The thickness difference between the two can be obtained, and the second offset coefficient corresponding to the maintenance group can be obtained by ratio calculation of the thickness difference and the pre-configured standard thickness difference. The second offset coefficient can reflect the difference between the actual ice thickness and the standard ice thickness. The larger the second offset coefficient, the longer the ice melting operation time required for maintenance.

[0067] S243: Obtain an ice-melting offset coefficient according to the sum of the first offset coefficient and the second offset coefficient, and obtain an ice-melting operation duration based on the product of the ice-melting offset coefficient and a standard ice-melting duration.

[0068] Specifically, the first offset coefficient and the second offset coefficient are added to obtain the corresponding ice melting offset coefficient. By multiplying the ice melting offset coefficient with the standard ice melting time, the standard ice melting time can be offset to obtain the ice melting operation time corresponding to the maintenance group.

[0069] Among them, the ice melting offset coefficient refers to the coefficient that can offset the standard ice melting time. The standard ice melting time refers to the pre-configured ice melting time required under normal icing conditions. The standard ice melting time can be set accordingly to the standard ice accumulation span and the standard ice thickness, so that the standard ice melting time can be offset according to the actual ice thickness of the ice accumulation section.

[0070] S244, counting the average ice accretion area of ​​each ice accretion section, obtaining a duration offset coefficient according to a ratio of the average ice accretion area to a standard ice accretion area, and obtaining a cleaning operation duration based on a product of the duration offset coefficient and a standard cleaning duration corresponding to the cleaning equipment.

[0071] Among them, the mean ice accumulation area refers to the average value of the ice accumulation areas corresponding to each ice accumulation section, the standard ice accumulation area refers to the pre-configured ice accumulation area under normal icing conditions, the duration offset coefficient refers to the value obtained by calculating the ratio of the mean ice accumulation area to the standard ice accumulation area, the standard cleaning time refers to the operating time of the pre-configured cleaning equipment, and the cleaning operation time refers to the operating time after the standard cleaning time is offset.

[0072] In actual applications, the area of ​​ice accumulation formed at different positions on the power line may be different. Therefore, when the maintenance group includes multiple ice accretion sections, the ice accretion area corresponding to each ice accretion section can be obtained. By averaging the multiple ice accretion areas corresponding to the multiple ice accretion sections, the average ice accretion area can be obtained. By calculating the ratio of the average ice accretion area to the pre-configured standard ice accretion area, the corresponding duration offset coefficient can be obtained. The duration offset coefficient can reflect the degree of difference between the actual ice accretion area and the standard ice accretion area. The larger the ice accretion area, the larger the duration offset coefficient, and the longer the time required for the cleaning equipment to clean the ice.

[0073] After obtaining the duration offset coefficient, the pre-configured standard cleaning time can be offset by multiplying the duration offset coefficient with the standard cleaning time corresponding to the cleaning equipment to obtain the corresponding cleaning operation time. The cleaning equipment can then be controlled to perform ice cleaning work according to the cleaning operation time.

[0074] Through the above implementation, the actual ice accumulation situation can be evaluated more accurately, so that a more accurate ice melting operation duration and a clearing operation duration can be determined.

[0075] S25, obtaining a dynamic operation duration of the collaborative maintenance device according to the ice melting operation duration and the cleaning operation duration.

[0076] Specifically, after obtaining the ice melting operation duration of the ice melting equipment and the cleaning operation duration of the cleaning equipment, the dynamic operation duration corresponding to the collaborative maintenance equipment may be determined.

[0077] Through the above implementation, the operation time of the ice melting equipment and the cleaning equipment can be determined more accurately, thereby ensuring the thoroughness of the de-icing work.

[0078] S3, obtaining deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration.

[0079] In actual applications, after obtaining the dynamic operation time corresponding to the collaborative maintenance equipment, the collaborative maintenance equipment can be controlled to perform corresponding de-icing operations on the power lines in combination with the dynamic operation time. After the de-icing work is completed, this scheme can detect the actual de-icing situation within the dynamic maintenance range, and obtain the de-icing detection data after the collaborative maintenance equipment performs the de-icing operation within the dynamic maintenance range. Subsequently, it can be determined whether the ice on the power lines has been cleared based on the de-icing detection data.

[0080] Among them, the deicing detection data refers to the shooting data obtained after the deicing operation is performed within the dynamic maintenance range of the power line, for example, it can be video data. The deicing detection data can be used to determine whether there is any residual ice on the power line that has not been cleared.

[0081] In some embodiments, the specific implementation of step S3 may be: S31, determining the middle position point of each of the heavy ice accumulation points in each of the maintenance groups as an ice melting operation point, controlling the ice melting equipment to go to the ice melting operation point, and performing ice melting operation based on the ice melting operation duration corresponding to the corresponding maintenance group.

[0082] Specifically, when the maintenance equipment is coordinated to perform de-icing operations, each maintenance group may contain multiple severe ice accumulation points. The middle position of the multiple severe ice accumulation points can be determined as the ice melting operation point for the ice melting equipment to perform ice melting. The ice melting equipment is controlled to go to the ice melting operation point corresponding to each maintenance group. At the ice melting operation point, the ice melting equipment can be controlled to perform ice melting operations according to the ice melting operation duration corresponding to each maintenance group. Among them, the ice melting operation point refers to the location point where the ice melting equipment performs ice melting operations.

[0083] S32, when all ice-melting devices respond to ice-melting completion information, controlling the cleaning device to perform de-icing operation on the dynamic maintenance range based on the cleaning operation duration.

[0084] In actual applications, when the ice melting operation is completed, the ice melting equipment can respond to the corresponding ice melting completion information. Different maintenance groups may have different corresponding ice melting operation durations, so the time of the corresponding ice melting completion information of each ice melting equipment may be different. When all ice melting equipment respond to the ice melting completion information, it can be considered that the ice melting equipment has completed the ice melting operation for the severely iced power lines within the dynamic maintenance range. At this time, the cleaning equipment can be controlled to perform the de-icing operation according to the corresponding cleaning operation duration. Among them, the ice melting completion information refers to information that can indicate that the ice melting operation has been completed.

[0085] S33, in response to the deicing completion information, obtaining a detection video shot by the cleaning equipment from a bird's-eye view of the dynamic maintenance range, and obtaining the deicing detection data according to the detection video.

[0086] Specifically, when the de-icing operation of the cleaning equipment is completed, it can respond to the de-icing completion information. In order to be able to detect the de-icing effect, a corresponding camera capable of overhead shooting can be configured on the cleaning equipment. After the de-icing operation is completed, the cleaning equipment can be controlled to take an overhead shot of the line corresponding to the dynamic maintenance range to obtain the corresponding detection video. By analyzing the detection video, the corresponding de-icing detection data can be obtained.

[0087] The deicing completion information refers to the information that the cleaning device responds to when the deicing operation is completed, and the detection video refers to the video obtained by the cleaning device taking a bird's-eye view of the dynamic maintenance range.

[0088] S4, updating the dynamic maintenance range and the dynamic operation duration according to the deicing detection data, and obtaining linkage deicing data of the collaborative maintenance equipment.

[0089] It is understandable that if the accumulated ice within the dynamic maintenance range is not completely cleared, the dynamic maintenance range and dynamic operation duration of the collaborative maintenance equipment can be updated in combination with the de-icing detection data, so that the ice accumulation within the dynamic maintenance range can be calibrated and cleaned according to the actual de-icing situation, ensuring the thoroughness of the cleaning of the accumulated ice, so that the ice within the dynamic maintenance range is completely cleared.

[0090] Specifically, by analyzing the deicing detection data, the dynamic maintenance range and its corresponding dynamic operation duration can be updated in real time in combination with the actual deicing situation, and the linkage deicing data corresponding to the collaborative maintenance equipment can be obtained.

[0091] Among them, the linked de-icing data refers to data that updates the dynamic maintenance scope and dynamic operation duration during de-icing in real time based on the actual de-icing situation.

[0092] Based on the above embodiment, the specific implementation of step S4 may be: S41, obtaining a plurality of video frames corresponding to the deicing detection data, and extracting a line contour in each of the video frames.

[0093] Specifically, in order to determine whether ice on the power lines within the dynamic maintenance range is cleared, after obtaining the de-icing detection data, multiple video frames corresponding to the de-icing detection data can be obtained, and the contour of the power line in each video frame can be extracted through contour extraction technology such as edge detection algorithm, that is, the line contour, and then it can be determined whether there is ice on the power line based on the line contour. The line contour refers to the contour corresponding to the power line.

[0094] S42, determining that a video frame containing a plurality of line contours is a detection frame, and connecting the line contours in the detection frame to obtain a calibrated line contour.

[0095] In practical applications, when part of the power line is covered with ice, the line contour in the corresponding video frame will be interrupted. Therefore, when there are multiple line contours in the video frame, it can be considered that there is still ice accumulation in some areas of the power line, and de-icing may be required again. At this time, the video frame with multiple line contours can be determined as a detection frame. In order to determine the range of residual ice accumulation in the detection frame, the multiple line contours can be connected to obtain the corresponding calibrated line contour.

[0096] See also Figure 3 , is a schematic diagram of a calibration line profile provided by an embodiment of the present invention, such as Figure 3 As shown in the middle left figure, the area between line contour 1 and line contour 2 and the area between line contour 2 and line contour 3 are covered by ice, so the pixel values ​​corresponding to the corresponding areas are different from the pixel values ​​corresponding to other areas. Since the corresponding areas are covered by ice, the line contour is interrupted. There are multiple line contours in the video frame, so the video frame can be determined as a detection frame. By connecting line contour 1, line contour 2, and line contour 3 in the detection frame, the following can be obtained: Figure 3 The calibration line outline shown in the middle right figure can be used to determine the area covered by ice accumulation.

[0097] S43, obtaining an ice accumulation area in the calibration line profile, and offsetting the standard operation time of the collaborative maintenance equipment according to the ice detection parameters of the ice accumulation area to obtain a standard adjustment time.

[0098] Specifically, the corresponding ice accumulation area can be obtained based on the calibration line contour in the image. After the ice accumulation area is obtained, in order to improve the accuracy of de-icing, the actual residual ice coverage in the ice accumulation area can be analyzed to obtain ice detection data corresponding to the ice accumulation area. The standard operating time of the collaborative maintenance equipment is offset based on the ice detection parameters in the ice accumulation area to obtain the corresponding standard adjustment time, so that the dynamic operating time can be updated according to the standard adjustment time.

[0099] Among them, the ice accumulation area refers to the area covered by ice on the calibration line contour, the ice detection parameter refers to the ice accumulation area parameter in the ice accumulation area, the standard operation time refers to the pre-configured operation time under normal icing conditions, and the standard adjustment time refers to the operation time obtained by offsetting the standard operation time in combination with the actual deicing conditions.

[0100] In some embodiments, the specific implementation of step S43 may be: S431, obtaining pixel points whose pixel values ​​in the calibration line profile are located in the ice accumulation interval as target points, and obtaining ice accumulation areas based on the adjacent target points.

[0101] It can be understood that the pixel value of the contour covered by ice is different from the pixel value of the contour not covered by ice. The present solution can pre-configure the pixel interval corresponding to the pixel value of the line contour in the ice accumulation state, that is, the ice accumulation interval. For example, it can be the pixel interval corresponding to the white pixel value. The ice accumulation interval can include the pixel value range corresponding to the line contour covered with ice. The pixel values ​​of all pixel points in the calibration line contour are compared with the ice accumulation interval. If the pixel value of the pixel point is within the ice accumulation interval, the corresponding pixel point can be determined as the target point. The ice accumulation area in the calibration line contour can be determined based on multiple adjacent target points.

[0102] The ice accretion interval refers to the pixel interval corresponding to the pixel value of the line contour under the ice accretion state, and the target point refers to the pixel point located in the ice accretion interval.

[0103] S432: Determine the ice accretion area whose ice accretion area is greater than the ice accretion area threshold as an ice melting detection area, and calculate the first area average of each of the ice melting detection areas.

[0104] Specifically, an ice accumulation area threshold can be pre-configured, and the ice accumulation area threshold can be used to determine whether the ice accumulation area needs secondary data collection, and then determine whether the ice accumulation area needs ice melting operations. When the ice accumulation area of ​​the ice accumulation area is greater than the ice accumulation area threshold, it can be considered that the ice accumulation range of the corresponding ice accumulation area is large, and ice melting equipment may be required to melt the ice. The corresponding ice accumulation area can be determined as an ice melting detection area, and a first area mean can be obtained by calculating the mean of the ice accumulation areas of each ice melting detection area.

[0105] The ice accumulation area threshold refers to a pre-configured area threshold, the ice melting detection zone refers to an ice accumulation area where the ice accumulation area exceeds the ice accumulation area threshold, and the first area mean refers to an average value calculated after statistics of the ice accumulation areas of all ice melting detection zones.

[0106] S433: Obtain a first area difference between a first area mean and a reference ice-melting area, obtain an ice-melting adjustment coefficient according to a ratio of the first area difference to the reference ice-melting difference, and obtain an ice-melting adjustment duration based on a product of the ice-melting adjustment coefficient and a standard ice-melting duration of the ice-melting equipment.

[0107] Specifically, by calculating the difference between the first area mean and the benchmark ice-melting area, a first area difference can be obtained, and by calculating the ratio of the first area difference to a pre-configured benchmark ice-melting difference, an ice-melting adjustment coefficient for adjusting the operating time of the ice-melting equipment can be obtained. By multiplying the ice-melting adjustment coefficient and the standard ice-melting time, the ice-melting adjustment time corresponding to the ice-melting equipment can be obtained.

[0108] Among them, the benchmark ice-melting area refers to a pre-configured standard ice accumulation area, the first area difference refers to the difference between the first area mean and the benchmark ice-melting area, the benchmark ice-melting difference refers to a pre-configured standard area difference of the area that needs to be melted, the ice-melting adjustment coefficient refers to a coefficient that can be used to adjust the operating time of the ice-melting equipment accordingly, the standard ice-melting time refers to the operating time of the pre-configured ice-melting equipment, the standard ice-melting time can be configured accordingly with the benchmark ice-melting area, so that the standard ice-melting time can be offset according to the ice accumulation area corresponding to the ice-melting detection area, and the ice-melting adjustment time refers to the operating time obtained by offsetting the standard ice-melting time of the ice-melting equipment.

[0109] S434: Count the second area averages of all the ice accretion regions, and obtain a second area difference between the second area average and the reference deicing area.

[0110] Specifically, when the cleaning equipment is used to calibrate and clean the residual ice within the dynamic maintenance range, the cleaning equipment needs to clean the ice in all ice accumulation areas, so that the ice accumulation areas corresponding to multiple ice accumulation areas can be obtained, and the multiple ice accumulation areas are averaged to obtain a second area average, and the second area difference can be obtained by performing a difference calculation between the second area difference and a pre-configured benchmark deicing area.

[0111] Among them, the second area mean refers to the average value calculated after statistics of the ice accumulation areas of all ice accumulation areas, the benchmark deicing area refers to the pre-configured standard deicing area, and the second area difference refers to the difference between the second area mean and the benchmark deicing area.

[0112] S435, obtaining a deicing adjustment coefficient according to a ratio of the second area difference to a reference deicing difference, and obtaining a cleaning adjustment time according to a product of the deicing adjustment coefficient and a standard cleaning time of the cleaning equipment, wherein the standard adjustment time includes an ice melting adjustment time and a cleaning adjustment time.

[0113] Specifically, by calculating the ratio of the second area difference and the pre-configured benchmark deicing difference, the deicing adjustment coefficient for adjusting the operating time of the cleaning equipment can be obtained. By multiplying the deicing adjustment coefficient with the standard cleaning time, the cleaning adjustment time corresponding to the cleaning equipment can be obtained. According to the ice melting adjustment time and the cleaning adjustment time, the standard adjustment time corresponding to the collaborative maintenance equipment can be obtained.

[0114] Among them, the reference deicing difference refers to the difference in the area of ​​the pre-configured standard area that needs to be deiced, the deicing adjustment coefficient refers to the coefficient that can adjust the operating time of the deicing equipment accordingly, and the standard cleaning time refers to the pre-configured operating time of the cleaning equipment. The standard cleaning time can be configured accordingly with the reference deicing area. Therefore, the standard deicing time can be offset according to the total ice accumulation area corresponding to the ice accumulation area, and the cleaning adjustment time refers to the operating time obtained by offsetting the standard cleaning time of the cleaning equipment.

[0115] Through the above implementation, the standard deicing data can be offset in combination with the actual deicing situation, thereby improving the accuracy of deicing.

[0116] S44, determining that the collection point corresponding to each of the detection frames is a residual ice accumulation point, obtaining the collection point closest to the operation starting point of the dynamic maintenance range as the next operation starting point, and re-determining the next dynamic maintenance range according to the operation range of the collaborative maintenance equipment and the operation starting point.

[0117] It is understandable that after a de-icing operation is completed, there may be residual ice accumulation within the dynamic maintenance range. In order to completely remove the residual ice accumulation within the current dynamic maintenance range, the collaborative maintenance equipment may update the dynamic maintenance range and dynamic operation duration of the next de-icing operation of the collaborative maintenance equipment according to the location of the residual ice accumulation within the current dynamic maintenance range when performing the next de-icing operation.

[0118] Specifically, the shooting location of each video frame has a corresponding collection point on the power line. The collection point corresponding to the detection frame can be determined as the residual ice accumulation point. When determining the next dynamic maintenance range of the collaborative maintenance equipment, in order to completely remove the residual ice within the current dynamic maintenance range, the residual ice accumulation point closest to the operating starting point of the current dynamic maintenance range can be determined as the operating starting point of the next de-icing operation. Taking the re-determined next operating starting point as a reference, according to the operating range of the collaborative maintenance equipment, the dynamic maintenance range of the collaborative maintenance equipment for the next de-icing operation can be determined.

[0119] The acquisition point refers to the position point on the power line corresponding to the shooting position point of the video frame, and the residual ice accumulation point refers to the acquisition point on the power line corresponding to the shooting position point of the detection frame.

[0120] S45, based on the next severe ice accretion point and the residual ice accretion point within the dynamic maintenance range, the standard adjustment duration is offset to obtain an updated dynamic operation duration, and linkage deicing data is obtained according to the updated dynamic maintenance range and the dynamic operation duration.

[0121] It is understandable that when there are residual ice accumulation points within the dynamic maintenance range, the standard adjustment duration can be dynamically adjusted accordingly based on the actual deicing situation to obtain an updated dynamic operation duration.

[0122] Specifically, after obtaining the residual ice accretion point, there may also be multiple severe ice accretion points within the next dynamic maintenance range of the collaborative maintenance equipment. According to the determined residual ice accretion point and the severe ice accretion point within the next dynamic maintenance range, the standard adjustment time can be offset to obtain the dynamic operation time corresponding to the next dynamic maintenance range. The linked de-icing data can be obtained based on the updated dynamic maintenance range and its corresponding dynamic operation time.

[0123] In some embodiments, the step S45 of "offsetting the standard adjustment duration to obtain an updated dynamic operation duration based on the next severe ice accretion point and the residual ice accretion point within the dynamic maintenance range" includes the following steps: S451, determining the residual ice accretion point in the ice melting detection area as the ice accretion point to be detected, and determining the position point in the front view shooting direction corresponding to the target line and the front view shooting distance from the ice accretion point to be detected as the point to be detected.

[0124] Specifically, the ice accumulation area in the ice melting detection zone is larger than the standard ice accumulation area, and the corresponding ice coverage situation may be more serious. At this time, data collection can be performed on the ice melting detection zone again, and whether the ice melting detection zone needs to be melted can be determined based on the data collected for the second time. Therefore, when the residual ice accretion point is located in the ice melting detection zone, it can be considered that the ice accumulation situation in the area where the residual ice accretion point is located may be more serious, and data collection can be performed for the corresponding area for the second time, so that the residual ice accretion point is determined as the ice accretion point to be inspected.

[0125] When performing secondary data collection on the target line, in order to accurately reflect the current ice accumulation situation of the target line, the front view image corresponding to the target line can be obtained. Specifically, the front view shooting direction corresponding to the target line can be determined first. In the front view shooting direction, the position point at the front view shooting distance from the ice accumulation point to be inspected can be determined as the point to be inspected. The cleaning equipment is controlled to go to the point to be inspected and capture the image of the target line according to the pre-configured shooting posture, so that the front view image of the target line can be obtained.

[0126] Among them, the ice accumulation point to be inspected refers to the residual ice accumulation point where the ice thickness needs to be detected, the front view shooting direction refers to the pre-configured shooting direction that can obtain the front view image of the target line, the front view shooting distance refers to the pre-configured distance for shooting the target line, and the point to be inspected refers to the position point when the image of the target line is taken.

[0127] S452, obtaining a front view to be inspected taken by the cleaning equipment based on the point to be inspected, and if there is an ice accretion segment with an ice coating thickness greater than or equal to a severe ice accretion threshold in the front view to be inspected, determining the corresponding residual ice accretion point as a severe ice accretion point.

[0128] Specifically, the cleaning equipment is controlled to go to the inspection point to take images of the target line, and the corresponding frontal image to be inspected at the residual ice accretion point can be obtained. If the ice thickness of the ice accretion section in the frontal image to be inspected is greater than or equal to the severe ice accretion threshold, it can be considered that the ice coverage at the corresponding residual ice accretion point is relatively serious, and the corresponding residual ice accretion point can be determined as a severe ice accretion point.

[0129] The front view to be inspected refers to the front view image of the target line taken by the cleaning equipment at the point to be inspected.

[0130] S453: Determine that the heavy ice accretion points whose ice accretion distance is smaller than the heating range of the ice melting equipment are in the same update maintenance group, and determine the update quantity of the ice melting equipment according to the update maintenance group.

[0131] Specifically, the ice accretion distance between the severe ice accretion points within the dynamic maintenance range can be reacquired. When the ice accretion distance is smaller than the heating range of the ice melting device, one ice melting device can melt the multiple severe ice accretion points. Therefore, the corresponding multiple severe ice accretion points can be determined as the same update maintenance group, and the update number of the ice melting devices can be determined according to the number of update maintenance groups.

[0132] The updated maintenance group refers to a group consisting of multiple severe freezing points within the updated dynamic maintenance range, and the updated quantity refers to the quantity of ice melting equipment required by the updated dynamic maintenance group.

[0133] S454, obtaining updated ice accretion parameters of each of the update maintenance groups, offsetting the ice melting adjustment time according to the updated ice accretion parameters to obtain an ice melting update time, and offsetting the cleaning adjustment time according to the updated ice accretion parameters to obtain a cleaning update time.

[0134] Among them, updating the ice accumulation parameters includes updating the length parameters and thickness parameters of the ice accumulation section corresponding to the maintenance group; the ice melting update time refers to the operating time of the ice melting equipment obtained by offsetting the ice melting adjustment time; and the cleaning update time refers to the operating time of the cleaning equipment obtained by offsetting the cleaning adjustment time.

[0135] Specifically, according to the updated ice accumulation parameters such as the length and thickness of the ice accumulation section corresponding to each update maintenance group, the ice melting adjustment time corresponding to the ice melting equipment can be offset to obtain the corresponding ice melting update time, and according to the updated ice accumulation parameters, the cleaning adjustment time corresponding to the cleaning equipment can be offset to obtain the corresponding cleaning update time.

[0136] In some embodiments, the specific implementation of step S454 may be: S4541, counting the updated total span corresponding to the update maintenance group in the length direction, obtaining an updated span difference between the updated total span and a standard ice accumulation span, and obtaining a first update coefficient according to a ratio of the updated span difference to the standard span difference.

[0137] Specifically, there may be multiple ice accretion sections in the update and maintenance group, and the ice accretion span of each ice accretion section in the length direction can be obtained. By counting multiple ice accretion spans, the updated total span of the update and maintenance group in the length direction can be obtained. According to the updated total span and the pre-configured standard ice accretion span, the difference between the two can be calculated, that is, the updated span difference. By calculating the ratio of the updated span difference to the standard span difference, the corresponding first update coefficient can be obtained.

[0138] Among them, the updated total span refers to the total span of the ice accumulation section in the updated maintenance group in the length direction, the updated span difference refers to the difference between the updated total span and the standard ice accumulation span, and the first update coefficient refers to the value obtained by calculating the ratio of the updated span difference to the standard span difference.

[0139] S4542, obtaining the maximum ice coating thickness of each update maintenance group, determining an updated thickness difference between the maximum ice coating thickness and a standard ice coating thickness, and obtaining a second update coefficient according to a ratio of the updated thickness difference to the standard thickness difference.

[0140] Specifically, the maximum ice thickness of the ice accumulation section in each update maintenance group can be obtained, and the corresponding update thickness difference can be obtained by performing a difference calculation between the maximum ice thickness and the standard ice thickness, and the second update coefficient corresponding to the update maintenance group can be obtained by performing a ratio calculation between the update thickness difference and the standard thickness difference. The update thickness difference refers to the difference between the maximum ice thickness and the standard ice thickness, and the second update coefficient refers to the value obtained by performing a ratio calculation between the update thickness difference and the standard thickness difference.

[0141] S4543: Obtain an ice melting update coefficient according to the sum of the first update coefficient and the second update coefficient, obtain an ice melting update duration based on the product of the ice melting update coefficient and the ice melting adjustment duration, and the updated ice accumulation parameters include an updated total span and a maximum ice covering thickness.

[0142] Specifically, by adding the first update coefficient to the second update coefficient, the ice melting update coefficient corresponding to the update maintenance group can be obtained, and by multiplying the ice melting update coefficient by the ice melting adjustment time, the ice melting adjustment time can be offset to obtain the ice melting update time corresponding to the actual ice covering situation. The ice melting update coefficient refers to a coefficient that can offset the ice melting adjustment time, and the ice melting update time refers to the operation time required for the ice melting equipment to perform ice melting operations on thicker ice in the update maintenance group.

[0143] S4544: Count the average updated area of ​​each of the ice accretion sections, obtain an update offset coefficient according to the ratio of the update area average to the standard ice accretion area, and obtain the cleaning update duration based on the product of the update offset coefficient and the cleaning adjustment duration.

[0144] Specifically, the ice accumulation area corresponding to each ice accumulation section in the update maintenance group can be obtained, and the average of multiple ice accumulation areas can be calculated to obtain the corresponding update area average. By calculating the ratio of the update area average to the standard ice accumulation area, the update offset coefficient for offsetting the cleaning adjustment time can be obtained. By multiplying the update offset coefficient by the cleaning adjustment time, the cleaning update time required for the cleaning equipment can be obtained.

[0145] Among them, the update area mean refers to the average value of the ice accumulation area of ​​each ice accumulation section within the update maintenance group, the update offset coefficient refers to the coefficient that can offset the cleaning adjustment time, and the cleaning update time refers to the operating time required for the cleaning equipment to clean the ice within the update maintenance group.

[0146] Through the above implementation, the actual icing situation can be evaluated more accurately, so that the ice melting update time and the cleaning update time that are more in line with the actual needs can be obtained according to the actual icing situation, thereby improving the accuracy of the deicing operation.

[0147] S455: Obtain an updated dynamic operation duration according to the ice melting update duration and the cleaning update duration.

[0148] Specifically, when the collaborative maintenance equipment performs the next de-icing operation, it can perform the corresponding de-icing operation according to the updated dynamic operation duration.

[0149] Through the above implementation, the standard adjustment time can be dynamically adjusted accordingly according to the actual deicing situation to ensure that the ice within the dynamic maintenance range is completely removed.

[0150] See also Figure 4 , is a schematic diagram of the structure of an intelligent analysis platform for a power system based on image processing provided by an embodiment of the present invention. The data processing system based on power data includes: A control module, used for controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data; A determination module, configured to determine a dynamic maintenance range of a target line according to an operation range of a collaborative maintenance device, and obtain a dynamic operation duration of the collaborative maintenance device based on a severe freezing point in the dynamic maintenance range; An acquisition module, configured to acquire deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration; An updating module is used to update the dynamic maintenance range and the dynamic operation duration according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance equipment.

[0151] Figure 4 The apparatus of the embodiment shown can be used to perform Figure 1 The implementation principles and technical effects of the steps in the method embodiment shown are similar and will not be repeated here.

[0152] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, 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 embodiments of the present invention.

Claims

1. A method for intelligent analysis of power system based on image processing, characterized in that: include: Controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data; Determine a dynamic maintenance range of the target line according to the operation range of the collaborative maintenance equipment, and obtain the dynamic operation duration of the collaborative maintenance equipment based on the severe freezing point in the dynamic maintenance range; Acquire deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration; The dynamic maintenance range and the dynamic operation duration are updated according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance equipment.

2. The method according to claim 1, characterized in that Controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data, including: Acquire a front view image of the power line taken by the acquisition device at each monitoring point, wherein the ice coverage data includes the front view image; Determine an ice-covered contour in the front view image, obtain an ice-covered thickness of the ice-covered contour in a thickness direction, and determine a contour segment in which the ice-covered thickness is greater than or equal to a severe ice accretion threshold as an ice accretion segment; Acquire a length direction perpendicular to the thickness direction and an image boundary of the front view image in the length direction, and determine a first span of a center point of the ice accumulation segment from the image boundary in the length direction; Acquire a shooting sub-segment corresponding to the monitoring point in the power line, and determine a traversal direction corresponding to the length direction and a starting point corresponding to the image boundary in the shooting sub-segment; The first span is actually converted into a second span, and a position point in the shooting sub-segment that is at the second span from the starting point is determined as a severe ice accumulation point according to the traversal direction.

3. The method according to claim 1, characterized in that Determining a dynamic maintenance range of a target line according to an operation range of a collaborative maintenance device, and obtaining a dynamic operation duration of the collaborative maintenance device based on a severe freezing point in the dynamic maintenance range, including: Acquire the power line currently maintained by the collaborative maintenance equipment as the target line, wherein the collaborative maintenance equipment includes an ice melting device and a cleaning device; Determine the operating range of the cleaning equipment, obtain the operating starting point corresponding to the target line in the operating direction, and determine the line segment corresponding to the operating range in the target line as the dynamic maintenance range based on the operating starting point; Obtaining the ice accretion interval of each of the severe ice accretion points in the dynamic maintenance range, determining that the severe ice accretion points whose ice accretion interval is smaller than the heating range of the ice melting equipment are in the same maintenance group, and determining the dispatch quantity of the ice melting equipment according to the quantity of the maintenance groups; dispatching the dispatched number of ice melting devices, obtaining ice accumulation parameters of each of the maintenance groups, and determining the ice melting operation duration of each of the ice melting devices and the cleaning operation duration of the cleaning devices according to the ice accumulation parameters; The dynamic operation duration of the collaborative maintenance device is obtained according to the ice melting operation duration and the cleaning operation duration.

4. The method according to claim 3, characterized in that Acquiring ice accumulation parameters of each maintenance group, and determining the ice melting operation duration of each ice melting device and the cleaning operation duration of the cleaning device according to the ice accumulation parameters, including: Obtaining the ice accretion span of the ice accretion segment in the length direction in the ice accretion image corresponding to each maintenance group, counting the total ice accretion span of the ice accretion span, and obtaining a first offset coefficient according to the ratio of the span difference between the total ice accretion span and the standard ice accretion span to the standard span difference; Determine the maximum ice thickness of each ice accretion section in the thickness direction, and obtain a second offset coefficient according to the ratio of the thickness difference between the maximum ice accretion thickness and the standard ice accretion thickness to the standard thickness difference, wherein the ice accretion parameters include the total ice accretion span and the maximum ice accretion thickness; Obtain an ice melting offset coefficient according to the sum of the first offset coefficient and the second offset coefficient, and obtain an ice melting operation duration based on the product of the ice melting offset coefficient and a standard ice melting duration; The average ice accretion area of ​​each ice accretion section is counted, and the duration offset coefficient is obtained according to the ratio of the average ice accretion area to the standard ice accretion area. The cleaning operation duration is obtained based on the product of the duration offset coefficient and the standard cleaning duration corresponding to the cleaning equipment.

5. The method according to claim 4, characterized in that Acquiring deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration includes: Determine the middle position point of each of the heavy ice accumulation points in each of the maintenance groups as an ice melting operation point, control the ice melting equipment to go to the ice melting operation point, and perform ice melting operation based on the ice melting operation duration corresponding to the corresponding maintenance group; When all ice-melting devices respond to the ice-melting completion information, controlling the cleaning device to perform de-icing operation on the dynamic maintenance range based on the cleaning operation duration; In response to de-icing completion information, a detection video shot by the cleaning equipment from a bird's-eye view of the dynamic maintenance range is obtained, and the de-icing detection data is obtained based on the detection video.

6. The method according to claim 1, characterized in that The dynamic maintenance range and the dynamic operation duration are updated according to the deicing detection data to obtain linkage deicing data of the collaborative maintenance equipment, including: Acquire multiple video frames corresponding to the deicing detection data, and extract the line contour in each of the video frames; Determine a video frame containing multiple segments of the line contours as a detection frame, and connect the line contours in the detection frame to obtain a calibrated line contour; Acquire an ice accumulation area in the calibration route profile, and offset the standard operation time of the collaborative maintenance equipment according to ice detection parameters of the ice accumulation area to obtain a standard adjustment time; Determine the collection point corresponding to each detection frame as the residual ice accumulation point, obtain the collection point closest to the operation starting point of the dynamic maintenance range as the next operation starting point, and re-determine the next dynamic maintenance range according to the operation range of the collaborative maintenance equipment and the operation starting point; Based on the next severe ice accretion point and the residual ice accretion point within the dynamic maintenance range, the standard adjustment duration is offset to obtain an updated dynamic operation duration, and the linkage deicing data is obtained according to the updated dynamic maintenance range and the dynamic operation duration.

7. The method according to claim 6, characterized in that Acquiring an ice accumulation area in the calibration line profile, and offsetting the standard operation time of the collaborative maintenance equipment according to the ice detection parameter of the ice accumulation area to obtain a standard adjustment time, including: Obtaining pixel points whose pixel values ​​in the calibration line profile are located in the ice accumulation interval as target points, and obtaining ice accumulation areas based on adjacent target points; Determine an ice accretion area whose ice accretion area is greater than an ice accretion area threshold as an ice melting detection area, and calculate a first area average of each of the ice melting detection areas; Obtaining a first area difference between a first area mean and a reference ice-melting area, obtaining an ice-melting adjustment coefficient according to a ratio of the first area difference to the reference ice-melting difference, and obtaining an ice-melting adjustment duration based on a product of the ice-melting adjustment coefficient and a standard ice-melting duration of an ice-melting device; Counting the second area averages of all the ice accumulation areas, and obtaining a second area difference between the second area average and the reference deicing area; A deicing adjustment coefficient is obtained according to the ratio of the second area difference and the benchmark deicing difference, and a cleaning adjustment time is obtained according to the product of the deicing adjustment coefficient and a standard cleaning time of the cleaning equipment, wherein the standard adjustment time includes an ice melting adjustment time and a cleaning adjustment time.

8. The method according to claim 7, characterized in that Based on the next severe freezing point and the residual freezing point within the dynamic maintenance range, the standard adjustment duration is offset to obtain an updated dynamic operation duration, including: Determine the residual ice accumulation point in the ice melting detection area as the ice accumulation point to be detected, and determine the position point in the front view shooting direction corresponding to the target line and the front view shooting distance from the ice accumulation point to be detected as the point to be detected; Obtaining a front view to be inspected taken by the cleaning device based on the point to be inspected, and if there is an ice accretion section with an ice coating thickness greater than or equal to a severe ice accretion threshold in the front view to be inspected, determining the corresponding residual ice accretion point as a severe ice accretion point; Determine that the heavy ice accretion points where the ice accretion distance is less than the heating range of the ice melting device are in the same update maintenance group, and determine the update quantity of the ice melting device according to the update maintenance group; Acquire updated ice accretion parameters of each of the update maintenance groups, offset the ice melting adjustment time according to the updated ice accretion parameters to obtain an ice melting update time, and offset the cleaning adjustment time according to the updated ice accretion parameters to obtain a cleaning update time; The updated dynamic operation duration is obtained according to the ice melting update duration and the cleaning update duration.

9. The method according to claim 8, characterized in that Acquiring updated ice accretion parameters of each of the update maintenance groups, offsetting the ice melting adjustment time according to the updated ice accretion parameters to obtain an ice melting update time, and offsetting the cleaning adjustment time according to the updated ice accretion parameters to obtain a cleaning update time, including: Counting the total update span corresponding to the update maintenance group in the length direction, obtaining the update span difference between the total update span and the standard ice accumulation span, and obtaining a first update coefficient according to the ratio of the update span difference to the standard span difference; Obtaining the maximum ice thickness of each update maintenance group, determining an updated thickness difference between the maximum ice thickness and the standard ice thickness, and obtaining a second update coefficient according to a ratio of the updated thickness difference to the standard thickness difference; Obtaining an ice melting update coefficient according to the sum of the first update coefficient and the second update coefficient, obtaining an ice melting update duration based on the product of the ice melting update coefficient and the ice melting adjustment duration, wherein the updated ice accumulation parameters include updating a total span and a maximum ice thickness; The average updated area of ​​each of the ice accretion sections is counted, an updated offset coefficient is obtained according to a ratio of the updated area average to a standard ice accretion area, and the cleaning update duration is obtained based on a product of the updated offset coefficient and the cleaning adjustment duration.

10. An intelligent analysis platform for power systems based on image processing, characterized in that: include: A control module, used for controlling the collection device to obtain ice coverage data of the power lines in the monitoring destination, and determining the severe ice accumulation point according to the ice coverage data; A determination module, configured to determine a dynamic maintenance range of a target line according to an operation range of a collaborative maintenance device, and obtain a dynamic operation duration of the collaborative maintenance device based on a severe freezing point in the dynamic maintenance range; An acquisition module, configured to acquire deicing detection data of the collaborative maintenance equipment based on the dynamic maintenance range and the dynamic operation duration; An updating module is used to update the dynamic maintenance range and the dynamic operation duration according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance equipment.

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