Image processing-based intelligent analysis method and platform for power system

Abstract

The application provides an image processing-based intelligent analysis method and platform for a power system, a control collection device acquires icing data of a power line in a monitoring destination, determines a heavy icing point according to the icing data, determines a dynamic maintenance range of a target line according to a working range of a cooperative maintenance device, acquires a dynamic working duration of the cooperative maintenance device based on the heavy icing point in the dynamic maintenance range, acquires deicing detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic working duration, updates the dynamic maintenance range and the dynamic working duration according to the deicing detection data, and obtains linkage deicing data of the cooperative maintenance device.

Description

TECHNICAL FIELD

[0001] The present application relates to data processing technology, in particular to a power system intelligent analysis method and platform based on image processing. BACKGROUND

[0002] In the power system, icing of the power line is a serious safety hazard. Icing not only increases the load of the line, causing the line to break, but also can cause short circuit and power failure accidents, which seriously threatens the stable operation of the power system. In order to deal with the icing problem of the power line, corresponding deicing operation needs to be performed on the power line to ensure the safety of the line.

[0003] In the prior art, when deicing operation is performed on the power line, artificial control is often used to make the deicing unmanned aerial vehicle collide with the power line to ensure the safety of the line. However, in the case of thick icing, a single collision method may not be able to quickly remove all the icing, and the deicing efficiency is low and the thoroughness of deicing is not good.

[0004] Therefore, how to effectively dispatch and coordinate different types of unmanned aerial vehicles for deicing operation to improve the overall efficiency of deicing work and the thoroughness of deicing has become a problem to be solved. SUMMARY

[0005] The present application provides a power system intelligent analysis method and platform based on image processing, which can effectively dispatch and coordinate different types of unmanned aerial vehicles for deicing operation to improve the overall efficiency of deicing work and the thoroughness of deicing.

[0006] In a first aspect, the present application provides a power system intelligent analysis method based on image processing, comprising:

[0007] The control acquisition device acquires icing data of the power line in the monitoring destination, and determines the heavy icing point according to the icing data;

[0008] The dynamic maintenance range of the target line is determined according to the working range of the cooperative maintenance device, and the dynamic working time of the cooperative maintenance device is obtained based on the heavy icing point in the dynamic maintenance range;

[0009] The deicing detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic working time is obtained;

[0010] The dynamic maintenance range and the dynamic working time are updated according to the deicing detection data, and the linkage deicing data of the cooperative maintenance device is obtained.

[0011] Optionally, in a possible implementation manner of the first aspect, the control acquisition device acquires icing data of the power line in the monitoring destination, and determines the heavy icing point according to the icing data, comprising:

[0012] obtaining an orthographic image of the power line captured by the collection device at each monitoring point, the icing data comprising the orthographic image;

[0013] determining an icing profile in the orthographic image, obtaining an icing thickness of the icing profile in a thickness direction, and determining a profile segment with the icing thickness greater than or equal to a heavy icing threshold as a heavy icing segment;

[0014] obtaining a length direction perpendicular to the thickness direction and an image boundary of the orthographic image in the length direction, and determining a first span of a center point of the heavy icing segment from the image boundary in the length direction;

[0015] obtaining a photographed sub-segment corresponding to the monitoring point in the power line, determining a traversal direction corresponding to the length direction in the photographed sub-segment, and determining a starting point corresponding to the image boundary;

[0016] performing actual conversion on the first span to obtain a second span, and determining a position point in the photographed sub-segment at a distance from the starting point to the second span as a heavy icing point according to the traversal direction.

[0017] Optionally, in a possible implementation manner of the first aspect, the dynamic maintenance range of the target line is determined according to a working range of the cooperative maintenance device, and the dynamic working duration of the cooperative maintenance device is obtained based on the heavy icing points in the dynamic maintenance range, including:

[0018] obtaining the power line currently maintained by the cooperative maintenance device as the target line, and the cooperative maintenance device comprising an ice melting device and a cleaning device;

[0019] determining a working range of the cleaning device, obtaining a working starting point corresponding to the target line in a working direction, and determining a line segment corresponding to the working range in the target line as a dynamic maintenance range based on the working starting point;

[0020] obtaining an icing interval of each heavy icing point in the dynamic maintenance range, determining heavy icing points with an icing interval less than a heating range of the ice melting device as a same maintenance group, and determining a dispatching number of the ice melting device according to a number of the maintenance groups;

[0021] dispatching the dispatching number of the ice melting devices, obtaining icing parameters of each maintenance group, and determining an ice melting working duration of each ice melting device and a cleaning working duration of the cleaning device according to the icing parameters;

[0022] obtaining the dynamic working duration of the cooperative maintenance device according to the ice melting working duration and the cleaning working duration.

[0023] Optionally, in a possible implementation manner of the first aspect, the ice accumulation parameters of the maintenance groups are acquired, and the ice-melting operation time length of the ice-melting devices and the cleaning operation time length of the cleaning device are determined according to the ice accumulation parameters, including:

[0024] An ice accumulation span of an ice accumulation section in a length direction in the ice-covered image corresponding to each of the maintenance groups is acquired, a total ice accumulation span of the ice accumulation spans is counted, and a first offset coefficient is obtained according to a ratio of a span difference value of the total ice accumulation span and a standard ice accumulation span to a standard span difference value;

[0025] A maximum ice-covered thickness of each of the ice accumulation sections in a thickness direction is determined, a second offset coefficient is obtained according to a ratio of a thickness difference value of the maximum ice-covered thickness and a standard ice-covered thickness to a standard thickness difference value, and the ice accumulation parameters include the total ice accumulation span and the maximum ice-covered thickness;

[0026] An ice-melting offset coefficient is obtained according to a sum of the first offset coefficient and the second offset coefficient, and the ice-melting operation time length is obtained based on a product of the ice-melting offset coefficient and a standard ice-melting time length;

[0027] An average ice accumulation area of each of the ice accumulation sections is counted, a time length offset coefficient is obtained according to a ratio of the average ice accumulation area to a standard ice accumulation area, and the cleaning operation time length is obtained based on a product of the time length offset coefficient and a standard cleaning time length corresponding to the cleaning device.

[0028] Optionally, in a possible implementation manner of the first aspect, the de-icing detection data of the collaborative maintenance device based on the dynamic maintenance range and the dynamic operation time length is acquired, including:

[0029] An intermediate position point of each of the heavy ice accumulation points in each of the maintenance groups is determined as an ice-melting operation point, the ice-melting device is controlled to go to the ice-melting operation point, and ice-melting operation is performed based on the ice-melting operation time length corresponding to the corresponding maintenance group;

[0030] When all the ice-melting devices respond to the ice-melting completion information, the cleaning device is controlled to perform de-icing operation on the dynamic maintenance range based on the cleaning operation time length;

[0031] In response to the de-icing completion information, detection video obtained by overhead shooting of the cleaning device on the dynamic maintenance range is acquired, and the de-icing detection data is obtained according to the detection video.

[0032] Optionally, in a possible implementation manner of the first aspect, the dynamic maintenance range and the dynamic operation time length are updated according to the de-icing detection data, and linkage de-icing data of the collaborative maintenance device is obtained, including:

[0033] A plurality of video frames corresponding to the de-icing detection data are acquired, and a line contour in each of the video frames is extracted;

[0034] determine a video frame in which a plurality of line profiles exist as a detection frame, and connect each line profile in the detection frame to obtain a calibrated line profile;

[0035] acquire an icing area in the calibrated line profile, and offset a standard operation duration of the cooperative maintenance device according to an icing detection parameter of the icing area to obtain a standard adjustment duration;

[0036] determine a collection point corresponding to each detection frame as a residual icing point, acquire a collection point closest to an operation starting point of the dynamic maintenance range as a next operation starting point, and re-determine a next dynamic maintenance range according to an operation range of the cooperative maintenance device and the operation starting point;

[0037] offset the standard adjustment duration according to a severe icing point in the next dynamic maintenance range and the residual icing point to obtain an updated dynamic operation duration, and obtain linkage deicing data according to the updated dynamic maintenance range and the dynamic operation duration.

[0038] Optionally, in a possible implementation manner of the first aspect, the acquiring of the icing area in the calibrated line profile and the offsetting of the standard operation duration of the cooperative maintenance device according to the icing detection parameter of the icing area to obtain the standard adjustment duration include:

[0039] acquire a pixel point in the calibrated line profile as a target point, and obtain an icing area according to adjacent target points;

[0040] determine an icing area with an icing area greater than an icing area threshold as a deicing detection area, and statistically acquire a first area mean value of each deicing detection area;

[0041] acquire a first area difference value between the first area mean value and a reference deicing area, obtain a deicing adjustment coefficient according to a ratio of the first area difference value to a reference deicing difference value, and obtain a deicing adjustment duration based on a product of the deicing adjustment coefficient and a standard deicing duration of a deicing device;

[0042] statistically acquire a second area mean value of all icing areas, and acquire a second area difference value between the second area mean value and a reference deicing area;

[0043] obtain a deicing adjustment coefficient according to a ratio of the second area difference value to a reference deicing difference value, obtain a cleaning adjustment duration according to a product of the deicing adjustment coefficient and a standard cleaning duration of a cleaning device, and the standard adjustment duration includes the deicing adjustment duration and the cleaning adjustment duration.

[0044] Optionally, in a possible implementation manner of the first aspect, the standard adjustment duration is offset based on the heavy icing point and the residual icing point in the next dynamic maintenance range to obtain an updated dynamic operation duration, and the method comprises the following steps.

[0045] A residual icing point of the ice melting detection area is determined as a detected icing point, and a position point corresponding to an orthographic shooting distance of the detected icing point in an orthographic shooting direction of the target line is determined as a detected point;

[0046] A detected orthographic view photographed by the cleaning device based on the detected point is obtained, and if there is an icing segment with an icing thickness greater than or equal to a heavy icing threshold in the detected orthographic view, the corresponding residual icing point is determined as a heavy icing point;

[0047] The heavy icing points with an icing interval less than a heating range of the ice melting device are determined as an updated maintenance group, and the number of the ice melting devices is determined according to the updated maintenance group;

[0048] Updated icing parameters of each updated maintenance group are obtained, the ice melting adjustment duration is offset based on the updated icing parameters to obtain an ice melting updated duration, and the cleaning adjustment duration is offset based on the updated icing parameters to obtain a cleaning updated duration;

[0049] An updated dynamic operation duration is obtained according to the ice melting updated duration and the cleaning updated duration.

[0050] Optionally, in a possible implementation manner of the first aspect, the updated icing parameters of each updated maintenance group are obtained, the ice melting adjustment duration is offset based on the updated icing parameters to obtain an ice melting updated duration, and the cleaning adjustment duration is offset based on the updated icing parameters to obtain a cleaning updated duration, and the method comprises the following steps.

[0051] An updated total span corresponding to the updated maintenance group in a length direction is counted, an updated span difference between the updated total span and a standard icing span is obtained, and a first updated coefficient is obtained according to a ratio of the updated span difference to a standard span difference;

[0052] A maximum icing thickness of each updated maintenance group is obtained, an updated thickness difference between the maximum icing thickness and a standard icing thickness is determined, and a second updated coefficient is obtained according to a ratio of the updated thickness difference to a standard thickness difference;

[0053] An ice melting updated coefficient is obtained according to a sum of the first updated coefficient and the second updated coefficient, an ice melting updated duration is obtained based on a product of the ice melting updated coefficient and the ice melting adjustment duration, and the updated icing parameters comprise the updated total span and the maximum icing thickness;

[0054] The average updated area of each of the ice accumulation sections is counted, an updated offset coefficient is obtained according to a ratio of the average updated area to a standard ice accumulation area, and the cleaning updated time length is obtained based on a product of the updated offset coefficient and the cleaning adjustment time length.

[0055] In a second aspect, the application provides an image processing-based intelligent analysis platform for a power system, comprising:

[0056] The control module is configured to control the acquisition device to acquire icing data of the power line in the monitoring destination, and determine the heavy icing point according to the icing data.

[0057] The determination module is configured to determine a dynamic maintenance range of the target line according to the working range of the cooperative maintenance device, and acquire a dynamic working time length of the cooperative maintenance device based on the heavy icing point in the dynamic maintenance range.

[0058] The acquisition module is configured to acquire de-icing detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic working time length.

[0059] The update module is configured to update the dynamic maintenance range and the dynamic working time length according to the de-icing detection data, and obtain linkage de-icing data of the cooperative maintenance device.

[0060] The application has the following advantages:

[0061] 1. The application can reasonably schedule the cooperative maintenance device to perform more efficient de-icing work on the power line with serious icing, the cooperative maintenance device includes an ice melting device that can quickly melt the seriously iced line and a cleaning device that can thoroughly clean the residual icing after melting, and the two different types of de-icing devices can work efficiently in cooperation, which not only improves the de-icing efficiency, but also improves the thoroughness of the de-icing work.

[0062] 2. After the de-icing work is completed, the application can detect the actual de-icing situation in the dynamic maintenance range, if the ice accumulation in the dynamic maintenance range is not completely removed, the dynamic maintenance range and the dynamic working time length corresponding to the next de-icing work of the cooperative maintenance device can be updated according to the actual de-icing situation, so that the ice accumulation in the dynamic maintenance range can be calibrated and cleaned, ensuring the thoroughness of the ice accumulation cleaning, and making the icing in the dynamic maintenance range completely removed.

[0063] 3、The application can determine the position point corresponding to the residual ice accretion closest to the operation starting point of the current dynamic maintenance range as the operation starting point of the next deicing operation when updating the dynamic maintenance range of the cooperative maintenance device, determine the dynamic maintenance range of the cooperative maintenance device when performing the next deicing operation according to the operation range of the cooperative maintenance device, improve the deicing efficiency of the cooperative maintenance device when performing deicing work, and ensure that the residual ice accretion in the current dynamic maintenance range can be completely removed. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 is a flowchart of an image processing-based power system intelligent analysis method provided by an embodiment of the application;

[0065] Figure 2 is a schematic diagram of determining a first span provided by an embodiment of the application;

[0066] Figure 3 is a schematic diagram of calibrating a line profile provided by an embodiment of the application;

[0067] Figure 4 is a structural schematic diagram of an image processing-based power system intelligent analysis platform provided by an embodiment of the application. DETAILED DESCRIPTION

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the application clearer, the technical solutions in the embodiments of the application will be described below in connection with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without any creative work fall within the protection scope of the application.

[0069] The technical solutions of the application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments.

[0070] Referring to Figure 1 is a schematic diagram of an image processing-based power system intelligent analysis method provided by an embodiment of the application, Figure 1The execution subject of the method shown can be a software and / or hardware device. The execution subject of the present application can include, but is not limited to, at least one of the following: user equipment, network equipment, etc. Among them, the user equipment can include, but is not limited to, a computer, a smart phone, a personal digital assistant (PDA), and the above-mentioned electronic devices, etc. The network equipment can include, but is not limited to, a single network server, a server group composed of multiple network servers, or a cloud composed of a large number of computers or network servers based on cloud computing. Cloud computing is a kind of distributed computing, which is a super virtual computer composed of a group of loosely coupled computers. The present embodiment does not make any limitation. It includes steps S1 to S4, which are as follows:

[0071] S1, controlling the acquisition device to acquire icing data of the power line in the monitoring destination, and determining a heavy icing point according to the icing data.

[0072] Among them, the acquisition device refers to a device that can take image data of the power line, for example, a drone with a camera. The monitoring destination refers to the destination of the power line that needs to be deiced. The icing data refers to the length and thickness of the icing on the power line. The heavy icing point refers to the position point where the icing on the power line is relatively serious.

[0073] With the rapid development of unmanned aerial vehicle technology, the application of unmanned aerial vehicles in deicing has been gradually promoted. It can be understood that different types of unmanned aerial vehicles have different operation characteristics and advantages when deicing by unmanned aerial vehicles. For example, a fire spraying unmanned aerial vehicle can quickly melt thick ice by spraying high-temperature flames, and a deicing unmanned aerial vehicle with a deicing rod can remove ice by physical knocking. However, if only relying on a fire spraying unmanned aerial vehicle to deice, it may not be able to ensure that the ice layer is completely removed. At this time, a deicing unmanned aerial vehicle with a deicing rod can be used to accurately remove the residual ice layer after the treatment of the fire spraying unmanned aerial vehicle. Similarly, if only relying on a deicing unmanned aerial vehicle to deice, it may not be able to ensure that the thick ice can be effectively removed. The present scheme can reasonably schedule and coordinate the two different types of unmanned aerial vehicles to fully exert their respective advantages, improve the deicing efficiency and thoroughness.

[0074] Specifically, when the power line needs to be deiced, first, the image of the power line can be captured by the control collection device to obtain the icing data on the power line. In actual application, the position point and the shooting pose of the collection device when capturing the image of the power line can be configured in advance. According to the obtained icing data corresponding to the power line, the position of the power line where the icing is relatively serious, i.e., the above-mentioned heavy icing point, can be determined. Subsequently, the thick icing area corresponding to the heavy icing point can be quickly melted by using the fire unmanned aerial vehicle, and the remaining icing can be physically impacted and removed by using the deicing unmanned aerial vehicle, so that the deicing efficiency and the thoroughness of the deicing work can be improved.

[0075] In some embodiments, the specific implementation of step S1 can be:

[0076] S11, obtain the front view image of the power line captured by the collection device at each monitoring point, and the icing data comprises the front view image.

[0077] In actual application, the power line is usually long, and the icing condition may be different at different positions. The present scheme can pre-configure a plurality of position points for image shooting of the power line, i.e., monitoring points, control the collection device to go to each monitoring point to collect the image of the power line. In order to more accurately reflect the actual icing condition of the power line, the monitoring points can be configured at the side position of the power line, so that the front view image of the power line corresponding to each monitoring point can be obtained. By analyzing the front view image of the power line, more accurate icing data can be obtained.

[0078] Wherein, the monitoring point refers to the pre-configured position point for image data collection of the power line, and the front view image refers to the image obtained by shooting the power line at the monitoring point.

[0079] S12, determine the icing contour in the front view image, obtain the icing thickness of the icing contour in the thickness direction, and determine the contour segment with the icing thickness greater than or equal to the heavy icing threshold as the icing segment.

[0080] It can be understood that the color of the power line may change under icing condition, for example. The power line may appear black, and the power line under icing condition 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 point of the icing power line can be preconfigured, for example, the white pixel value interval. By comparing the pixel value corresponding to the plurality of pixel points in the front view image with the preconfigured pixel value interval, when the pixel value of the pixel point is located in the pixel value interval, the pixel point can be determined as the contour point of the power line covered by the accumulated ice. Through a plurality of adjacent contour points, the contour of the accumulated ice covered on the power line, that is, the icing contour, can be recognized. After the icing contour is obtained, the icing thickness of the icing contour in the image can be further obtained.

[0081] Specifically, in determining the icing thickness, the thickness direction can be preconfigured. 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 the thickness direction is determined, a plurality of outer contour points of the icing contour can be obtained. Corresponding two contour points in the thickness direction are determined as a same judging group. A plurality of judging groups can be obtained. According to the span between the corresponding two outer contour points, the icing thickness of each judging group in the thickness direction can be obtained. When the icing thickness corresponding to the continuous adjacent judging groups is greater than the heavy icing threshold, the continuous adjacent judging groups can be determined as a same contour segment, and the contour segment can be determined as an icing segment.

[0082] In the formula, the icing contour refers to the contour corresponding to the icing power line, the thickness direction refers to the direction in which the icing thickness can be determined, the icing thickness refers to the span of the icing contour in the thickness direction, the heavy icing threshold refers to the threshold that can be used to judge the icing severity of the contour segment. When the icing thickness is greater than the heavy icing threshold, it can be considered that the icing degree of the corresponding contour segment is relatively serious. When the icing thickness is less than the heavy icing threshold, it can be considered that the icing degree of the corresponding contour segment is not serious. The contour segment refers to a continuous area segment on the icing contour, and the icing segment refers to the contour segment with the icing thickness exceeding the heavy icing threshold.

[0083] S13, obtaining 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 the center point of the icing segment from the image boundary in the length direction.

[0084] Referring to Figure 2 A schematic diagram for determining the first span provided by the embodiment of the present application is shown in FIG. 6. Figure 2As shown in FIG. 1, 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 section and the image boundary can be determined as the first span.

[0085] It can be understood that when the front view image of the power line is acquired, since the shooting range of the collection device is certain, when the position of the monitoring point is determined, the line section of the power line shot by the collection device is also certain, and the image boundaries on both sides of the front view image can correspond to the shooting limit start point and the shooting limit end point of the shot sub-section, for example Figure 2 The image boundary 1 in FIG. 1 can correspond to the shooting limit start point of the shot sub-section, and the image boundary 2 can correspond to the shooting limit end point of the shot sub-section, so according to the first span between the center point of the ice accumulation section and the image boundary in the length direction, the direction and distance of the position point corresponding to the ice accumulation section in the actual image can be determined, so that the position point where the serious icing condition actually exists in the power line can be determined, and the accuracy when subsequent deicing work is performed can be improved.

[0086] Wherein, 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 section and the image boundary.

[0087] S14, acquiring a shot sub-section corresponding to the monitoring point in the power line, determining a traversal direction corresponding to the length direction and a start point corresponding to the image boundary in the shot sub-section.

[0088] Specifically, after the positions of the monitoring points and the shooting range of the collection device are acquired, the shot sub-section corresponding to each monitoring point can be acquired, and the traversal direction parallel to the length direction in the shot sub-section can be determined. Since the two image boundaries of the front view image have corresponding position points on the actual shot sub-section, the start point corresponding to the image boundary in the shot sub-section can be determined, for example Figure 2 As shown in FIG. 1, when the length direction is from left to right, the traversal direction of the shot sub-section is also from left to right, and the position point corresponding to the image boundary 1 in the shot sub-section can be determined as the start point.

[0089] Wherein, the shot sub-section refers to the power line section within the shooting range of the collection device, the traversal direction refers to the direction parallel to the length direction in the shot sub-section, and the start point refers to the position point corresponding to the image boundary in the shot sub-section.

[0090] S15, the first span is actually converted to obtain a second span, and the position point in the shooting sub-section at the second span from the starting point is determined as the heavy icing point according to the traversal direction.

[0091] Specifically, when the monitoring point of the collection device is determined, the distance of the collection device for image shooting of the power line is also determined, so that the conversion ratio corresponding to the shooting distance can be obtained. After the first span is obtained, the first span can be converted into the second span in the actual situation according to the conversion ratio. In combination with the traversal direction, the position point at the second span from the starting point in the shooting sub-section can be determined, and the position point can be determined as the heavy icing point.

[0092] Among them, the second span refers to the span corresponding to the first span after conversion in the actual situation, and the heavy icing point refers to the position point corresponding to the center point of the icing section in the actual shooting sub-section.

[0093] Through the above embodiment, the position of the heavy icing point in the actual power line can be accurately positioned, so that more accurate guidance can be provided for the deicing operation of the cooperative maintenance device.

[0094] S2, determine the dynamic maintenance range of the target line according to the working range of the cooperative maintenance device, and obtain the dynamic working time of the cooperative maintenance device based on the heavy icing point in the dynamic maintenance range.

[0095] It can be understood that the power line is usually long, especially the line passing through cold regions such as mountains, which is prone to severe icing and may threaten power supply. In order to solve this problem, the present scheme can remove the icing on the power line through the cooperative maintenance device. The cooperative maintenance device can remove the icing on the power line through cooperative work.

[0096] Specifically, since the power line is long, the cooperative maintenance device cannot remove the icing on the entire line at one time, so the working range of the cooperative maintenance device can be used to determine an area that can actually clean the icing, that is, the dynamic maintenance range. The icing conditions in the line section are different corresponding to different dynamic maintenance ranges. By evaluating the number and icing degree of the heavy icing points in the dynamic maintenance range, it can be determined how long the cooperative maintenance device needs to work to complete the deicing work, so that the dynamic working time of the cooperative maintenance device in the dynamic maintenance range can be obtained.

[0097] The cooperative maintenance device refers to a device that can cooperate to perform deicing work, including a fire spraying unmanned aerial vehicle and a deicing unmanned aerial vehicle. For example, when performing deicing work, the fire spraying unmanned aerial vehicle can first melt the ice layer at a serious icing position quickly, and then the deicing unmanned aerial vehicle can physically impact and remove the remaining ice. The operation range refers to the range of ice that can be removed by the cooperative maintenance device, which can be the operation range of the deicing unmanned aerial vehicle. The target line refers to the power line on which the cooperative maintenance device is currently located. The dynamic maintenance range refers to the area range on the target line corresponding to the operation range. The dynamic operation time length refers to the time length required for the cooperative maintenance device to perform deicing work.

[0098] On the basis of the above embodiment, the specific implementation mode of step S2 can be:

[0099] S21, the power line currently maintained by the cooperative maintenance device is determined as the target line, and the cooperative maintenance device includes an ice melting device and a cleaning device.

[0100] The ice melting device refers to a device that can quickly melt the ice on a serious icing line, such as a fire spraying unmanned aerial vehicle. The cleaning device refers to a device that can thoroughly clean the remaining ice after melting, such as a deicing unmanned aerial vehicle with a deicing rod.

[0101] It can be understood that there can be multiple power lines in the area corresponding to the monitoring destination, and the icing conditions of each power line can be different. The power line currently maintained by the cooperative maintenance device can be determined as the target line, and subsequent deicing operations can be performed according to the actual icing condition of the target line. The target line can be the power line closest to the current position of the cooperative maintenance device.

[0102] S22, determine the operation range of the cleaning device, and obtain the operation starting point corresponding to the target line in the operation direction. Taking the operation starting point as a reference, the line segment in the target line corresponding to the operation range is determined as the dynamic maintenance range.

[0103] The operation direction refers to the moving direction of the cleaning device when performing deicing work. The operation starting point refers to the starting position point on the target line when the cleaning device performs deicing work, such as the line starting point of the power line.

[0104] It can be understood that when the cooperative maintenance device is working, the ice melting device only melts ice in the local serious icing line area, and the cleaning device can completely clean the ice in all icing areas. In actual application, not all icing areas on the power line are serious icing, and therefore not all areas need to be melted, but all icing areas need to be cleaned by the cleaning device. Therefore, the working range of the cleaning device is larger than that of the ice melting device. In order to quickly and completely remove the ice on the power line, the dynamic maintenance range on the power line can be determined by the working range of the cleaning device.

[0105] Specifically, the working range of the cleaning device when working can be obtained. In the working direction, the target line has a corresponding starting point and an ending point. For example, when the working direction is from left to right, the leftmost point on the target line can be determined as the line starting point, and the rightmost point on the target line can be determined as the line ending point. Therefore, when the cleaning device works according to the working direction, the line starting point of the target line can be used as the working starting point of the ice removal work. Based on the working starting point, the line segment on the target line within the working range of the working starting point can be determined as the dynamic maintenance range.

[0106] S23, obtaining the ice accumulation distance between each serious icing point in the dynamic maintenance range, determining the serious icing points with an ice accumulation distance less than the heating range of the ice melting device as the same maintenance group, and determining the number of dispatched ice melting devices according to the number of maintenance groups.

[0107] Specifically, after determining the dynamic maintenance range, there can be multiple serious icing points in the dynamic maintenance range. When multiple serious icing points are close to each other, the same ice melting device can be used to melt the serious icing, thereby improving the ice melting efficiency. Therefore, the interval distance between the serious icing points in the dynamic maintenance range, i.e., the ice accumulation distance, can be obtained. When the ice accumulation distance is less than the heating range of the ice melting device, it can be considered that the ice melting device can simultaneously melt multiple serious icing points. At this time, the corresponding multiple serious icing points can be determined as the same maintenance group, and each maintenance group can be melted by one ice melting device. Therefore, the number of dispatched ice melting devices can be determined according to the number of maintenance groups.

[0108] In the formula, the ice accumulation distance refers to the interval distance between the serious icing points, the heating range refers to the range of the area that can be effectively melted by the ice melting device, the maintenance group refers to a group of multiple serious icing points that can be melted by the same ice melting device, and the number of dispatched refers to the number of ice melting devices needed.

[0109] S24, dispatch the dispatch quantity of the ice melting devices, obtain ice accumulation parameters of each maintenance group, and determine ice melting operation time of each ice melting device and cleaning operation time of the cleaning device according to the ice accumulation parameters.

[0110] The ice accumulation parameters include total length and maximum thickness of the ice accumulation section corresponding to the maintenance group, the ice melting operation time refers to time required for ice melting treatment of the ice melting device, and the cleaning operation time refers to time required for cleaning work of the cleaning device.

[0111] Specifically, after obtaining the dispatch quantity, a corresponding number of ice melting devices can be dispatched to perform corresponding ice melting operations, thereby improving ice melting efficiency. According to length and thickness of the ice accumulation section corresponding to each maintenance group, severity of ice coverage can be determined, so that ice melting operation time of the ice melting device during ice melting work and cleaning operation time of the cleaning device during ice cleaning work can be determined according to actual ice coverage. The more severe the ice coverage, the more operation time required by the maintenance group.

[0112] In some embodiments, the step S24 of “obtaining ice accumulation parameters of each maintenance group, and determining ice melting operation time of each ice melting device and cleaning operation time of the cleaning device according to the ice accumulation parameters” includes the following steps:

[0113] S241, obtaining ice accumulation span of the ice accumulation section in the length direction in the ice coverage image corresponding to each maintenance group, counting total ice accumulation span of the ice accumulation span, and obtaining a first offset coefficient according to a ratio of a span difference value between the total ice accumulation span and a standard ice accumulation span to a standard span difference value.

[0114] In actual application, after obtaining a plurality of maintenance groups, an image of each maintenance group can be captured by a collection device at a side of each maintenance group to obtain an ice coverage image corresponding to each maintenance group. The span of the ice accumulation section in the length direction in the ice coverage image, i.e., the ice accumulation span, can be determined through the ice coverage image corresponding to the maintenance group. Since the maintenance group can correspond to a plurality of ice coverage images, and the corresponding ice coverage image can include a plurality of ice accumulation sections, a plurality of ice accumulation spans can be obtained. The total ice accumulation span corresponding to the maintenance group can be obtained by counting the sum of the plurality of ice accumulation spans. According to the total ice accumulation span and the pre-configured standard ice accumulation span, the span difference value between the two can be calculated. The first offset coefficient corresponding to the span difference value and the pre-configured standard span difference value can be obtained by ratio calculation. The first offset coefficient can reflect the deviation degree of the actual ice accumulation length relative to the standard ice accumulation length. The larger the first offset coefficient, the more ice melting operation time required by the maintenance group.

[0115] The ice accumulation span refers to the span of the ice accumulation section in the length direction, the total ice accumulation span refers to the sum of the plurality of ice accumulation spans corresponding to the maintenance group, the standard ice accumulation span refers to the standard ice accumulation span corresponding to the maintenance group preconfigured, the span difference refers to the difference between the total ice accumulation span and the standard ice accumulation span, the standard span difference refers to the standard span difference corresponding to the maintenance group preconfigured, and the first offset coefficient refers to the value obtained by ratio calculation of the span difference and the standard span difference.

[0116] S242, determining the maximum ice thickness of each ice accumulation section in the thickness direction, obtaining a second offset coefficient according to the ratio of the thickness difference between the maximum ice thickness and the standard ice thickness and the standard thickness difference, and the ice accumulation parameter including the total ice accumulation span and the maximum ice thickness.

[0117] The maximum ice thickness refers to the maximum thickness of the plurality of ice thicknesses corresponding to the ice accumulation section, the standard ice thickness refers to the ice thickness under the normal icing state preconfigured, the thickness difference refers to the difference between the maximum ice thickness and the standard ice thickness, the standard thickness difference refers to the thickness difference under the normal icing state preconfigured, and the second offset coefficient refers to the value obtained by ratio calculation of the thickness difference and the standard thickness difference.

[0118] Specifically, in order to ensure that the ice can be completely cleaned, the maximum ice thickness of each ice accumulation section in the thickness direction can be determined through the ice image, the thickness difference between the maximum ice thickness and the standard ice thickness can be obtained by calculating the difference between the maximum ice thickness and the standard ice thickness, the second offset coefficient corresponding to the maintenance group can be obtained by ratio calculation of the thickness difference and the standard thickness difference preconfigured, the second offset coefficient can reflect the difference degree between the actual ice thickness and the standard ice thickness, and the larger the second offset coefficient, the longer the ice melting operation time required by the maintenance group.

[0119] S243, obtaining an ice melting offset coefficient according to the sum of the first offset coefficient and the second offset coefficient, and obtaining the ice melting operation time based on the product of the ice melting offset coefficient and the standard ice melting time.

[0120] Specifically, the first offset coefficient and the second offset coefficient can be added to obtain the corresponding ice melting offset coefficient, and the standard ice melting time can be offset by multiplying the ice melting offset coefficient and the standard ice melting time, so as to obtain the ice melting operation time corresponding to the maintenance group.

[0121] 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 ice melting time required under the normal icing condition preconfigured, and the standard ice melting time can be set corresponding 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.

[0122] S244, the average of the ice accumulation area of each ice accumulation section is calculated, the time length offset coefficient is obtained according to the ratio of the average of the ice accumulation area and the standard ice accumulation area, and the cleaning operation time length is obtained based on the product of the time length offset coefficient and the standard cleaning time length corresponding to the cleaning device.

[0123] Wherein, the average of the ice accumulation area refers to the average of the ice accumulation area corresponding to each ice accumulation section, the standard ice accumulation area refers to the ice accumulation area under normal icing condition configured in advance, the time length offset coefficient refers to the value calculated by comparing the average of the ice accumulation area with the standard ice accumulation area, the standard cleaning time length refers to the operation time length of the cleaning device configured in advance, and the cleaning operation time length refers to the operation time length offset from the standard cleaning time length.

[0124] In actual application, the area of the ice accumulation formed at different positions on the power line may be different, so when the maintenance group contains multiple ice accumulation sections, the ice accumulation area corresponding to each ice accumulation section can be obtained, the average of the ice accumulation area can be obtained by calculating the average of the multiple ice accumulation areas corresponding to the multiple ice accumulation sections, and the corresponding time length offset coefficient can be obtained by calculating the ratio of the average of the ice accumulation area and the standard ice accumulation area configured in advance. The time length offset coefficient can reflect the difference between the actual ice accumulation area and the standard ice accumulation area, the larger the ice accumulation area, the larger the time length offset coefficient, and the longer the cleaning time length required by the cleaning device.

[0125] After obtaining the time length offset coefficient, the standard cleaning time length configured in advance can be offset by multiplying the time length offset coefficient and the standard cleaning time length corresponding to the cleaning device, so as to obtain the corresponding cleaning operation time length, and the cleaning device can be controlled to perform ice cleaning work according to the cleaning operation time length.

[0126] Through the above embodiment, the actual ice accumulation condition can be more accurately evaluated, so that more accurate ice melting operation time length and cleaning operation time length can be determined.

[0127] S25, the dynamic operation time length of the cooperative maintenance device is obtained according to the ice melting operation time length and the cleaning operation time length.

[0128] Specifically, after obtaining the ice melting operation time length of the ice melting device and the cleaning operation time length of the cleaning device, the dynamic operation time length corresponding to the cooperative maintenance device can be determined.

[0129] Through the above embodiment, the operation time length of the ice melting device and the cleaning device can be more accurately determined, so as to ensure the thoroughness of the ice removal work.

[0130] S3, obtain the ice removal detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic operation time length.

[0131] In actual application, after the dynamic operation duration corresponding to the cooperative maintenance device is obtained, the cooperative maintenance device can be controlled to perform corresponding deicing operation on the power line in combination with the dynamic operation duration. After the deicing operation is completed, the actual deicing situation in the dynamic maintenance range can be detected, deicing detection data obtained after the deicing operation of the cooperative maintenance device in the dynamic maintenance range is performed, and whether the ice on the power line is completely cleaned can be determined according to the deicing detection data.

[0132] The deicing detection data refers to the shooting data obtained after the deicing operation in the dynamic maintenance range of the power line, for example, can be video data, and can be used to determine whether there is residual ice on the power line.

[0133] In some embodiments, the specific implementation of step S3 can be:

[0134] S31, determining the middle position point of each heavy icing point in each maintenance group as an ice melting operation point, controlling the ice melting device 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.

[0135] Specifically, when the cooperative maintenance device performs deicing operation, each maintenance group can contain multiple heavy icing points. The middle position of the multiple heavy icing points can be determined as an ice melting operation point of the ice melting device for ice melting treatment. The ice melting device is controlled to go to the ice melting operation point corresponding to each maintenance group. At the ice melting operation point, the ice melting device can be controlled to perform ice melting operation according to the ice melting operation duration corresponding to each maintenance group. The ice melting operation point refers to the position point of the ice melting device for ice melting operation.

[0136] S32, when all the ice melting devices respond to the ice melting completion information, controlling the cleaning device to perform deicing operation on the dynamic maintenance range based on the cleaning operation duration.

[0137] In actual application, when the ice melting operation is completed, the ice melting device can respond to the corresponding ice melting completion information. The ice melting operation duration corresponding to different maintenance groups can be different, so the time of the corresponding ice melting completion information of each ice melting device can be different. When all the ice melting devices respond to the ice melting completion information, it can be considered that the ice melting operation of the ice melting device on the power line with serious icing in the dynamic maintenance range is completed. At this time, the cleaning device can be controlled to perform deicing operation according to the corresponding cleaning operation duration. The ice melting completion information refers to information indicating that the ice melting operation has been completed.

[0138] S33, in response to the deicing completion information, obtaining detection video of the cleaning device shooting the dynamic maintenance range from above, and obtaining the deicing detection data according to the detection video.

[0139] Specifically, when the deicing operation of the cleaning device is completed, in response to the deicing completion information, in order to detect the deicing effect, a corresponding camera capable of shooting from above can be configured on the cleaning device. After the deicing operation is completed, the cleaning device can be controlled to shoot the corresponding line of the dynamic maintenance range from above to obtain the corresponding detection video. By analyzing the detection video, the corresponding deicing detection data can be obtained.

[0140] Among them, the deicing completion information refers to the information responded by the cleaning device when the deicing operation is completed, and the detection video refers to the video obtained by the cleaning device shooting the dynamic maintenance range from above.

[0141] S4, updating the dynamic maintenance range and the dynamic operation time according to the deicing detection data to obtain the linkage deicing data of the collaborative maintenance device.

[0142] It can be understood that if the accumulated ice in the dynamic maintenance range is not completely removed, the dynamic maintenance range and the dynamic operation time of the collaborative maintenance device can be updated in combination with the deicing detection data, so that the accumulated ice in the dynamic maintenance range can be calibrated and cleaned according to the actual deicing situation, ensuring the thoroughness of cleaning the accumulated ice, so that the accumulated ice in the dynamic maintenance range is completely removed.

[0143] Specifically, by analyzing the deicing detection data, the dynamic maintenance range and the corresponding dynamic operation time can be updated in real time according to the actual deicing situation to obtain the linkage deicing data of the collaborative maintenance device.

[0144] Among them, the linkage deicing data refers to the data of real-time updating of the dynamic maintenance range and the dynamic operation time during deicing in combination with the actual deicing situation.

[0145] On the basis of the above embodiment, the specific implementation mode of step S4 can be:

[0146] S41, obtaining a plurality of video frames corresponding to the deicing detection data, and extracting the line profile in each video frame.

[0147] Specifically, in order to determine whether the ice on the power line in the dynamic maintenance range is cleaned, after obtaining the deicing detection data, a plurality of video frames corresponding to the deicing detection data can be obtained, and the contour of the power line in each video frame, i.e., the line contour, can be extracted by contour extraction technology such as an edge detection algorithm. Subsequently, whether there is ice on the power line can be determined according to the line contour. The line contour refers to the contour corresponding to the power line.

[0148] S42, the video frame in which the plurality of line contours exist is determined as a detection frame, and the line contours in the detection frame are connected to obtain a calibrated line contour.

[0149] In actual application, when part of the area of the power line is covered by accumulated ice, the line contour in the corresponding video frame will appear to be interrupted, so when there are a plurality of line contours in the video frame, it can be considered that some areas of the power line still have accumulated ice and may need to be deiced again. At this time, the video frame in which the plurality of line contours exist can be determined as a detection frame, and in order to determine the range of the residual accumulated ice in the detection frame, the plurality of line contours can be connected to obtain a corresponding calibrated line contour.

[0150] Referring to Figure 3 A schematic diagram of a calibrated line contour provided by an embodiment of the present application is shown in FIG. 2. Figure 3 As shown in the left part of FIG. 2, the area between the line contour 1 and the line contour 2 and the area between the line contour 2 and the line contour 3 are covered by accumulated ice, so the pixel values of the corresponding areas are different from the pixel values of other areas. Since the corresponding areas are covered by accumulated ice, the line contour appears to be interrupted, and there are a plurality of line contours in the video frame, so the video frame can be determined as a detection frame. By connecting the line contour 1, the line contour 2 and the line contour 3 in the detection frame, a calibrated line contour as shown in the right part of FIG. 2 can be obtained, and the area covered by accumulated ice can be determined according to the calibrated line contour. Figure 3

[0151] S43, an accumulated ice area in the calibrated line contour is obtained, and a standard adjustment time length is obtained by offsetting a standard operation time length of the collaborative maintenance device according to an ice detection parameter of the accumulated ice area.

[0152] Specifically, the accumulated ice area corresponding to the calibrated line contour in the image can be obtained, and after obtaining the accumulated ice area, in order to improve the accuracy of deicing, the actual residual ice condition in the accumulated ice area can be analyzed to obtain ice detection data corresponding to the accumulated ice area. By offsetting the standard operation time length of the collaborative maintenance device in combination with the ice detection parameter in the accumulated ice area, a corresponding standard adjustment time length can be obtained, so that the dynamic operation time length can be updated according to the standard adjustment time length.​

[0153] The icing area refers to an area of the calibration line profile covered by ice, the icing detection parameter refers to an icing area parameter in the icing area, the standard operation duration refers to an operation duration under a normal icing condition preconfigured, and the standard adjustment duration refers to an operation duration obtained by offsetting the standard operation duration in combination with an actual deicing condition.

[0154] In some embodiments, a specific implementation of step S43 can be:

[0155] S431, obtaining a pixel point in the calibration line profile as a target point, and obtaining an icing area according to adjacent target points.

[0156] It can be understood that the pixel value of the profile covered by ice is different from the pixel value of the profile not covered by ice. The present scheme can preconfigure a pixel interval corresponding to the pixel value of the line profile under the icing state, i.e., an icing interval, for example, a pixel interval corresponding to a white pixel value. The icing interval can include a pixel value range corresponding to the line profile covered by ice. The pixel value of each pixel point in the calibration line profile is compared with the icing interval. If the pixel value of the pixel point is in the icing interval, the corresponding pixel point can be determined as a target point. The icing area in the calibration line profile can be determined according to a plurality of adjacent target points.

[0157] The icing interval refers to a pixel interval corresponding to the pixel value of the line profile under the icing state, and the target point refers to a pixel point in the icing interval.

[0158] S432, determining an icing area with an icing area greater than an icing area threshold as a deicing detection area, and calculating a first area average of each deicing detection area.

[0159] Specifically, an icing area threshold can be preconfigured. The icing area threshold can be used to determine whether the icing area needs to be collected again, and then determine whether the icing area needs to be deiced. When the icing area of the icing area is greater than the icing area threshold, it can be considered that the icing range of the corresponding icing area is large, and the deicing device can be used for deicing. The corresponding icing area can be determined as a deicing detection area. The first area average can be obtained by calculating the average of the icing area of each deicing detection area.

[0160] The icing area threshold refers to a preconfigured area threshold, the deicing detection area refers to an icing area with an icing area greater than the icing area threshold, and the first area average refers to an average calculated by statistically calculating the icing area of all deicing detection areas.

[0161] S433, obtain a first area difference value of the first area mean value and the reference ice melting area, obtain an ice melting adjustment coefficient according to a ratio of the first area difference value and a reference ice melting difference value, and obtain an ice melting adjustment time length based on a product of the ice melting adjustment coefficient and a standard ice melting time length of the ice melting device.

[0162] Specifically, the first area difference value is obtained by calculating the difference between the first area mean value and the reference ice melting area, the ice melting adjustment coefficient is obtained by calculating the ratio of the first area difference value and the reference ice melting difference value, and the ice melting adjustment time length corresponding to the ice melting device is obtained by multiplying the ice melting adjustment coefficient and the standard ice melting time length.

[0163] The reference ice melting area refers to a pre-configured standard ice accumulation area, the first area difference value refers to the difference between the first area mean value and the reference ice melting area, the reference ice melting difference value refers to a pre-configured standard area difference value of a region requiring ice melting, the ice melting adjustment coefficient refers to a coefficient for adjusting the operation time length of the ice melting device, the standard ice melting time length refers to a pre-configured operation time length of the ice melting device, the standard ice melting time length can be configured according to the reference ice melting area, so that the standard ice melting time length can be offset according to the ice accumulation area corresponding to the ice melting detection area, and the ice melting adjustment time length refers to the operation time length obtained by offsetting the standard ice melting time length of the ice melting device.

[0164] S434, obtain a second area mean value of all the ice accumulation regions, and obtain a second area difference value of the second area mean value and a reference ice removal area.

[0165] Specifically, when the cleaning device calibrates and cleans the residual ice in the dynamic maintenance range, the cleaning device needs to clean the ice of all the ice accumulation regions, so the ice accumulation areas corresponding to multiple ice accumulation regions can be obtained, the mean value of the multiple ice accumulation areas is obtained, and the second area difference value is obtained by calculating the difference between the second area mean value and the pre-configured reference ice removal area.

[0166] The second area mean value refers to the average value calculated after the ice accumulation areas of all the ice accumulation regions are counted, the reference ice removal area refers to a pre-configured standard ice removal area, and the second area difference value refers to the difference between the second area mean value and the reference ice removal area.

[0167] S435, obtain an ice removal adjustment coefficient according to a ratio of the second area difference value and a reference ice removal difference value, obtain a cleaning adjustment time length according to a product of the ice removal adjustment coefficient and a standard cleaning time length of the cleaning device, and the standard adjustment time length includes the ice melting adjustment time length and the cleaning adjustment time length.

[0168] Specifically, by performing ratio calculation on the second area difference value and the pre-configured reference de-icing difference value, a de-icing adjustment coefficient for adjusting the operation duration of the cleaning device can be obtained, and by performing multiplication on the de-icing adjustment coefficient and the standard cleaning duration, a cleaning adjustment duration corresponding to the cleaning device can be obtained. According to the ice-melting adjustment duration and the cleaning adjustment duration, a standard adjustment duration corresponding to the cooperative maintenance device can be obtained.

[0169] The reference de-icing difference value refers to a difference value of the area of the region that needs to be de-iced in the pre-configured standard, the de-icing adjustment coefficient refers to a coefficient that can adjust the operation duration of the de-icing device, and the standard cleaning duration refers to the operation duration of the cleaning device pre-configured. The standard cleaning duration can be configured in correspondence with the reference de-icing area. Thus, the standard de-icing duration can be offset according to the total ice accumulation area corresponding to the ice accumulation region, and the cleaning adjustment duration refers to the operation duration obtained by offsetting the standard cleaning duration of the cleaning device.

[0170] According to the above embodiments, the standard de-icing data can be offset in combination with the actual de-icing situation, thereby improving the accuracy of de-icing.

[0171] S44, determines that the collection point corresponding to each detection frame is a residual ice accumulation point, acquires the collection point closest to the operation starting point of the dynamic maintenance range as the next operation starting point, and re-determines the next dynamic maintenance range according to the operation range of the cooperative maintenance device and the operation starting point.

[0172] It can be understood that after a de-icing operation is completed, residual ice accumulation may exist in the dynamic maintenance range. In order to completely remove the residual ice accumulation in the current dynamic maintenance range, the cooperative maintenance device can update the dynamic maintenance range and the dynamic operation duration of the next de-icing operation of the cooperative maintenance device according to the position of the residual ice accumulation in the current dynamic maintenance range when performing the next de-icing operation.

[0173] Specifically, the shooting position 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 a residual ice accumulation point. In order to completely remove the residual ice accumulation in the current dynamic maintenance range, the collection point closest to the operation starting point of the current dynamic maintenance range can be determined as the operation starting point of the next de-icing operation, and the dynamic maintenance range of the cooperative maintenance device in the next de-icing operation can be determined according to the operation range of the cooperative maintenance device with the next operation starting point as the reference.

[0174] The collection point is a position point corresponding to the shooting position point of the video frame on the power line, and the residual ice point is a collection point corresponding to the shooting position point of the detection frame on the power line.

[0175] S45, based on the heavy ice point in the next dynamic maintenance range and the residual ice point, 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.

[0176] It can be understood that when there is a residual ice point in the dynamic maintenance range, the standard adjustment duration can be dynamically adjusted according to the actual deicing situation to obtain an updated dynamic operation duration.

[0177] Specifically, after obtaining the residual ice point, there can be multiple heavy ice points in the next dynamic maintenance range of the cooperative maintenance device. According to the determined residual ice point and the heavy ice point in the next dynamic maintenance range, the standard adjustment duration can be offset to obtain a dynamic operation duration corresponding to the next dynamic maintenance range. According to the updated dynamic maintenance range and the dynamic operation duration corresponding thereto, the linkage deicing data can be obtained.

[0178] In some embodiments, the step S45 of "based on the heavy ice point in the next dynamic maintenance range and the residual ice point, the standard adjustment duration is offset to obtain an updated dynamic operation duration" includes the following steps:

[0179] S451, determining that the residual ice point of the ice melting detection area is a to-be-inspected ice point, and determining that a position point at an orthographic shooting distance from the to-be-inspected ice point in an orthographic shooting direction corresponding to the target line is a to-be-inspected point.

[0180] Specifically, the ice accumulation area in the ice melting detection area is larger than the standard ice accumulation area, and the corresponding icing condition can be relatively serious. At this time, the ice melting detection area can be collected again, and whether the ice melting detection area needs to be treated by ice melting is determined according to the data collected twice. Therefore, when the residual ice point is located in the ice melting detection area, it can be considered that the ice accumulation condition of the region where the residual ice point is located can be relatively serious, and the corresponding region can be collected twice. Therefore, the residual ice point is determined as the to-be-inspected ice point.

[0181] In the secondary data acquisition of the target line, in order to accurately reflect the current icing condition of the target line, the orthographic image corresponding to the target line can be obtained. Specifically, first, the orthographic shooting direction corresponding to the target line can be determined. In the orthographic shooting direction, the position point at the orthographic shooting distance from the icing detection point can be determined as the detection point. The cleaning device is controlled to go to the detection point to perform image shooting on the target line according to the preconfigured shooting pose, and the orthographic image of the target line can be obtained.

[0182] The icing detection point refers to a residual icing point that needs to detect the ice thickness. The orthographic shooting direction refers to a preconfigured shooting direction that can obtain the orthographic image of the target line. The orthographic shooting distance refers to a preconfigured distance for shooting the target line. The detection point refers to a position point for image shooting on the target line.

[0183] S452, obtaining a detection orthographic image shot by the cleaning device based on the detection point. If there is an icing section with an ice thickness greater than or equal to the heavy icing threshold in the detection orthographic image, the corresponding residual icing point is determined as a heavy icing point.

[0184] Specifically, the cleaning device is controlled to go to the detection point to perform image shooting on the target line, and the detection orthographic image corresponding to the residual icing point can be obtained. If the ice thickness of the icing section in the detection orthographic image is greater than or equal to the heavy icing threshold, it can be considered that the icing at the corresponding residual icing point is relatively serious, and the corresponding residual icing point can be determined as a heavy icing point.

[0185] The detection orthographic image refers to the orthographic image of the target line shot by the cleaning device at the detection point.

[0186] S453, determining a heavy icing point with an icing interval less than the heating range of the ice melting device as a same group of update maintenance groups, and determining the update number of the ice melting device according to the update maintenance groups.

[0187] Specifically, the icing interval between the heavy icing points in the dynamic maintenance range can be obtained again. When the icing interval is less than the heating range of the ice melting device, multiple heavy icing points can be melted by one ice melting device, and therefore the corresponding multiple heavy icing points can be determined as a same group of update maintenance groups. The update number of the ice melting device can be determined according to the number of the update maintenance groups.

[0188] The update maintenance group refers to a group formed by multiple heavy icing points in the updated dynamic maintenance range. The update number refers to the number of ice melting devices required by the updated dynamic maintenance group.

[0189] S454, obtain the updated ice accumulation parameters of each of the updated maintenance groups, offset the ice melting adjustment time according to the updated ice accumulation parameters to obtain an ice melting updated time, and offset the cleaning adjustment time according to the updated ice accumulation parameters to obtain a cleaning updated time.

[0190] The updated ice accumulation parameters include a length parameter and a thickness parameter of the ice accumulation section corresponding to the updated maintenance group, the ice melting updated time is the operation time of the ice melting device obtained by offsetting the ice melting adjustment time, and the cleaning updated time is the operation time of the cleaning device obtained by offsetting the cleaning adjustment time.

[0191] Specifically, according to the length and thickness of the ice accumulation section corresponding to each updated maintenance group, the ice melting adjustment time corresponding to the ice melting device can be offset to obtain the corresponding ice melting updated time, and according to the updated ice accumulation parameters, the cleaning adjustment time corresponding to the cleaning device can be offset to obtain the corresponding cleaning updated time.

[0192] In some embodiments, the specific implementation of step S454 can be:

[0193] S4541, calculate the total updated span corresponding to the updated maintenance group in the length direction, obtain an updated span difference between the total updated span and a standard ice accumulation span, and obtain a first updated coefficient according to the ratio of the updated span difference to a standard span difference.

[0194] Specifically, there can be multiple ice accumulation sections in the updated maintenance group, and the ice accumulation spans of the multiple ice accumulation sections in the length direction can be obtained. By counting the multiple ice accumulation spans, the total updated span of the updated maintenance group in the length direction can be obtained. According to the total updated span and the pre-configured standard ice accumulation span, the difference between the two, i.e., the updated span difference, can be calculated. By calculating the ratio of the updated span difference to the standard span difference, the corresponding first updated coefficient can be obtained.

[0195] The total updated span refers to the total span of the ice accumulation sections in the updated maintenance group in the length direction, the updated span difference refers to the difference between the total updated span and the standard ice accumulation span, and the first updated coefficient refers to the value obtained by calculating the ratio of the updated span difference to the standard span difference.

[0196] S4542, obtain the maximum ice thickness of each of the updated maintenance groups, determine an updated thickness difference between the maximum ice thickness and a standard ice thickness, and obtain a second updated coefficient according to the ratio of the updated thickness difference to a standard thickness difference.

[0197] Specifically, the maximum ice thickness of the ice accumulation section in each updating and maintaining group can be obtained, and the updating thickness difference value can be obtained by calculating the difference between the maximum ice thickness and the standard ice thickness. The second updating coefficient corresponding to the updating and maintaining group can be obtained by calculating the ratio of the updating thickness difference value and the standard thickness difference value. The updating thickness difference value refers to the difference between the maximum ice thickness and the standard ice thickness, and the second updating coefficient refers to the value obtained by calculating the ratio of the updating thickness difference value and the standard thickness difference value.

[0198] S4543, obtaining the ice-melting updating coefficient according to the sum of the first updating coefficient and the second updating coefficient, and obtaining the ice-melting updating time length by multiplying the ice-melting updating coefficient and the ice-melting adjustment time length. The updating ice accumulation parameter includes the updating total span and the maximum ice thickness.

[0199] Specifically, the ice-melting updating coefficient corresponding to the updating and maintaining group can be obtained by adding the first updating coefficient and the second updating coefficient, and the ice-melting updating time length corresponding to the actual ice accumulation condition can be obtained by multiplying the ice-melting updating coefficient and the ice-melting adjustment time length. The ice-melting updating coefficient refers to the coefficient that can offset the ice-melting adjustment time length, and the ice-melting updating time length refers to the operation time length required by the ice-melting device for the ice-melting operation on the thicker ice in the updating and maintaining group.

[0200] S4544, obtaining the updating area mean value of each ice accumulation section, obtaining the updating offset coefficient according to the ratio of the updating area mean value and the standard ice accumulation area, and obtaining the cleaning updating time length based on the product of the updating offset coefficient and the cleaning adjustment time length.

[0201] Specifically, the ice accumulation area corresponding to each ice accumulation section in the updating and maintaining group can be obtained, the updating area mean value can be obtained by calculating the mean value of the plurality of ice accumulation areas, the updating offset coefficient that can offset the cleaning adjustment time length can be obtained by calculating the ratio of the updating area mean value and the standard ice accumulation area, and the cleaning updating time length required by the cleaning device for the cleaning operation on the ice in the updating and maintaining group can be obtained by multiplying the updating offset coefficient and the cleaning adjustment time length.

[0202] The updating area mean value refers to the average value of the ice accumulation area of each ice accumulation section in the updating and maintaining group, the updating offset coefficient refers to the coefficient that can offset the cleaning adjustment time length, and the cleaning updating time length refers to the operation time length required by the cleaning device for the cleaning operation on the ice in the updating and maintaining group.

[0203] Through the above embodiments, the actual ice accumulation condition can be more accurately evaluated, so that the ice-melting updating time length and the cleaning updating time length that are more in line with the actual needs can be obtained according to the actual ice accumulation condition, and the accuracy of the deicing operation can be improved.

[0204] S455, obtaining an updated dynamic operation time length according to the ice melting update time length and the cleaning update time length.

[0205] Specifically, the cooperative maintenance device can perform the corresponding ice removal operation according to the updated dynamic operation time length when performing the next ice removal operation.

[0206] Through the above-mentioned embodiments, the standard adjustment time length can be dynamically adjusted according to the actual ice removal situation, and it is ensured that the ice cover in the dynamic maintenance range is completely removed.

[0207] Referring to Figure 4 is a structural schematic diagram of an intelligent analysis platform for a power system based on image processing provided by an embodiment of the present application. The data processing system based on power data comprises:

[0208] A control module is configured to control the acquisition device to acquire icing data of a power line in a monitoring destination, and determine a heavy icing point according to the icing data.

[0209] A determination module is configured to determine a dynamic maintenance range of a target line according to an operation range of a cooperative maintenance device, and acquire a dynamic operation time length of the cooperative maintenance device based on the heavy icing point in the dynamic maintenance range.

[0210] An acquisition module is configured to acquire ice removal detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic operation time length.

[0211] An update module is configured to update the dynamic maintenance range and the dynamic operation time length according to the ice removal detection data, and obtain linkage ice removal data of the cooperative maintenance device.

[0212] Figure 4 The device of the embodiment shown can be used to perform the steps in the method embodiment shown, and the implementation principles and technical effects are similar, and will not be described here. Figure 1 The implementation principles and technical effects are similar, and will not be described here.

[0213] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An image processing-based intelligent analysis method for power systems, characterized by, The method comprises the following steps: controlling a collection device to acquire icing data of power lines in a monitoring destination, and determining severe icing points according to the icing data; determining a dynamic maintenance range of a target line according to a working range of a cooperative maintenance device, and acquiring a dynamic working duration of the cooperative maintenance device based on the severe icing points in the dynamic maintenance range, which comprises the following steps: acquiring the target line as the power line currently maintained by the cooperative maintenance device, and the cooperative maintenance device comprising an ice melting device and a cleaning device; determining a working range of the cleaning device, and acquiring a working starting point corresponding to the target line in a working direction, and determining a line segment corresponding to the working range in the target line as a dynamic maintenance range based on the working starting point; acquiring icing intervals of the severe icing points in the dynamic maintenance range, and determining the severe icing points with the icing intervals less than a heating range of the ice melting device as a same maintenance group, and determining a dispatching number of the ice melting device according to the number of the maintenance groups; dispatching the ice melting device with the dispatching number, acquiring icing parameters of each of the maintenance groups, and determining ice melting working durations of each of the ice melting devices and cleaning working durations of the cleaning device according to the icing parameters; acquiring a dynamic working duration of the cooperative maintenance device according to the ice melting working durations and the cleaning working durations; acquiring ice removal detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic working duration; updating the dynamic maintenance range and the dynamic working duration according to the ice removal detection data, and acquiring linkage ice removal data of the cooperative maintenance device, which comprises the following steps: acquiring a plurality of video frames corresponding to the ice removal detection data, and extracting line profiles in each of the video frames; determining a video frame with a plurality of line profiles as a detection frame, and connecting each of the line profiles in the detection frame to obtain a calibrated line profile; acquiring icing areas in the calibrated line profile, and offsetting a standard working duration of the cooperative maintenance device according to icing detection parameters of the icing areas to obtain a standard adjusted duration; determining a collection point corresponding to each of the detection frames as a residual icing point, acquiring a collection point closest to a working starting point of the dynamic maintenance range as a next working starting point, and re-determining a next dynamic maintenance range of the cooperative maintenance device according to the working range of the cooperative maintenance device and the working starting point; offsetting the standard adjusted duration according to the residual icing points and the severe icing points in the next dynamic maintenance range to obtain an updated dynamic working duration, and acquiring linkage ice removal data according to the updated dynamic maintenance range and the dynamic working duration.

2. The method according to claim 1, wherein the step of controlling a collection device to acquire icing data of power lines in a monitoring destination, and determining severe icing points according to the icing data comprises the following steps: acquiring front view images of the power lines photographed by the collection device at each monitoring point, and the icing data comprising the front view images. ​ Determine the icing profile in the front view image, obtain the icing thickness of the icing profile in the thickness direction, and determine the profile segment with an icing thickness greater than or equal to a heavy icing threshold as a heavy icing segment; Obtain 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 the center point of the heavy icing segment from the image boundary in the length direction; Obtain a shooting sub-segment corresponding to the monitoring point in the power line, determine a traversal direction corresponding to the length direction and a starting point corresponding to the image boundary in the shooting sub-segment, and Perform actual conversion on the first span to obtain a second span, and determine a position point in the shooting sub-segment at the second span from the starting point as a heavy icing point according to the traversal direction.

3. The method of claim 1, wherein the icing parameters of each maintenance group are obtained, and the ice melting operation time of each ice melting device and the cleaning operation time of the cleaning device are determined according to the icing parameters, including: Obtain the icing span of the heavy icing segment in the length direction in the icing image corresponding to each maintenance group, count the total icing span of the icing span, and obtain a first offset coefficient according to the ratio of the span difference value of the total icing span to the standard span difference value and the standard span difference value; Determine the maximum icing thickness of each icing segment in the thickness direction, obtain a second offset coefficient according to the ratio of the thickness difference value of the maximum icing thickness to the standard thickness difference value and the standard thickness difference value, and the icing parameters include the total icing span and the maximum icing thickness; Obtain an ice melting offset coefficient according to the sum of the first offset coefficient and the second offset coefficient, and obtain the ice melting operation time based on the product of the ice melting offset coefficient and the standard ice melting time; Count the average icing area of each icing segment, obtain a time length offset coefficient according to the ratio of the average icing area to the standard icing area, and obtain the cleaning operation time based on the product of the time length offset coefficient and the standard cleaning time corresponding to the cleaning device.

4. The method of claim 3, wherein the de-icing detection data of the collaborative maintenance device based on the dynamic maintenance range and the dynamic operation time is obtained, including: Determine the middle position point of each heavy icing point in each maintenance group as an ice melting operation point, control the ice melting device to go to the ice melting operation point, and perform ice melting operation based on the ice melting operation time corresponding to the corresponding maintenance group; When all ice melting devices respond to the ice melting completion information, control the cleaning device to perform de-icing operation on the dynamic maintenance range based on the cleaning operation time; In response to the de-icing completion information, obtain the detection video of the cleaning device shot from above the dynamic maintenance range, and obtain the de-icing detection data according to the detection video.

5. The method of claim 1, wherein the icing area in the calibration line profile is obtained, and the standard operation time of the collaborative maintenance device is offset to obtain a standard adjusted time length according to the icing detection parameters of the icing area, including: ​ ​ ​ Acquire the pixel points in the calibration line profile as target points, where the pixel values of the pixel points are in the ice accumulation interval, and obtain the ice accumulation region according to adjacent target points; Determine the ice accumulation region with an ice accumulation area greater than an ice accumulation area threshold as an ice melting detection region, and count a first area average of each ice melting detection region; Obtain a first area difference between the first area average and a reference ice melting area, obtain an ice melting adjustment coefficient according to a ratio of the first area difference to a reference ice melting difference, and obtain an ice melting adjustment time length based on a product of the ice melting adjustment coefficient and a standard ice melting time length of an ice melting device; Count a second area average of all ice accumulation regions, and obtain a second area difference between the second area average and a reference deicing area; Obtain a deicing adjustment coefficient according to a ratio of the second area difference to a reference deicing difference, obtain a cleaning adjustment time length according to a product of the deicing adjustment coefficient and a standard cleaning time length of a cleaning device, and the standard adjustment time length includes the ice melting adjustment time length and the cleaning adjustment time length.

6. The method of claim 5, wherein, based on a heavy ice accumulation point and the residual ice accumulation point in a next dynamic maintenance range, offset the standard adjustment time length to obtain an updated dynamic operation time length, including: determine a residual ice accumulation point of the ice melting detection region as a detection ice accumulation point, and determine a position point in a front view shooting direction corresponding to the target line and having a front view shooting distance from the detection ice accumulation point as a detection point; acquire a detection front view shot by the cleaning device based on the detection point, and if there is an ice accumulation segment with an ice thickness greater than or equal to a heavy ice accumulation threshold in the detection front view, determine that the corresponding residual ice accumulation point is a heavy ice accumulation point; determine the heavy ice accumulation points with an ice accumulation distance less than a heating range of the ice melting device as the same update maintenance group, and determine the update number of the ice melting device according to the update maintenance group; acquire update ice accumulation parameters of each update maintenance group, offset the ice melting adjustment time length according to the update ice accumulation parameters to obtain an ice melting update time length, and offset the cleaning adjustment time length according to the update ice accumulation parameters to obtain a cleaning update time length; obtain the updated dynamic operation time length according to the ice melting update time length and the cleaning update time length.

7. The method of claim 6, wherein, acquire update ice accumulation parameters of each update maintenance group, offset the ice melting adjustment time length according to the update ice accumulation parameters to obtain an ice melting update time length, and offset the cleaning adjustment time length according to the update ice accumulation parameters to obtain a cleaning update time length, including: count an update total span corresponding to the update maintenance group in a length direction, obtain an update span difference between the update total span and a standard ice accumulation span, and obtain a first update coefficient according to a ratio of the update span difference to a standard span difference; acquire a maximum ice thickness of each update maintenance group, determine an update thickness difference between the maximum ice thickness and a standard ice thickness, and obtain a second update coefficient according to a ratio of the update thickness difference to a standard thickness difference; An ice-melting update coefficient is obtained according to a sum of the first update coefficient and the second update coefficient, and an ice-melting update time length is obtained based on a product of the ice-melting update coefficient and the ice-melting adjustment time length, the update ice-accumulation parameter including an update total span and a maximum ice thickness; An update area average of each ice-accumulation section is counted, an update offset coefficient is obtained according to a ratio of the update area average and a standard ice-accumulation area, and the cleaning update time length is obtained based on a product of the update offset coefficient and the cleaning adjustment time length.

8. An image processing-based power system intelligence analysis platform according to the image processing-based power system intelligence analysis method of claim 1, characterized by, Comprise: A control module configured to control a collection device to acquire icing data of a power line in a monitoring destination, and determine a heavy icing point according to the icing data; A determination module configured to determine a dynamic maintenance range of a target line according to a working range of a cooperative maintenance device, and acquire a dynamic working time length of the cooperative maintenance device based on the heavy icing point in the dynamic maintenance range; An acquisition module configured to acquire de-icing detection data of the cooperative maintenance device based on the dynamic maintenance range and the dynamic working time length; An update module configured to update the dynamic maintenance range and the dynamic working time length according to the de-icing detection data, and obtain linkage de-icing data of the cooperative maintenance device.

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