Line windage yaw galloping monitoring method based on multi-parallel-line laser and binocular vision

Abstract

The invention discloses a line windage yaw galloping monitoring method based on multi-parallel-line laser and binocular vision, and relates to the technical field of line windage yaw galloping monitoring, and the method comprises the steps: obtaining the distribution position of a target power transmission line, carrying out the arrangement of monitoring equipment, and obtaining a laser transmitter after arrangement; determining a monitoring view constraint condition; performing monitoring feasibility authentication to obtain an authentication result; obtaining a dynamic three-dimensional position sequence of the target power transmission line; determining a first windage yaw galloping parameter set, and taking the first windage yaw galloping parameter set as a line windage yaw galloping monitoring result of the current monitoring window; and determining a next monitoring window, and carrying out line windage yaw galloping monitoring on the target power transmission line in the next monitoring window. According to the invention, the technical problems of unreliable line windage yaw galloping monitoring and low accuracy in the prior art are solved, and the technical effects of improving the accuracy of line windage yaw galloping monitoring and the flexibility of dynamic monitoring are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of line windage fluctuation monitoring, and in particular to a line windage fluctuation monitoring method based on multi-parallel line lasers and binocular vision. Background Art

[0002] At present, usually only a single laser sensor or camera equipment is relied on to obtain the wind deviation data of the line. In an environment with strong wind or obvious changes in lighting conditions, it is easy to be disturbed, resulting in unstable data and failure to accurately capture the swing amplitude of the line. In addition, in complex terrain or long-distance lines, improper layout of monitoring equipment may lead to blind spots in data collection, which in turn makes it impossible to fully capture the wind deviation swing of the line. This makes the line wind deviation swing monitoring have a lag and cannot respond in a timely and effective manner, thereby increasing the risk of line failure.

[0003] The existing technology has the technical problems of unreliable line wind deviation and dancing monitoring and low accuracy. Summary of the invention

[0004] The present application provides a line wind deviation and dancing monitoring method based on multi-parallel line lasers and binocular vision, which is used to solve the technical problems of unreliable and low accuracy of line wind deviation and dancing monitoring in the prior art.

[0005] In view of the above problems, the present application provides a line windage and dancing monitoring method based on multi-parallel line lasers and binocular vision, the method comprising: Obtain the distribution position of the target transmission line to deploy monitoring equipment, and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to one deployment position; Performing monitoring field of view analysis based on the laser transmitter and the binocular camera to determine monitoring field of view constraint conditions; Calling the line overall image acquisition unit to acquire real-time images of the transmission line, and calling the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain a certification result; When the authentication result is authentication passed, the laser transmitter is used to emit multiple parallel laser lines, and the corresponding binocular camera is used to perform line dynamic monitoring and analysis on the target transmission line in the current monitoring window to obtain a dynamic three-dimensional position sequence of the target transmission line; Performing dynamic centralized calculation of windage yaw and dancing parameters based on the dynamic three-dimensional position sequence to determine a first windage yaw and dancing parameter set, and using the first windage yaw and dancing parameter set as the line windage yaw and dancing monitoring result of the current monitoring window; Retrieve N historical wind yaw fluctuation parameter sets of the first N historical monitoring windows, perform fluctuation analysis in combination with the first wind yaw fluctuation parameter set, determine the next monitoring window, and perform line wind yaw fluctuation monitoring on the target transmission line in the next monitoring window.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages: The present application obtains the distribution position of the target transmission line to deploy the monitoring equipment and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to a deployment position, and then performs monitoring field of view analysis based on the laser transmitter and the binocular camera to determine the monitoring field of view constraint conditions, and then calls the line overall image acquisition unit to perform real-time image acquisition of the transmission line, and calls the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain the certification result. When the certification result is passed, the laser transmitter is used to emit multiple parallel laser lines, and combined with the The corresponding binocular camera performs line dynamic monitoring and analysis on the target transmission line in the current monitoring window, obtains the dynamic three-dimensional position sequence of the target transmission line, and then performs dynamic centralized calculation of windage swing parameters based on the dynamic three-dimensional position sequence, determines the first windage swing parameter set, and uses the first windage swing parameter set as the line windage swing monitoring result of the current monitoring window. By retrieving the N historical windage swing parameter sets of the previous N historical monitoring windows, combined with the first windage swing parameter set for fluctuation analysis, the next monitoring window is determined, and line windage swing monitoring is performed on the target transmission line in the next monitoring window. The technical effect of improving the reliability of line windage swing monitoring is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0008] Figure 1 A schematic diagram of a flow chart of a line windage and sway monitoring method based on multi-parallel line lasers and binocular vision provided in an embodiment of the present application; Figure 2 A schematic diagram of a flow chart of determining a first set of windage fluctuation parameters in a line windage fluctuation monitoring method based on multi-parallel line lasers and binocular vision provided in an embodiment of the present application. DETAILED DESCRIPTION

[0009] The present application provides a line wind deviation and dancing monitoring method based on multi-parallel line lasers and binocular vision, which is used to solve the technical problems of unreliable and low accuracy of line wind deviation and dancing monitoring in the prior art.

[0010] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0011] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusions. For example, a process, method, method, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or inherent to these processes, methods, products or devices.

[0012] Examples, such as Figure 1 As shown, the present application provides a line wind deviation and dancing monitoring method based on multi-parallel line lasers and binocular vision, the method comprising: Step S100: Obtain the distribution position of the target transmission line to deploy monitoring equipment, and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to one deployment position; Further, the distribution position of the target transmission line is obtained to deploy the monitoring equipment, and the deployed laser transmitter is obtained, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to a deployment position. Step S100 of the embodiment of the present application also includes: Determining basic line information based on the distribution location of the target transmission line, wherein the basic line information includes line length, line height and line curvature data; Obtaining basic parameters of the laser emitter, and laying out the laser emitter in combination with the line length, line height, and line bending data to obtain a laser emitter laying plan, wherein the laser emitter laying plan includes an installation height and an emission intensity; The laser emitters are deployed based on the laser emitter deployment plan, and binocular cameras are deployed at a preset distance from the laser emitters to obtain deployed laser emitters.

[0013] In one embodiment, it is first necessary to determine the spatial distribution of the transmission line, including the length of the line, the operating height, and whether there are curved areas. This step can be obtained through geographic information system (GIS) data or on-site measurements to ensure that the subsequent equipment layout plan can fully cover the target line. By laying out monitoring equipment according to the distribution position, it paves the way for subsequent reliable monitoring of the wind yaw of the line. Preferably, a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to a layout position. The laser transmitter is used to dynamically monitor the wind yaw of the target transmission line.

[0014] In one embodiment, first, the core parameters of the target transmission line are collected, including: Line length: the total length of the transmission line, which is used to determine the total number of transmitters to be laid. Line height: the height change of the transmission line in different terrains is convenient for calculating the installation height of the laser transmitter. Line curvature data: analyze the curvature of the line, especially the bends that require special monitoring, so as to lay additional equipment in these areas to ensure complete monitoring coverage. Then, the basic parameters of the laser transmitter are obtained: according to the layout requirements, the key parameters of the laser transmitter are obtained, including: Transmission power: determines the coverage distance and intensity of the laser to ensure that all monitoring areas of the line can be covered. Emission angle: the angle setting of the laser transmitter ensures that the laser line can be perpendicular to the line and can be smoothly covered in the curved area. Working distance: the effective monitoring range of the laser transmitter. According to the length, height and curvature data of the line, combined with the basic parameters of the laser transmitter, a reasonable layout plan is designed by a technician in this field according to the obtained data. Preferably, based on the height change of the line, the installation height of the transmitter is adjusted to ensure the optimal interaction range between the laser line and the line, and at the same time, according to the length and curvature of the transmission line, the emission intensity of the laser transmitter is set to ensure uniform laser coverage in the entire monitoring area.

[0015] According to the layout plan, the laser transmitter is installed at the planned layout location. The installation height, emission angle, intensity and other parameters of the laser transmitter must be precisely adjusted to ensure that the laser line can cover the transmission line in parallel. Then, a binocular camera is deployed at a preset distance from the laser transmitter. The binocular camera needs to be coordinated with the position and height of the laser transmitter to ensure that the camera can accurately capture the intersection point between the laser line and the transmission line and perform three-dimensional position measurement.

[0016] After the deployment of the laser transmitter and binocular camera, the whole system forms a complete monitoring device covering the power transmission line. The laser transmitter and its corresponding binocular camera form an independent monitoring unit to realize dynamic monitoring of the wind yaw of the power transmission line.

[0017] By obtaining the deployed laser transmitter, it is possible to ensure that the monitoring equipment based on the laser transmitter and binocular camera is reasonably deployed, thereby providing reliable data support for the monitoring of wind deviation and sway of the transmission line.

[0018] Step S200: performing monitoring field of view analysis based on the laser transmitter and the binocular camera to determine monitoring field of view constraint conditions; Furthermore, based on the laser transmitter and the binocular camera, the monitoring field of view is analyzed to determine the monitoring field of view constraint conditions. Step S200 of the embodiment of the present application further includes: Acquire a set of optical parameters of the binocular camera, perform coverage range analysis in combination with the layout position of the laser transmitter, and obtain a coverage tolerance area; Perform image acquisition environment index matching based on the optical parameter set to obtain an environment index tolerance interval set; The coverage tolerance area and the environmental indicator tolerance interval set are used as the monitoring field of view constraint conditions. Environmental indicator tolerance interval set In one embodiment, the reliable operation of the monitoring array depends not only on the normal operation of the laser transmitter and the binocular camera, but also on the working environment. For example, in thunderstorm weather, the shooting effect of the binocular camera cannot meet expectations due to the effect of rain. Therefore, it is necessary to determine the constraints in the monitoring process based on the parameters of the laser transmitter and the binocular camera, so as to improve the reliability of the monitoring results. The monitoring field constraint condition constrains the wind yaw monitoring of the target transmission line from two dimensions: monitoring range and monitoring environment.

[0019] In one possible embodiment, a set of optical parameters of a binocular camera is obtained. These parameters include the focal length, viewing angle, resolution, shooting distance, etc. of the camera, to ensure that the monitoring range of the camera can be accurately determined in subsequent calculations. According to the layout position of the laser transmitter, the laser area covered by the transmitter is analyzed, and the influence of the transmitter height, emission angle and emission intensity on the coverage range is considered. According to the optical parameters of the binocular camera and the position of the laser transmitter, the effective monitoring range of the device is calculated to obtain the coverage tolerance area. These areas define the field of view limit range of the device to ensure that there are no blind spots during the monitoring process.

[0020] Furthermore, combining the optical parameters and the emission conditions of the laser transmitter, technicians in this field analyze the environmental factors such as the lighting, weather, and temperature of the actual monitoring environment to determine the working performance of the camera and laser in different environments. Based on the actual collected environmental data, the performance variation range of the camera and laser transmitter under different environmental conditions is calculated to obtain the tolerance range of the environmental indicators. These ranges reflect the monitoring capabilities of the system in different environments.

[0021] The previously calculated coverage tolerance area and environmental index tolerance interval are combined to comprehensively analyze the working range of the monitoring equipment in different areas and environmental conditions to determine the final monitoring field of view constraint conditions. This constraint condition ensures that the equipment can efficiently monitor the transmission line in different installation locations and environments.

[0022] Step S300: calling the line overall image acquisition unit to acquire real-time images of the transmission line, and calling the wind monitoring device to perform monitoring feasibility authentication in combination with the monitoring field of view constraint conditions to obtain an authentication result; Further, the line overall image acquisition unit is called to acquire real-time images of the transmission line, and the wind monitoring device is called to perform monitoring feasibility authentication in combination with the monitoring field of view constraint conditions to obtain an authentication result. Step S300 of the embodiment of the present application further includes: Using a line overall image acquisition unit to perform real-time image acquisition on the target power transmission line to obtain a real-time power transmission line image; Analyzing the real-time transmission line image using a feature parser to obtain a real-time transmission line environmental feature set and a transmission line edge distribution feature; Calling the wind monitoring device to identify the state of the target power transmission line to obtain wind monitoring characteristics; Authenticating the edge distribution characteristics of the transmission line according to the coverage tolerance area of ​​the monitoring field of view constraint condition and authenticating the real-time transmission line environmental characteristic set according to the environmental indicator tolerance interval set, to obtain a first monitoring feasibility authentication result; Acquire a wind monitoring threshold, authenticate the wind monitoring feature, and obtain a second monitoring feasibility authentication result; When both the first monitoring feasibility authentication result and the second monitoring feasibility authentication result are passed, the authentication result is authentication passed.

[0023] Further, it is determined whether the wind monitoring characteristic meets the wind monitoring threshold. If so, the second monitoring feasibility authentication result is passed.

[0024] In a possible embodiment, the line overall image acquisition unit is used to capture images of the overall situation of the area where the target transmission line is located, thereby reliably capturing the real-time environmental status of the target transmission line. The wind monitoring device is used to reliably monitor the wind conditions in the target transmission line, and can capture the wind speed, wind direction, etc. in the area where the target transmission line is located.

[0025] The line overall image acquisition unit is used to acquire real-time images of the target transmission line, and the monitoring field constraint conditions are analyzed to determine whether the constraint is met. The monitoring feasibility certification is performed based on the monitoring results of the wind monitoring device to determine whether the basic requirements for wind yaw and sway monitoring of the transmission line are met, and the certification result is obtained.

[0026] In one embodiment, the line overall image acquisition unit is activated to continuously and in real time acquire images of the target transmission line to ensure that the current state image of the transmission line is acquired. Real-time transmission line image data is obtained through the image acquisition unit, and these images will be used for subsequent feature extraction and analysis. The feature parser is called to process the acquired transmission line image to analyze the environmental features and line structure features contained therein. Through image recognition technology, the key features of the transmission line are extracted, including the direction, bends, edge distribution, etc. of the line.

[0027] Preferably, a plurality of sample transmission line images, a plurality of sample transmission line environmental feature sets and a plurality of sample transmission line edge distribution features are obtained as training data, a network framework is constructed based on a feedforward neural network, and the network framework is supervised and trained using the training data. During the training process, a one-to-two mapping relationship between the sample transmission line images and the plurality of sample transmission line environmental feature sets and the plurality of sample transmission line edge distribution features is learned until convergence, thereby obtaining the trained feature parser.

[0028] Based on the analysis results, the feature set in the current environment is extracted, including lighting, meteorological conditions, surrounding environment, etc. At the same time, the edge distribution characteristics of the transmission line are determined, such as the specific location of the line, the shape of the cable and its distribution in space.

[0029] Then, the wind monitoring device is activated to obtain data such as wind speed and wind direction in the current monitoring area and generate wind monitoring features.

[0030] According to the monitoring field of view constraint conditions determined in step S200, verify whether the edge distribution characteristics of the transmission line are within multiple coverage tolerance areas. Ensure that each laser line can effectively capture the key parts of the transmission line to prevent blind spots and monitoring failures. Match the real-time acquired environmental feature set with the pre-set environmental indicator tolerance range to determine whether the current monitoring environment (lighting, weather, etc.) is within the acceptable range of the system to ensure that the image acquisition and laser monitoring equipment can work normally in the current environment. If both the line edge characteristics and environmental characteristics meet the preset conditions, the first monitoring feasibility certification result is passed, and the system can perform further operations.

[0031] Preferably, a person skilled in the art obtains a preset wind monitoring threshold value, which represents the acceptable wind range of the device under normal working conditions. The current wind monitoring characteristics are compared with the wind threshold value to determine whether it exceeds the acceptable range. If the wind is within the threshold range, the second monitoring feasibility certification result is passed.

[0032] Preferably, only when both the first monitoring feasibility certification result and the second monitoring feasibility certification result are passed, the system certification result is passed, and the system can continue to monitor the wind swing in real time. If any certification result fails, the system will issue an alarm, indicating that the equipment needs to be readjusted or the monitoring plan needs to be modified, and then re-certification is performed.

[0033] Through these specific implementation steps, it is ensured that the monitoring system can operate normally in complex environments, and through multi-level certification methods, it is ensured that the monitoring equipment can effectively capture the wind-induced fluctuations of the transmission lines.

[0034] Step S400: when the authentication result is authentication passed, the laser transmitter is used to emit multiple parallel laser lines, and the corresponding binocular camera is used to perform line dynamic monitoring and analysis on the target transmission line in the current monitoring window to obtain a dynamic three-dimensional position sequence of the target transmission line; In one possible embodiment, after the authentication is passed, the system starts the deployed laser transmitter. The transmitter emits multiple parallel laser lines according to preset parameters. These laser lines will be projected onto the key parts of the transmission line to form a continuous laser grid to capture the dynamic offset of the transmission line. According to the actual environment (such as light changes, line position, etc.), the laser emission intensity and angle are dynamically adjusted to ensure that each laser line intersects the line clearly, so as to ensure the accuracy of subsequent data collection. The binocular camera corresponding to the laser transmitter starts working to capture the intersection point between the transmission line and the laser line. Through the principle of binocular vision, the stereoscopic parallax effect of the camera is used to collect the spatial position change of the transmission line. The binocular camera performs real-time image acquisition at a high frame rate to ensure that the real-time position change of the transmission line under the action of external forces such as wind is captured, and the three-dimensional spatial position of the line is recorded at each moment. The image captured by the binocular camera is analyzed by an image processing algorithm to identify the intersection of the transmission line and the laser line. Combined with the parallax information of the binocular camera, the coordinates of these intersections in three-dimensional space are calculated.

[0035] The intersection data of multiple laser lines and transmission lines are time-sequenced to form a dynamic three-dimensional position sequence of the transmission line. This sequence records the spatial position changes of the transmission line at different time points and is the basic data for subsequent wind yaw and flutter analysis.

[0036] Preferably, the current monitoring window is the time period during which wind yaw monitoring is currently being performed. The system sets the current monitoring window according to the monitoring requirements of the line, that is, the length of time and frequency of continuous monitoring by the system within a time period. Within the monitoring window, the system will continuously collect and calculate the dynamic three-dimensional position of the transmission line, thereby obtaining the dynamic three-dimensional position sequence. The dynamic three-dimensional position sequence reflects the position change of the target transmission line within the current monitoring window.

[0037] By using the collaborative work of laser transmitters and binocular cameras, the dynamic three-dimensional position sequence of the transmission line can be accurately and real-time acquired. These data provide a basic guarantee for the subsequent calculation of wind deviation and sway parameters and the safety of line operation.

[0038] Step S500: performing dynamic centralized calculation of windage yaw and dancing parameters based on the dynamic three-dimensional position sequence, determining a first windage yaw and dancing parameter set, and using the first windage yaw and dancing parameter set as the line windage yaw and dancing monitoring result of the current monitoring window; Further, such as Figure 2 As shown, based on the dynamic three-dimensional position sequence, dynamic centralized calculation of windage dancing parameters is performed to determine a first windage dancing parameter set. Step S500 of the embodiment of the present application further includes: Based on the dynamic three-dimensional position sequence, adjacent dynamic three-dimensional position difference calculation is performed to determine a plurality of initial windage yaw parameter sets; Using the windage dancing parameter type as an index, clustering the multiple initial windage dancing parameter sets of the same type to obtain multiple clustered windage dancing parameter sets, wherein each clustered windage dancing parameter set corresponds to a windage dancing parameter type; Traversing the plurality of concentrated windage yaw and dancing parameter sets to perform centralized calculations and determine a plurality of concentrated windage yaw and dancing parameters; The plurality of concentrated wind yaw dancing parameters are aggregated to obtain the first wind yaw dancing parameter set.

[0039] Furthermore, step S500 of the embodiment of the present application further includes: Calculating the mean values ​​of the plurality of concentrated windage wave parameter sets respectively to obtain a plurality of initial concentration centers; Taking the multiple initial concentrated centers as the center of the circle and the preset concentrated step length as the radius, constructing multiple initial concentrated areas, and equally dividing the multiple initial concentrated areas into two left and right sub-areas, to obtain multiple left areas in the initial divided areas and multiple right areas in the initial divided areas; Diffusion of the left regions in the plurality of initial partition sets to the left and diffusion of the right regions in the plurality of initial partition sets to the right according to a preset concentration step length, to obtain a plurality of left regions in diffused partition sets and a plurality of right regions in diffused partition sets; Determine whether the area density of the left area in the plurality of diffuse partition sets is greater than or equal to the area density of the left area in the plurality of initial partition sets, and if so, continue to diffuse to the left according to a preset concentration step size; Determine whether the area density of the right area in the plurality of diffuse partition sets is greater than or equal to the area density of the right area in the plurality of initial partition sets, and if so, continue to diffuse rightward according to a preset concentration step size; Until the diffusion on both sides stops at the same time, a left region of a plurality of target diffusion partitions and a right region of a plurality of target diffusion partitions are obtained; The left areas of the multiple target diffusion division concentrations and the right areas of the multiple target diffusion division concentrations are merged respectively to obtain multiple target diffusion concentration areas, and the mean values ​​of multiple concentrated wind deviation dancing parameters in the multiple target diffusion concentration areas are traversed and calculated to obtain multiple concentrated wind deviation dancing parameters.

[0040] Furthermore, the first windage dancing parameter set includes windage angle, dancing amplitude, vertical dancing amplitude, horizontal dancing amplitude and elliptical tilt angle.

[0041] In one embodiment, after obtaining the dynamic three-dimensional position sequence, the wind yaw dance parameters are centrally calculated according to the changes in adjacent positions of the target transmission line within the preset monitoring window, so as to obtain a parameter set that can represent the wind yaw dance situation of the target transmission line within the preset monitoring window, that is, the first wind yaw dance parameter set, and the first wind yaw dance parameter set is used as the line wind yaw dance monitoring result of the current monitoring window.

[0042] In one possible embodiment, first, based on the dynamic three-dimensional position sequence of the power transmission line generated in step S400, the system will perform position difference calculation. Adjacent three-dimensional positions in the sequence are differentially calculated to calculate the spatial position change of each section of the power transmission line at adjacent time points. The displacement and direction of the power transmission line are obtained by differential calculation, and multiple initial wind yaw and dancing parameter sets are generated. Each initial wind yaw and dancing parameter set includes wind yaw angle, dancing amplitude, vertical dancing amplitude, horizontal dancing amplitude and elliptical inclination angle.

[0043] Using different types of windage dancing parameters (such as windage angle, dancing amplitude, etc.) as indexes, the data in the initial windage dancing parameter set are classified by type. The same type of windage dancing parameters are aggregated to form multiple aggregated windage dancing parameter sets. Each set contains a certain type of windage parameter. For example, all windage angle data will be aggregated into one set, and the dancing amplitude data will be aggregated into another set.

[0044] Preferably, the means of the multiple sets of concentrated windage and dancing parameter are calculated respectively to obtain multiple initial concentration centers. The multiple initial concentration centers reflect the average parameter levels of the multiple sets of concentrated windage and dancing parameter in consideration of edge values ​​and accidental values. Furthermore, multiple initial concentration areas are constructed with the multiple initial concentration centers as the center of the circle and the preset concentration step length as the radius, and the multiple initial concentration areas are equally divided into two left and right sub-areas to obtain multiple left areas in the initial division concentration and multiple right areas in the initial division concentration. The preset concentration step length is the parameter difference of a single movement when performing concentrated calculations, which is preset by a technician in this field.

[0045] Furthermore, the left regions in the multiple initial partition sets are diffused to the left, and the right regions in the multiple initial partition sets are diffused to the right according to the preset concentration step length, so as to obtain multiple left regions in the diffused partition sets and multiple right regions in the diffused partition sets.

[0046] Determine whether the regional density of the left region in the multiple diffusion partitioning sets is greater than or equal to the regional density of the left region in the multiple initial partitioning sets. If so, it indicates that the parameter aggregation degree in the left region in the multiple diffusion partitioning sets is greater than the parameter aggregation degree in the left region in the multiple initial partitioning sets. At this time, the edge of the area with denser distribution has not been reached, and then continue to diffuse to the left according to the preset concentration step size. Preferably, the regional density of the left region in the multiple diffusion partitioning sets is the ratio of the amount of parameters distributed in the left region in the multiple diffusion partitioning sets to the area of ​​the upper region, reflecting the parameter aggregation degree in the region. Based on the same calculation principle, the regional density of the left region in the multiple initial partitioning sets is obtained.

[0047] Furthermore, determine whether the area density of the right area in the multiple diffuse partition sets is greater than or equal to the area density of the right area in the multiple initial partition sets. If so, it indicates that the parameter aggregation degree in the right area in the multiple diffuse partition sets is greater than the parameter aggregation degree in the right area in the multiple initial partition sets. At this time, the edge of the area with denser distribution has not been reached, and then continue to diffuse to the right according to the preset concentration step size; until the diffusion on both sides stops at the same time, and multiple target diffuse partition sets and multiple target diffuse partition sets are obtained. Left area. Right area.

[0048] The left area of ​​the multiple target diffusion divisions and the right area of ​​the multiple target diffusion divisions are fused respectively to obtain multiple target diffusion concentration areas, and the mean of multiple concentrated wind yaw dancing parameters in the multiple target diffusion concentration areas is calculated to obtain multiple concentrated wind yaw dancing parameters. The technical effect of accurately analyzing and calculating the wind yaw dancing of the transmission line and providing important data support for the next step of monitoring and adjustment is achieved.

[0049] Step S600: retrieve N historical wind yaw fluctuation parameter sets of the first N historical monitoring windows, perform fluctuation analysis in combination with the first wind yaw fluctuation parameter set, determine the next monitoring window, and perform line wind yaw fluctuation monitoring on the target transmission line in the next monitoring window.

[0050] In a possible embodiment, the first wind yaw dance parameter set reflects the wind yaw dance of the target transmission line in the current monitoring window. Then, by retrieving the N historical wind yaw dance parameter sets of the previous N historical monitoring windows for comprehensive fluctuation analysis, the time period for the next monitoring of the target transmission line is determined, that is, the next monitoring window. In this way, in the actual monitoring process, the system can flexibly adjust the duration and sampling frequency of the monitoring window according to the movement amplitude of the line and environmental changes, thereby achieving the technical effect of better capturing the dynamic changes of the line and improving the reliability of line wind yaw dance monitoring.

[0051] Preferably, the N historical wind yaw dancing parameter sets and the first wind yaw dancing parameter set are analyzed to calculate the change trend of each wind yaw dancing parameter, including the fluctuation frequency and amplitude change trend of the wind yaw angle, dancing amplitude, vertical and horizontal dancing amplitude, etc. By comparing the historical data with the current data, it is identified whether there is obvious abnormal fluctuation. For example, if the fluctuation amplitude of certain parameters increases significantly in the current monitoring window, it may indicate that the wind force is abnormal.

[0052] According to the results of the fluctuation analysis, the system can adjust the duration and sampling frequency of the next monitoring window. If the current monitoring window shows that the wind swing is more violent or there are obvious abnormal fluctuations, the duration of the next monitoring window may be shortened and the data collection frequency may be increased to ensure that subtle changes in the swing are captured. According to the fluctuation situation, the specific time length (such as 10 minutes, 30 minutes, etc.) and data collection interval (such as 1 second, 5 seconds, etc.) of the next monitoring window are determined to ensure monitoring at the most appropriate time. The technical effect of dynamically adjusting the next monitoring window and continuously monitoring the wind swing of the transmission line according to the fluctuation trend of historical data and the current monitoring results has been achieved.

[0053] In summary, the embodiments of the present application have at least the following technical effects: The present application obtains the distribution position of the target transmission line to deploy the monitoring equipment and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to a deployment position, and then performs monitoring field of view analysis based on the laser transmitter and the binocular camera to determine the monitoring field of view constraint conditions, and then calls the line overall image acquisition unit to perform real-time image acquisition of the transmission line, and calls the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain the certification result. When the certification result is passed, the laser transmitter is used to emit multiple parallel laser lines, and combined with the The corresponding binocular camera performs line dynamic monitoring and analysis on the target transmission line in the current monitoring window, obtains the dynamic three-dimensional position sequence of the target transmission line, and then performs dynamic centralized calculation of windage swing parameters based on the dynamic three-dimensional position sequence, determines the first windage swing parameter set, and uses the first windage swing parameter set as the line windage swing monitoring result of the current monitoring window. By retrieving the N historical windage swing parameter sets of the previous N historical monitoring windows, combined with the first windage swing parameter set for fluctuation analysis, the next monitoring window is determined, and line windage swing monitoring is performed on the target transmission line in the next monitoring window. The technical effect of improving the reliability of line windage swing monitoring, dynamically determining the next monitoring window, and improving the flexibility of line windage swing monitoring is achieved.

[0054] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0056] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. A line windage vibration monitoring method based on multi-parallel laser and binocular vision, characterized in that: The method comprises: Obtain the distribution position of the target transmission line to deploy monitoring equipment, and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to one deployment position; Performing monitoring field of view analysis based on the laser transmitter and the binocular camera to determine monitoring field of view constraint conditions; Calling the line overall image acquisition unit to acquire real-time images of the transmission line, and calling the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain a certification result; When the authentication result is authentication passed, the laser transmitter is used to emit multiple parallel laser lines, and the corresponding binocular camera is used to perform line dynamic monitoring and analysis on the target transmission line in the current monitoring window to obtain a dynamic three-dimensional position sequence of the target transmission line; Performing dynamic centralized calculation of windage yaw and dancing parameters based on the dynamic three-dimensional position sequence to determine a first windage yaw and dancing parameter set, and using the first windage yaw and dancing parameter set as the line windage yaw and dancing monitoring result of the current monitoring window; Retrieve N historical wind yaw fluctuation parameter sets of the first N historical monitoring windows, perform fluctuation analysis in combination with the first wind yaw fluctuation parameter set, determine the next monitoring window, and perform line wind yaw fluctuation monitoring on the target transmission line in the next monitoring window.

2. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 1 is characterized in that: Based on the laser transmitter and the binocular camera, a monitoring field of view analysis is performed to determine the monitoring field of view constraint conditions, including: Acquire the optical parameter set of the binocular camera, perform coverage range analysis in combination with the layout position of the laser transmitter, and obtain a coverage tolerance area; Perform image acquisition environment index matching based on the optical parameter set to obtain an environment index tolerance interval set; The coverage tolerance area and the environmental indicator tolerance interval set are used as the monitoring field of view constraint conditions.

3. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 2 is characterized in that: The line overall image acquisition unit is called to acquire real-time images of the transmission line, and the wind monitoring device is called to perform monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain certification results, including: Using a line overall image acquisition unit to perform real-time image acquisition on the target power transmission line to obtain a real-time power transmission line image; Analyzing the real-time transmission line image using a feature parser to obtain a real-time transmission line environmental feature set and a transmission line edge distribution feature; Calling the wind monitoring device to identify the state of the target power transmission line to obtain wind monitoring characteristics; Authenticating the edge distribution characteristics of the transmission line according to the coverage tolerance area of ​​the monitoring field of view constraint condition and authenticating the real-time transmission line environmental characteristic set according to the environmental indicator tolerance interval set, to obtain a first monitoring feasibility authentication result; Acquire a wind monitoring threshold, authenticate the wind monitoring feature, and obtain a second monitoring feasibility authentication result; When both the first monitoring feasibility authentication result and the second monitoring feasibility authentication result are passed, the authentication result is authentication passed.

4. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 3 is characterized in that: It is determined whether the wind monitoring characteristic meets the wind monitoring threshold. If so, the second monitoring feasibility authentication result is passed.

5. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 1 is characterized in that: Based on the dynamic three-dimensional position sequence, dynamic centralized calculation of windage yaw and galloping parameters is performed to determine a first windage yaw and galloping parameter set, including: Based on the dynamic three-dimensional position sequence, adjacent dynamic three-dimensional position difference calculation is performed to determine a plurality of initial windage yaw parameter sets; Using the windage dancing parameter type as an index, clustering the multiple initial windage dancing parameter sets of the same type to obtain multiple clustered windage dancing parameter sets, wherein each clustered windage dancing parameter set corresponds to a windage dancing parameter type; Traversing the plurality of concentrated windage yaw and dancing parameter sets to perform centralized calculations and determine a plurality of concentrated windage yaw and dancing parameters; The plurality of concentrated wind yaw dancing parameters are aggregated to obtain the first wind yaw dancing parameter set.

6. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 5 is characterized in that: include: Calculating the mean values ​​of the plurality of concentrated windage wave parameter sets respectively to obtain a plurality of initial concentration centers; Taking the multiple initial concentrated centers as the center of the circle and the preset concentrated step length as the radius, constructing multiple initial concentrated areas, and equally dividing the multiple initial concentrated areas into two left and right sub-areas, to obtain multiple left areas in the initial divided areas and multiple right areas in the initial divided areas; Diffusion of the left regions in the plurality of initial partition sets to the left and diffusion of the right regions in the plurality of initial partition sets to the right according to a preset concentration step length, to obtain a plurality of left regions in diffused partition sets and a plurality of right regions in diffused partition sets; Determine whether the area density of the left area in the plurality of diffuse partition sets is greater than or equal to the area density of the left area in the plurality of initial partition sets, and if so, continue to diffuse to the left according to a preset concentration step size; Determine whether the area density of the right area in the plurality of diffuse partition sets is greater than or equal to the area density of the right area in the plurality of initial partition sets, and if so, continue to diffuse rightward according to a preset concentration step size; Until the diffusion on both the left and right sides stops at the same time, a left region of a plurality of target diffusion partitions and a right region of a plurality of target diffusion partitions are obtained; The left areas of the multiple target diffusion division concentrations and the right areas of the multiple target diffusion division concentrations are merged respectively to obtain multiple target diffusion concentration areas, and the mean values ​​of multiple concentrated wind deviation dancing parameters in the multiple target diffusion concentration areas are traversed and calculated to obtain multiple concentrated wind deviation dancing parameters.

7. The line windage vibration monitoring method based on multi-parallel line lasers and binocular vision as claimed in claim 6 is characterized in that: The first windage dancing parameter set includes a windage angle, a dancing amplitude, a vertical dancing amplitude, a horizontal dancing amplitude and an elliptical tilt angle.

8. The line windage vibration monitoring method based on multi-parallel laser and binocular vision as claimed in claim 1 is characterized in that: Obtain the distribution location of the target transmission line to deploy monitoring equipment and obtain the deployed laser transmitter, wherein a binocular camera is installed at the laser transmitter, and the laser transmitter corresponds to one deployment location, including: Determining basic line information based on the distribution location of the target transmission line, wherein the basic line information includes line length, line height and line curvature data; Obtaining basic parameters of the laser emitter, and laying out the laser emitter in combination with the line length, line height, and line bending data to obtain a laser emitter laying plan, wherein the laser emitter laying plan includes an installation height and an emission intensity; The laser emitters are deployed based on the laser emitter deployment plan, and binocular cameras are deployed at a preset distance from the laser emitters to obtain deployed laser emitters.

Images