Power transmission line floating ice monitoring method and system, electronic equipment and medium

Abstract

The invention provides a power transmission line floating ice monitoring method and system, relates to the technical field of power transmission line monitoring, and aims to accurately and efficiently monitor the floating ice condition of a power transmission line in real time under complex environmental conditions. The method comprises the following steps: acquiring a floating ice image of the power transmission line, and preprocessing the floating ice image of the power transmission line to obtain a binary image; performing edge detection on the binary image to obtain edge information of the power transmission line; calculating the stress state of the power transmission line, and obtaining the floating ice thickness based on the stress state and the edge information; and performing early warning judgment and floating ice removal processing on the power transmission line based on the floating ice thickness. The power transmission line floating ice monitoring system is applied to the power transmission line floating ice monitoring method.

Description

Technical Field

[0001] The present invention relates to the field of power transmission line monitoring technology, and in particular to a method, system, electronic equipment and medium for monitoring floating ice on a power transmission line. Background Art

[0002] Transmission lines are an important part of the power system, and their operating status directly affects the stability and safety of the power system. Floating ice is one of the important problems facing transmission lines, which will have an adverse impact on the operation of the line and even cause line failure in severe cases. Therefore, monitoring and preventing floating ice on transmission lines is an important measure to ensure the stable operation of the power system.

[0003] Existing methods for monitoring floating ice on power transmission lines are mainly divided into two types: based on weighing sensors and based on image processing. The weighing sensor-based method requires the installation of weight sensors on the surface of the transmission line, and the floating ice situation is judged by monitoring the weight changes of the transmission line. However, this method requires regular maintenance and calibration of the sensor, which is costly and easily affected by environmental factors. The image processing-based method obtains images of the transmission line, processes and analyzes the images, extracts the features of floating ice, and thus realizes the monitoring of floating ice on the transmission line. This method has the advantages of high monitoring accuracy and non-contact, but requires complex processing and analysis of the image, has a large amount of calculation, and has poor real-time performance. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a method, system, electronic equipment and medium for monitoring floating ice on a power transmission line, so as to accurately, efficiently and in real time monitor the floating ice condition of the power transmission line under complex environmental conditions.

[0005] An embodiment of the present invention provides a method for monitoring floating ice on a power transmission line, the method comprising:

[0006] Step S1: collecting an image of floating ice on a power transmission line, and preprocessing the image of floating ice on the power transmission line to obtain a binary image;

[0007] Step S2: performing edge detection on the binary image to obtain edge information of the transmission line;

[0008] Step S3: calculating the stress state of the transmission line, and obtaining the thickness of the floating ice based on the stress state and the edge information;

[0009] Step S4: performing early warning judgment and floating ice removal processing on the power transmission line based on the floating ice thickness.

[0010] Preferably, in step S1, preprocessing the transmission line ice image to obtain a binary image includes:

[0011] Performing Gaussian filtering to denoise the ice floe image of the transmission line,

[0012] The filtered and denoised image is binarized to obtain a binary image.

[0013] Preferably, the step S2 comprises: performing edge detection on the binary image based on an adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line.

[0014] Preferably, the edge detection of the binary image is performed based on the adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line, including:

[0015] Step S2.1: construct a 4-directional edge detection template based on the adaptive weighted Sobel operator;

[0016] Step S2.2: for each of the four-directional remote edge detection templates, the central pixel of the template is matched with the current pixel position in the binary image, and the row interval difference value of the adaptive weighted Sobel operator in each template is calculated;

[0017] Step S2.3: Compare the row interval difference values ​​of the adaptive weighted Sobel operator in each template to obtain the maximum value, take the detection template direction corresponding to the maximum value as the edge gradient direction of the current pixel, and take the maximum value as the new grayscale of the current pixel.

[0018] Preferably, step S3 comprises:

[0019] Step S3.1: Establishing a three-dimensional model according to the structural parameters of the transmission line, wherein the structural parameters include tower type, conductor model and number of phases;

[0020] Step S3.2: Calculate the force condition of the conductor according to the current environmental data, wherein the environmental data includes wind speed, wind direction, air humidity and conductor temperature;

[0021] Step S3.3: Calculate the stress state of the conductor based on the three-dimensional model and the stress condition:

[0022] Step S3.4: Obtaining the thickness of floating ice according to the stress state and the edge information.

[0023] Preferably, the step S3.2 comprises:

[0024] Calculate the wind load. The wind load calculation formula is: F wind =0.5*ρ*V 2 *A*C d

[0025] Among them, F windis the wind load, ρ is the air density, V is the wind speed, A is the projected area of ​​the conductor perpendicular to the airflow direction, C d is the air resistance coefficient;

[0026] Calculate the temperature load. The temperature load calculation formula is: F temp =α*E*A*ΔT, where F temp is the temperature load, α is the thermal expansion coefficient of the wire, E is the elastic modulus of the wire, A is the cross-sectional area of ​​the wire, and ΔT is the temperature change of the wire;

[0027] Add the wind load and temperature load to get the force on the conductor: F total =F wind +F temp .

[0028] Preferably, according to the formula:

[0029] The stress at the lowest point of the conductor for any floating ice thickness is obtained. According to the stress of the transmission line at different floating ice thicknesses and the edge information, the conductor floating ice thickness value is output in real time. Among them, the stress at the lowest point when the conductor load ratio is g1 is δ1, and the stress at the lowest point when the conductor load ratio is g2 is δ2. l is the horizontal span, and E is the elastic modulus of the conductor.

[0030] Compared with the prior art, the method for monitoring floating ice on a power transmission line provided by the present invention has the following beneficial effects: first, collecting floating ice images on the transmission line, and preprocessing the floating ice images on the transmission line to obtain a clear binary image, which provides a reliable data basis for subsequent edge detection and stress state calculation. Then, edge detection is performed on the binary image to obtain edge information of the transmission line, and a clear contour line is calculated, which has a high inspection accuracy for the image edge and improves the image edge recognition effect; finally, the stress state of the transmission line is calculated, and the accurate floating ice thickness under a complex environment is obtained based on the stress state and the edge information; based on the floating ice thickness, the transmission line is pre-warned and judged and floating ice is removed. Through the above steps, the floating ice monitoring accuracy can be improved and the calculation amount can be reduced.

[0031] An embodiment of the present invention further provides a transmission line floating ice monitoring system, the system comprising:

[0032] A preprocessing module, used for collecting the transmission line floating ice image, and preprocessing the transmission line floating ice image to obtain a binary image;

[0033] An edge information extraction module is used to perform edge detection on the binary image to obtain edge information of the transmission line;

[0034] A floating ice thickness calculation module is used to calculate the stress state of the transmission line and obtain the floating ice thickness based on the stress state and the edge information;

[0035] An early warning processing module is used to perform early warning judgment and floating ice removal processing on the transmission line based on the thickness of the floating ice.

[0036] Compared with the prior art, the beneficial effects of a transmission line floating ice monitoring system provided by the present invention are the same as the beneficial effects of a transmission line floating ice monitoring method described in the above technical solution, which will not be described in detail here.

[0037] The present invention also provides an electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, and when the computer program is executed by the processor, the steps in any one of the above-mentioned methods for monitoring floating ice on a transmission line are implemented.

[0038] Compared with the prior art, the beneficial effects of the electronic device provided by the present invention are the same as the beneficial effects of the method for monitoring floating ice on a transmission line described in the above technical solution, and will not be elaborated herein.

[0039] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in any one of the above-mentioned methods for monitoring floating ice on a power transmission line are implemented.

[0040] Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as the beneficial effects of the method for monitoring floating ice on a transmission line described in the above technical solution, and will not be elaborated here.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A flow chart of a method for monitoring floating ice on a power transmission line provided by an embodiment of the present invention is shown;

[0044] Figure 2(a) shows a schematic diagram of a horizontal edge detection template provided by an embodiment of the present invention;

[0045] Figure 2 (b) shows a schematic diagram of a vertical edge detection template provided by an embodiment of the present invention;

[0046] Figure 2 (c) shows a schematic diagram of a 45-degree edge detection template provided in an embodiment of the present invention;

[0047] Figure 2 (d) shows a schematic diagram of a 135 degree direction edge detection template provided by an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of the calculated form of the Sobel operator horizontal edge template provided by an embodiment of the present invention is shown;

[0049] Figure 4 A schematic diagram of an image of floating ice on a power transmission line provided by an embodiment of the present invention is shown;

[0050] Figure 5 A schematic diagram of the adaptive weighted Sobel edge detection provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0051] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] The "multiple" mentioned in this embodiment refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The words "exemplary" or "for example" are used to indicate examples, illustrations or explanations, and are intended to present related concepts in a specific way, and should not be interpreted as being more preferred or more advantageous than other embodiments or design solutions.

[0053] Figure 1 FIG. 4 shows a flow chart of a method for monitoring floating ice on a power transmission line provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0054] Step S1: collecting an image of floating ice on a power transmission line, and preprocessing the image of floating ice on the power transmission line to obtain a binary image.

[0055] It should be noted that in addition to using a high-definition camera to collect images of floating ice on the transmission line, other suitable image acquisition devices such as infrared sensors, laser scanners, etc. can be selected according to actual needs. During the acquisition, it is necessary to adjust the focus, exposure and other parameters to obtain sufficiently clear image information. Since the collected image generally contains noise, it is necessary to denoise the image. The embodiment of the present invention uses Gaussian filtering for denoising and binarizes the denoised image. The embodiment of the present invention uses a threshold segmentation method for binarization, but other suitable binarization methods can also be selected according to actual needs. The image is converted into a black and white binary image through binarization, so that the transmission line can be clearly distinguished from the background.

[0056] Step S2: Perform edge detection on the binary image to obtain edge information of the power transmission line.

[0057] It should be noted that the step S2 includes: performing edge detection on the binary image based on an adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line.

[0058] The method of performing edge detection on the binary image based on the adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line includes:

[0059] Step S2.1: Figure 2 As shown in (a)-2(d), a 4-directional edge detection template is constructed based on the adaptive weighted Sobel operator. Figure 2 (a) Template as shown in the example, Figure 3 As shown, the calculation result of Sobel operator is: in, is the edge data of the image, f 11 , f 12 , f 13 , f 31 , f 32 , f 33 is the pixel edge operator value in the edge detection template, and A=f 11 +f 12 +f 13 , B = f 31 +f 32 +f 33 ,but It can be shortened to: Among them, A and B are the edge operator values ​​of row pixels in the edge detection template, and the row interval difference value of the adaptive weighted Sobel operator is:

[0060] Step S2.2: For each of the four direction detection templates, the center pixel of the template is matched with the current pixel position in the binary image, and the row interval difference value of the adaptive weighted Sobel operator in each template is calculated.

[0061] Step S2.3: Compare the maximum value of the calculation results of the four templates and the row interval difference value of the adaptive weighted Sobel operator in each template to obtain the maximum value, take the detection template direction corresponding to the maximum value as the edge gradient direction of the current pixel, and take the maximum value as the new grayscale of the current pixel.

[0062] like Figure 4-Figure 5 As shown in the figure, the contour line calculated by the adaptive weighted Sobel operator is clear, the contrast between the feature line and the background is good, it has strong anti-interference ability, the positioning boundary is accurate and continuous, and richer image detail information is obtained.

[0063] Step S3: Calculate the stress state of the transmission line, and obtain the thickness of the floating ice based on the stress state and the edge information.

[0064] It should be noted that step S3 includes:

[0065] Step S3.1: Establish a three-dimensional model based on the structural parameters of the transmission line, wherein the structural parameters include the tower type, conductor model, and phase number. For example, each type of tower can be modeled as one or more three-dimensional objects, and the model of the conductor can be described by its path in three-dimensional space. Each section of the conductor in the model can be described by the coordinates of its starting point and end point in three-dimensional space, the radius of the conductor, and other information. Through this model, the actual environment of the transmission line can be simulated more accurately, providing a reliable basis for subsequent stress calculations.

[0066] Step S3.2: Calculate the force condition of the conductor according to the current environmental data, wherein the environmental data includes wind speed, wind direction, air humidity and conductor temperature;

[0067] Specifically, calculate the wind load. The wind load calculation formula is: F wind =0.5*ρ*V 2 *A*C d Among them, F wind is the wind load, ρ is the air density, V is the wind speed, A is the projected area of ​​the conductor perpendicular to the airflow direction, C d is the air resistance coefficient;

[0068] Calculate the temperature load. The temperature load calculation formula is: F temp =α*E*A*ΔT, where F tempis the temperature load, α is the thermal expansion coefficient of the wire, E is the elastic modulus of the wire, A is the cross-sectional area of ​​the wire, and ΔT is the temperature change of the wire;

[0069] Add the wind load and temperature load to get the force on the conductor: F total =F wind +F temp .

[0070] Step S3.3: Calculate the stress state of the conductor based on the three-dimensional model and the stress condition.

[0071] It should be noted that for transmission lines on floating ice, the conductor stress can be calculated using the following formula:

[0072]

[0073] Where: δ is stress, V is wind speed, T is temperature, P is the weight of floating ice, q is the weight of floating ice per unit length, and A is the cross-sectional area of ​​the conductor.

[0074] Step S3.4: Obtaining the thickness of floating ice according to the stress state and the edge information.

[0075] It should be noted that the conductor is assumed to be an ideal flexible wire. Therefore, if the floating ice load is considered to be added step by step in n stages, the stress and deformation of the conductor should satisfy Hooke's law. When the stress of the conductor increases due to floating ice, the increased stress satisfies the following formula:

[0076]

[0077] Where Δδ represents the increased stress, L0 represents the original length of the wire, ΔL represents the increased elongation of the wire, and E is the elastic modulus of the wire;

[0078] Assuming that the ambient temperature is t, when the conductor load is g1, the stress at the lowest point is δ1, and the length is L1. When the conductor load is g2 due to floating ice, the stress at the lowest point is δ2, and the length is L2. Formula (1) gives:

[0079]

[0080] The calculation formula for the wire length L is:

[0081] Where l is the horizontal span. Substitute the calculations of L2 and L1 into formula (2), and consider that the horizontal span l is slightly different from the original conductor length L. Therefore, l = L. After sorting, we get:

[0082]

[0083] If the load ratio under a certain ambient temperature is known, the stress at the lowest point of the conductor at any floating ice thickness under this temperature condition can be calculated by the above formula. According to the stress of the transmission line at different floating ice thicknesses and the edge information, the conductor floating ice thickness value can be output in real time.

[0084] Step S4: performing early warning judgment and floating ice removal processing on the power transmission line based on the floating ice thickness.

[0085] It should be noted that it is determined whether the thickness of the floating ice reaches the preset thickness. If so, the position of the floating ice is determined according to the image, and the laser heat parameter is determined according to the thickness of the floating ice. The laser generator is used to remove the floating ice from the transmission line according to the position of the floating ice and the laser heat parameter until the thickness of the floating ice is lower than the preset thickness.

[0086] Compared with the prior art, the method for monitoring floating ice on a power transmission line provided by the embodiment of the present invention has the following beneficial effects:

[0087] (1) Collect the floating ice image of the transmission line, perform Gaussian filtering to denoise the floating ice image of the transmission line, and perform binarization on the denoised image to obtain a clear binary image, which provides a reliable data basis for subsequent edge detection and stress state calculation.

[0088] (2) Based on the adaptive weighted Sobel operator edge detection method, edge detection is performed on the binary image to obtain the edge information of the transmission line and calculate the clear contour line. This method has a high detection accuracy for the image edge and improves the image edge recognition effect.

[0089] (3) Calculate the stress state of the transmission line, and obtain the accurate floating ice thickness in a complex environment based on the stress state and edge information; perform early warning judgment and floating ice removal on the transmission line based on the floating ice thickness, which can not only improve the floating ice monitoring accuracy, but also reduce the amount of calculation, and realize the real-time output of the floating ice thickness of the conductor.

[0090] An embodiment of the present invention further provides a transmission line floating ice monitoring system, the system comprising:

[0091] A preprocessing module, used for collecting the transmission line floating ice image, and preprocessing the transmission line floating ice image to obtain a binary image;

[0092] An edge information extraction module is used to perform edge detection on the binary image to obtain edge information of the transmission line;

[0093] A floating ice thickness calculation module is used to calculate the stress state of the transmission line and obtain the floating ice thickness based on the stress state and the edge information;

[0094] An early warning processing module is used to perform early warning judgment and floating ice removal processing on the transmission line based on the thickness of the floating ice.

[0095] Compared with the prior art, the beneficial effects of a transmission line floating ice monitoring system provided by an embodiment of the present invention are the same as the beneficial effects of a transmission line floating ice monitoring method described in the above technical solution, which will not be described in detail here.

[0096] In addition, an embodiment of the present invention further provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor. The transceiver, the memory, and the processor are respectively connected via a bus. When the computer program is executed by the processor, each process of the above-mentioned method for monitoring floating ice on a transmission line is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0097] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned embodiment of the floating ice monitoring method for transmission lines are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0098] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technical solution that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for monitoring floating ice on a power transmission line, characterized in that: include: Step S1: collecting an image of floating ice on a power transmission line, and preprocessing the image of floating ice on the power transmission line to obtain a binary image; Step S2: performing edge detection on the binary image to obtain edge information of the transmission line; Step S3: calculating the stress state of the transmission line, and obtaining the thickness of the floating ice based on the stress state and the edge information; Step S4: performing early warning judgment and floating ice removal processing on the power transmission line based on the floating ice thickness.

2. A method for monitoring floating ice on a power transmission line according to claim 1, characterized in that: The step S1 pre-processes the transmission line ice image to obtain a binary image, including: Performing Gaussian filtering to denoise the ice floe image of the transmission line, The filtered and denoised image is binarized to obtain a binary image.

3. A method for monitoring floating ice on a power transmission line according to claim 1, characterized in that: The step S2 includes: performing edge detection on the binary image based on an adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line.

4. A method for monitoring floating ice on a power transmission line according to claim 3, characterized in that: The method of performing edge detection on the binary image based on the adaptive weighted Sobel operator edge detection method to obtain edge information of the power transmission line includes: Step S2.1: construct a 4-directional edge detection template based on the adaptive weighted Sobel operator; Step S2.2: for each of the four-directional remote edge detection templates, the central pixel of the template is matched with the current pixel position in the binary image, and the row interval difference value of the adaptive weighted Sobel operator in each template is calculated; Step S2.3: Compare the row interval difference values ​​of the adaptive weighted Sobel operator in each template to obtain the maximum value, take the detection template direction corresponding to the maximum value as the edge gradient direction of the current pixel, and take the maximum value as the new grayscale of the current pixel.

5. A method for monitoring floating ice on a power transmission line according to claim 3, characterized in that: The step S3 comprises: Step S3.1: Establishing a three-dimensional model according to the structural parameters of the transmission line, wherein the structural parameters include tower type, conductor model and number of phases; Step S3.2: Calculate the force condition of the conductor according to the current environmental data, wherein the environmental data includes wind speed, wind direction, air humidity and conductor temperature; Step S3.3: Calculate the stress state of the conductor based on the three-dimensional model and the stress condition: Step S3.4: Obtaining the thickness of floating ice according to the stress state and the edge information.

6. A method for monitoring floating ice on a power transmission line according to claim 4, characterized in that: The step S3.2 comprises: Calculate the wind load. The wind load calculation formula is: F wind =0.5*ρ*V 2 *A*C d Among them, F wind is the wind load, ρ is the air density, V is the wind speed, A is the projected area of ​​the conductor perpendicular to the airflow direction, C d is the air resistance coefficient; Calculate the temperature load. The temperature load calculation formula is: F temp =α*E*A*ΔT, where F temp is the temperature load, α is the thermal expansion coefficient of the wire, E is the elastic modulus of the wire, A is the cross-sectional area of ​​the wire, and ΔT is the temperature change of the wire; Add the wind load and temperature load to get the force on the conductor: F total =F wind +F temp .

7. A method for monitoring floating ice on a power transmission line according to claim 1, characterized in that: According to the formula: The stress at the lowest point of the conductor for any floating ice thickness is obtained. According to the stress of the transmission line at different floating ice thicknesses and the edge information, the conductor floating ice thickness value is output in real time. Among them, the stress at the lowest point when the conductor load ratio is g1 is δ1, and the stress at the lowest point when the conductor load ratio is g2 is δ2. l is the horizontal span, and E is the elastic modulus of the conductor.

8. A transmission line floating ice monitoring system, characterized in that: include: A preprocessing module, used for collecting the transmission line floating ice image, and preprocessing the transmission line floating ice image to obtain a binary image; An edge information extraction module is used to perform edge detection on the binary image to obtain edge information of the transmission line; A floating ice thickness calculation module is used to calculate the stress state of the transmission line and obtain the floating ice thickness based on the stress state and the edge information; An early warning processing module is used to perform early warning judgment and floating ice removal processing on the transmission line based on the thickness of the floating ice.

9. An electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, wherein: When the computer program is executed by the processor, the steps of the method for monitoring floating ice on a power transmission line as claimed in any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for monitoring floating ice on a power transmission line according to any one of claims 1 to 6 are implemented.

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