Line Wind Deflection and Galloping Monitoring Method Based on Multi-Parallel Line Lasers and Binocular Vision

Abstract

The present invention discloses a method for monitoring line wind deviation and galloping based on multi-parallel line lasers and binocular vision, which relates to the technical field of line wind deviation and galloping monitoring. The method includes: obtaining the distribution position of the target transmission line to deploy monitoring equipment and obtaining the deployed laser emitter; determining the monitoring field of view constraint conditions; conducting monitoring feasibility certification and obtaining the certification result; obtaining the dynamic three-dimensional position sequence of the target transmission line; determining the first set of wind deviation and galloping parameters and using the first set of wind deviation and galloping parameters as the monitoring result of the line wind deviation and galloping for the current monitoring window; determining the next monitoring window and conducting line wind deviation and galloping monitoring on the target transmission line in the next monitoring window. The present invention solves the technical problems of unreliable line wind deviation and galloping monitoring and low accuracy in the prior art, and achieves the technical effects of improving the accuracy of line wind deviation and galloping monitoring and the flexibility of dynamic monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of line wind deviation and galloping monitoring, and particularly to a method for monitoring line wind deviation and galloping based on multi-parallel line lasers and binocular vision. Background Art

[0002] Currently, only a single laser sensor or camera device is usually relied on to obtain the wind deviation data of the line. In an environment with strong wind or obvious changes in light conditions, it is easily interfered, resulting in unstable data and unable to accurately capture the galloping amplitude of the line. In addition, in complex terrains or long-distance lines, improper layout of monitoring devices may lead to data acquisition blind spots, thus causing the situation where the line wind deviation and galloping cannot be comprehensively captured, which makes the monitoring of line wind deviation and galloping lag and unable to respond in a timely and effective manner, thereby increasing the risk of line faults.

[0003] The prior art has the technical problems of unreliable monitoring and low accuracy of line wind deviation and galloping. Summary of the Invention

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

[0005] In view of the above problems, the present application provides a method for monitoring line wind deviation and galloping based on multi-parallel line lasers and binocular vision, and the method includes:

[0006] Obtain the distribution position of the target transmission line to deploy the monitoring device, and obtain the laser emitter after deployment. Among them, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to one deployment position;

[0007] Based on the laser emitter and the binocular camera, perform monitoring field of view analysis to determine the monitoring field of view constraint conditions;

[0008] Call the line overall image acquisition unit to perform real-time image acquisition of the transmission line, and call the wind monitoring device, and combine the monitoring field of view constraint conditions to perform monitoring feasibility certification to obtain a certification result;

[0009] When the certification result is certification passed, use the laser emitter to emit multiple parallel line lasers, and combine the corresponding binocular camera to perform line dynamic monitoring analysis on the target transmission line in the current monitoring window to obtain the dynamic three-dimensional position sequence of the target transmission line;

[0010] Based on the dynamic three-dimensional position sequence, perform dynamic centralized calculation of wind deviation and galloping parameters to determine the first set of wind deviation and galloping parameters, and use the first set of wind deviation and galloping parameters as the monitoring result of the line wind deviation and galloping in the current monitoring window;

[0011] Retrieve the N historical wind deviation dancing parameter sets of the first N historical monitoring windows, perform fluctuation analysis in combination with the first wind deviation dancing parameter set, determine the next monitoring window, and perform line wind deviation dancing monitoring on the target transmission line in the next monitoring window.

[0012] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0013] In this application, the distribution position of the target transmission line is obtained to arrange monitoring devices, and a laser emitter after arrangement is obtained. Among them, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to one arrangement position. Then, based on the laser emitter and the binocular camera, the monitoring field of view is analyzed to determine the monitoring field of view constraint conditions. Furthermore, the line overall image acquisition unit is called to perform real-time image acquisition 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 a certification result. When the certification result is passed, multiple parallel line lasers are emitted by the laser emitter, and in combination with the corresponding binocular camera, line dynamic monitoring analysis is performed on the target transmission line in the current monitoring window to obtain the dynamic three-dimensional position sequence of the target transmission line. Then, based on the dynamic three-dimensional position sequence, dynamic centralized calculation of wind deviation dancing parameters is performed to determine the first wind deviation dancing parameter set. The first wind deviation dancing parameter set is used as the line wind deviation dancing monitoring result of the current monitoring window. By retrieving the N historical wind deviation dancing parameter sets of the first N historical monitoring windows and performing fluctuation analysis in combination with the first wind deviation dancing parameter set, the next monitoring window is determined, and line wind deviation dancing monitoring is performed on the target transmission line in the next monitoring window. The technical effect of improving the reliability of line wind deviation dancing monitoring is achieved. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for description in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 It is a schematic flowchart of a method for monitoring line wind deviation dancing based on multi-parallel line lasers and binocular vision provided in an embodiment of this application;

[0016] Figure 2 It is a schematic flowchart of determining the first wind deviation dancing parameter set in the method for monitoring line wind deviation dancing based on multi-parallel line lasers and binocular vision provided in an embodiment of this application. Detailed Embodiments

[0017] The present application provides a method for monitoring line wind deflection and galloping based on multi-parallel line lasers and binocular vision, which is used to solve the technical problems of unreliable line wind deflection and galloping monitoring and low accuracy in the prior art.

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0019] It should be noted that the terms "including" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, method, product, or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0020] Embodiment, as Figure 1 shown, the present application provides a method for monitoring line wind deflection and galloping based on multi-parallel line lasers and binocular vision, and the method includes:

[0021] Step S100: Obtain the distribution position of the target transmission line for arranging monitoring devices, and obtain the arranged laser emitter. Among them, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to one arrangement position;

[0022] Further, obtain the distribution position of the target transmission line for arranging monitoring devices, and obtain the arranged laser emitter. Among them, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to one arrangement position. Step S100 of the embodiment of the present application further includes:

[0023] Determine the basic information of the line based on the distribution position of the target transmission line, where the line basic information includes line length, line height, and line bending data;

[0024] Obtain the basic parameters of the laser emitter, and combine the line length, line height, and line bending data to arrange the laser emitter to obtain a laser emitter arrangement scheme, where the laser emitter arrangement scheme includes installation height and emission intensity;

[0025] Arrange the laser emitter based on the laser emitter arrangement scheme, and arrange the binocular camera at a preset distance from the laser emitter to obtain the arranged laser emitter.

[0026] 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 the monitoring equipment according to the distribution location, it lays the foundation for reliable monitoring of the line's wind deviation and galloping in the future. Preferably, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to a layout position. The laser emitter is used for dynamic monitoring of the wind deviation and galloping of the target transmission line.

[0027] In one embodiment, first, collect the core parameters of the target transmission line, including: Line length: The total length of the transmission line, which is used to determine the total number of emitters to be laid out. Line height: The height change of the transmission line in different terrains, which is convenient for calculating the installation height of the laser emitter. Line bending data: Analyze the bending degree of the line, especially the bends that require special monitoring, so as to lay out additional equipment in these areas to ensure complete monitoring coverage. Furthermore, obtain the basic parameters of the laser emitter: According to the layout requirements, obtain the key parameters of the laser emitter, 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 emitter to ensure that the laser line can be perpendicular to the line and can cover smoothly in the curved area. Working distance: The effective monitoring range of the laser emitter. According to the length, height, and bending data of the line, combined with the basic parameters of the laser emitter, those skilled in the art design a reasonable layout plan based on the obtained data. Preferably, based on the height change of the line, adjust the installation height of the emitter to ensure the best interaction range between the laser line and the line. At the same time, according to the length and bending degree of the transmission line, set the emission intensity of the laser emitter to ensure uniform laser coverage in the entire monitoring area.

[0028] According to the layout plan, install the laser emitter at the planned layout position. Parameters such as the installation height, emission angle, and intensity of the laser emitter need to be precisely adjusted to ensure that the laser line can cover the transmission line in parallel. Furthermore, lay out the binocular camera at the preset distance of the laser emitter. The binocular camera needs to be coordinated with the position and height of the laser emitter to ensure that the camera can accurately capture the interaction point between the laser line and the transmission line and perform three-dimensional position measurement.

[0029] After the layout of the laser emitter and the binocular camera is completed, the entire system forms a complete monitoring device that covers the transmission line. The laser emitter and its corresponding binocular camera form an independent monitoring unit to achieve dynamic monitoring of the wind deviation and galloping of the transmission line.

[0030] By obtaining the laser emitter that has been deployed, it is possible to ensure the reasonable deployment of the monitoring device based on the laser emitter and the binocular camera, thereby providing reliable data support for the monitoring of the wind-induced galloping of transmission lines.

[0031] Step S200: Analyze the monitoring field of view based on the laser emitter and the binocular camera to determine the monitoring field of view constraint conditions;

[0032] Furthermore, when analyzing the monitoring field of view based on the laser emitter and the binocular camera to determine the monitoring field of view constraint conditions, step S200 of the embodiment of the present application further includes:

[0033] Obtain the set of optical parameters of the binocular camera, and perform coverage analysis in combination with the deployment position of the laser emitter to obtain a coverage tolerance area;

[0034] Match the image acquisition environment indicators based on the set of optical parameters to obtain a set of environmental indicator tolerance intervals;

[0035] Use the coverage tolerance area and the set of environmental indicator tolerance intervals as the monitoring field of view constraint conditions. Set of environmental indicator tolerance intervals

[0036] In one embodiment, the reliable operation of the monitoring array, in addition to relying on the normal operation of the laser emitter and the binocular camera, is also greatly related to the working environment. For example, in thunderstorm weather, due to the effect of rain, the shooting effect of the binocular camera cannot meet the expectations. Therefore, it is necessary to determine the constraint conditions during the monitoring process according to the parameters of the laser emitter and the binocular camera, so as to improve the reliability of the monitoring results. The monitoring field of view constraint conditions constrain the wind-induced galloping monitoring of the target transmission line from two dimensions: the monitoring range and the monitoring environment.

[0037] In a possible embodiment, obtain the set of optical parameters of the binocular camera. These parameters include the focal length, viewing angle range, resolution, shooting distance, etc. of the camera to ensure that the monitoring range of the camera can be accurately determined during subsequent calculations. According to the deployment position of the laser emitter, analyze the laser area covered by the emitter, considering the influence of the height, emission angle, and emission intensity of the emitter on the coverage range. According to the optical parameters of the binocular camera and the position of the laser emitter, calculate the effective monitoring range of the device to obtain a coverage tolerance area. These areas define the field of view limit range of the device to ensure that there is no blind area during the monitoring process.

[0038] Furthermore, in combination with the optical parameters and the emission conditions of the laser emitter, those skilled in the art analyze environmental factors such as the illumination, weather, and temperature of the actual monitoring environment to determine the working performance of the camera and the laser in different environments. Based on the actually collected environmental data, the performance change ranges of the camera and the laser emitter under different environmental conditions are calculated to obtain the environmental index tolerance intervals. These intervals reflect the monitoring capabilities of the system in different environments.

[0039] Combine the previously calculated coverage tolerance area with the set of environmental index tolerance intervals, comprehensively analyze the working ranges of the monitoring equipment in different regions and environmental conditions, and determine the final monitoring field-of-view constraint conditions. These constraint conditions ensure that the equipment can efficiently monitor the transmission line at different installation positions and in different environments.

[0040] Step S300: Invoke the overall line image acquisition unit to perform real-time image acquisition of the transmission line, and invoke the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field-of-view constraint conditions to obtain a certification result;

[0041] Furthermore, when invoking the overall line image acquisition unit to perform real-time image acquisition of the transmission line, and invoking the wind monitoring device to perform monitoring feasibility certification in combination with the monitoring field-of-view constraint conditions to obtain a certification result, step S300 of the embodiment of the present application further includes:

[0042] Use the overall line image acquisition unit to perform real-time image acquisition of the target transmission line to obtain a real-time transmission line image;

[0043] Use the feature analyzer to analyze the real-time transmission line image to obtain a set of real-time transmission line environmental features and the edge distribution features of the transmission line;

[0044] Invoke the wind monitoring device to perform state recognition on the target transmission line to obtain wind monitoring features;

[0045] According to the coverage tolerance area of the monitoring field-of-view constraint conditions, certify the edge distribution features of the transmission line and, according to the set of environmental index tolerance intervals, certify the set of real-time transmission line environmental features to obtain a first monitoring feasibility certification result;

[0046] Obtain the wind monitoring threshold, certify the wind monitoring features to obtain a second monitoring feasibility certification result;

[0047] When both the first monitoring feasibility certification result and the second monitoring feasibility certification result pass, the certification result is certified as passed.

[0048] Furthermore, determine whether the wind monitoring features meet the wind monitoring threshold. If so, the second monitoring feasibility certification result is passed.

[0049] In a possible embodiment, the overall line image acquisition unit is used to acquire images of the overall situation of the area where the target transmission line is located, and then reliably acquire the real-time environmental state of the target transmission line. The wind monitoring device is used to reliably monitor the wind conditions inside the target transmission line and can collect the wind speed, wind direction, etc. in the area where the target transmission line is located.

[0050] Use the overall line image acquisition unit to perform real-time image acquisition on the target transmission line, analyze in combination with the monitoring field-of-view constraint conditions to determine whether the constraints are met. And conduct monitoring feasibility certification based on the monitoring results of the wind monitoring device to determine whether the basic requirements for wind swing monitoring of the transmission line are met, and obtain the certification result.

[0051] In one embodiment, activate the overall line image acquisition unit to perform continuous real-time image acquisition on the target transmission line to ensure obtaining the current state image of the transmission line. Obtain real-time transmission line image data through the image acquisition unit, and these images will be used for subsequent feature extraction and analysis. Call the feature parser to process the acquired transmission line images and analyze the environmental features and line structure features contained therein. Through image recognition technology, extract the key features of the transmission line, including the line direction, bends, edge distribution, etc.

[0052] Preferably, obtain multiple sample transmission line images, multiple sample transmission line environmental feature sets, and multiple sample transmission line edge distribution features as training data, build a network framework based on a feedforward neural network, and use the training data to perform supervised training on the network framework. During the training process, learn the one-to-two mapping relationship between the sample transmission line images and the multiple sample transmission line environmental feature sets and the multiple sample transmission line edge distribution features until convergence, and obtain the trained feature parser.

[0053] Based on the parsing results, extract the feature set in the current environment, including illumination, meteorological conditions, surrounding environment, etc. At the same time, determine the edge distribution features of the transmission line, such as the specific position of the line, the shape of the cable, and its distribution in space.

[0054] Furthermore, activate the wind monitoring device to obtain data such as wind speed and wind direction in the current monitoring area and generate wind monitoring features.

[0055] 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 regions. Ensure that each laser line can effectively capture the key parts of the transmission line to prevent blind spots and monitoring failures. Match the set of real-time acquired environmental characteristics with the pre-set environmental index tolerance interval to determine whether the current monitoring environment (such as lighting, weather, etc.) is within the acceptable range of the system, and ensure that the image acquisition and laser monitoring devices can work properly in the current environment. If both the line edge characteristics and the environmental characteristics meet the pre-set conditions, the first monitoring feasibility certification result is passed, and the system can proceed with further operations.

[0056] Preferably, those skilled in the art obtain the pre-set wind monitoring thresholds, which represent the acceptable wind range of the device under normal operating conditions. Compare the current wind monitoring characteristics with the wind thresholds to determine whether they exceed the acceptable range. If the wind is within the threshold range, the second monitoring feasibility certification result is passed.

[0057] 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 with the real-time monitoring of wind-induced galloping. If any one of the certification results fails, the system will issue an alarm, indicating that the device needs to be readjusted or the monitoring plan needs to be modified, and then the certification is carried out again.

[0058] Through these specific implementation steps, ensure that the monitoring system can operate normally in a complex environment, and through multi-level certification means, ensure that the monitoring device can effectively capture the wind-induced galloping state of the transmission line.

[0059] Step S400: When the certification result is passed, use the laser emitter to emit multiple parallel laser lines, and combine the corresponding binocular cameras to perform line dynamic monitoring and analysis on the target transmission line in the current monitoring window to obtain the dynamic three-dimensional position sequence of the target transmission line;

[0060] In a possible embodiment, after authentication is passed, the system activates the arranged laser emitter. The emitter 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 for capturing 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 clearly with the line for the accuracy of subsequent data collection. The binocular camera corresponding to the laser emitter starts to work to capture the interaction points between the transmission line and the laser lines. Through the binocular vision principle and using the stereoscopic parallax effect of the camera, the spatial position changes of the transmission line are collected. The binocular camera performs real-time image acquisition at a high frame rate to ensure capturing the real-time position changes of the transmission line under external forces such as wind, and records the three-dimensional spatial position of the line at each moment. The images captured by the binocular camera are analyzed through image processing algorithms to identify the intersection points between the transmission line and the laser lines. Combining the parallax information of the binocular camera, the coordinates of these intersection points in the three-dimensional space are calculated.

[0061] The intersection point data of multiple laser lines and the transmission line are time-serialized 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-induced vibration and galloping analysis.

[0062] Preferably, the current monitoring window is the time period during which wind-induced vibration and galloping monitoring is currently being carried out. The system sets the current monitoring window according to the monitoring requirements of the line, that is, the time length and frequency of continuous monitoring by the system within a time period. Within this monitoring window, the system continuously collects and calculates the dynamic three-dimensional position of the transmission line to obtain the dynamic three-dimensional position sequence. Among them, the dynamic three-dimensional position sequence reflects the position change of the target transmission line within the current monitoring window.

[0063] By utilizing the collaborative work of the laser emitter and the binocular camera, the dynamic three-dimensional position sequence of the transmission line is accurately and real-timely obtained. These data provide a basic guarantee for subsequent calculation of wind-induced vibration and galloping parameters and the safe operation of the line.

[0064] Step S500: Based on the dynamic three-dimensional position sequence, perform dynamic centralized calculation of wind-induced vibration and galloping parameters to determine the first set of wind-induced vibration and galloping parameters, and use the first set of wind-induced vibration and galloping parameters as the monitoring result of the wind-induced vibration and galloping of the line in the current monitoring window;

[0065] Further, as Figure 2 shown, based on the dynamic three-dimensional position sequence, perform dynamic centralized calculation of wind-induced vibration and galloping parameters to determine the first set of wind-induced vibration and galloping parameters. Step S500 of the embodiment of the present application further includes:

[0066] Based on the dynamic three-dimensional position sequence, perform adjacent dynamic three-dimensional position difference calculations to determine multiple initial wind-induced galloping parameter sets;

[0067] Using the type of wind-induced galloping parameter as an index, perform clustering of the same type on the multiple initial wind-induced galloping parameter sets to obtain multiple clustered wind-induced galloping parameter sets, where each clustered wind-induced galloping parameter set corresponds to a type of wind-induced galloping parameter;

[0068] Traverse the multiple clustered wind-induced galloping parameter sets for centralized calculation to determine multiple centralized wind-induced galloping parameters;

[0069] Summarize the multiple centralized wind-induced galloping parameters to obtain the first wind-induced galloping parameter set.

[0070] Further, step S500 of the embodiment of the present application further includes:

[0071] Calculate the means of the multiple clustered wind-induced galloping parameter sets respectively to obtain multiple initial centralized centers;

[0072] With the multiple initial centralized centers as the centers and a preset centralized step length as the radius, construct multiple initial centralized regions, and divide the multiple initial centralized regions into left and right sub-regions to obtain multiple initial divided centralized left regions and multiple initial divided centralized right regions;

[0073] Expand the multiple initial divided centralized left regions to the left and the multiple initial divided centralized right regions to the right respectively according to the preset centralized step length to obtain multiple expanded divided centralized left regions and multiple expanded divided centralized right regions;

[0074] Judge whether the regional density of the multiple expanded divided centralized left regions is greater than or equal to the regional density of the multiple initial divided centralized left regions. If so, continue to expand to the left according to the preset centralized step length;

[0075] Judge whether the regional density of the multiple expanded divided centralized right regions is greater than or equal to the regional density of the multiple initial divided centralized right regions. If so, continue to expand to the right according to the preset centralized step length;

[0076] Stop expanding on both the left and right sides until stopped, to obtain multiple target expanded divided centralized left regions and multiple target expanded divided centralized right regions;

[0077] Fuse the multiple target expanded divided centralized left regions and the multiple target expanded divided centralized right regions respectively to obtain multiple target expanded centralized regions, traverse and calculate the means of the multiple clustered wind-induced galloping parameters within the multiple target expanded centralized regions to obtain multiple centralized wind-induced galloping parameters.

[0078] Further, the first wind-induced galloping parameter set includes a wind deviation angle, a galloping amplitude, a vertical galloping amplitude, a horizontal galloping amplitude, and an elliptical tilt angle.

[0079] In one embodiment, after obtaining the dynamic three-dimensional position sequence, according to the change of adjacent positions of the target transmission line within a preset monitoring window, centralized calculation of wind-induced galloping parameters is performed to obtain a parameter set that can represent the wind-induced galloping condition of the target transmission line within the preset monitoring window, that is, the first wind-induced galloping parameter set, and the first wind-induced galloping parameter set is used as the monitoring result of the line wind-induced galloping in the current monitoring window.

[0080] In a possible embodiment, first, based on the dynamic three-dimensional position sequence of the transmission line generated in step S400, the system will perform position difference calculation. Perform difference operations on adjacent three-dimensional positions in the sequence to calculate the spatial position change of each section of the transmission line at adjacent time points. The displacement and direction of the transmission line are obtained through difference calculation, and multiple initial wind-induced galloping parameter sets are generated. Each initial wind-induced galloping parameter set includes a wind deviation angle, a galloping amplitude, a vertical galloping amplitude, a horizontal galloping amplitude, and an elliptical tilt angle.

[0081] Taking different types of wind-induced galloping parameters (such as wind deviation angle, galloping amplitude, etc.) as indexes, classify the data in the initial wind-induced galloping parameter set by type. Aggregate the wind-induced galloping parameters of the same type to form multiple aggregated wind-induced galloping parameter sets. Each set contains a specific type of wind deviation parameter. For example, all wind deviation angle data will be aggregated into one set, and galloping amplitude data will be aggregated into another set.

[0082] Preferably, calculate the means of the multiple aggregated wind-induced galloping parameter sets respectively to obtain multiple initial centralized centers. Among them, the multiple initial centralized centers reflect the parameter average levels of the multiple aggregated wind-induced galloping parameter sets considering edge values and accidental values. Furthermore, with the multiple initial centralized centers as the centers and a preset centralized step length as the radius, construct multiple initial centralized regions, and divide the multiple initial centralized regions into left and right sub-regions equally to obtain multiple initial divided centralized left regions and multiple initial divided centralized right regions. The preset centralized step length is the parameter difference of a single movement during centralized calculation preset by those skilled in the art.

[0083] Furthermore, expand the multiple initial divided centralized left regions to the left and the multiple initial divided centralized right regions to the right respectively according to the preset centralized step length to obtain multiple expanded divided centralized left regions and multiple expanded divided centralized right regions.

[0084] Determine whether the regional density of the left region in the multiple diffusion partition sets is greater than or equal to the regional density of the left region in the multiple initial partition sets. If so, it indicates that the degree of parameter aggregation in the left region of the multiple diffusion partition sets is greater than that in the left region of the multiple initial partition sets. At this time, the edge of the region with a relatively dense distribution has not been reached, so continue to diffuse to the left according to the preset centralized step length. Preferably, the regional density of the left region in the multiple diffusion partition sets is the ratio of the number of parameters distributed in the left region of the multiple diffusion partition sets to the regional area, which reflects the degree of parameter aggregation in the region. Based on the same calculation principle, obtain the regional density of the left region in the multiple initial partition sets.

[0085] Furthermore, determine whether the regional density of the right region in the multiple diffusion partition sets is greater than or equal to the regional density of the right region in the multiple initial partition sets. If so, it indicates that the degree of parameter aggregation in the right region of the multiple diffusion partition sets is greater than that in the right region of the multiple initial partition sets. At this time, the edge of the region with a relatively dense distribution has not been reached, so continue to diffuse to the right according to the preset centralized step length; stop diffusing on both the left and right sides until multiple target diffusion partition sets' left regions and multiple target diffusion partition sets' right regions are obtained.

[0086] Fuse the left regions in the multiple target diffusion partition sets and the right regions in the multiple target diffusion partition sets respectively to obtain multiple target diffusion concentrated regions, traverse and calculate the mean values of multiple aggregated wind deviation galloping parameters in the multiple target diffusion concentrated regions to obtain multiple centralized wind deviation galloping parameters. It achieves the technical effect of accurately analyzing and calculating the wind deviation galloping situation of the transmission line and providing important data support for the next monitoring and adjustment.

[0087] Step S600: Retrieve N historical wind deviation galloping parameter sets of the previous N historical monitoring windows, perform fluctuation analysis in combination with the first wind deviation galloping parameter set to determine the next monitoring window, and monitor the line wind deviation galloping of the target transmission line in the next monitoring window.

[0088] In a possible embodiment, the first wind deviation galloping parameter set reflects the wind deviation galloping situation of the target transmission line in the current monitoring window. Furthermore, by retrieving N historical wind deviation galloping parameter sets of the previous N historical monitoring windows for comprehensive fluctuation analysis, determine the time period for the next monitoring of the target transmission line, that is, the next monitoring window. Thus, in the actual monitoring process, the system can flexibly adjust the duration of the monitoring window and the sampling frequency according to the movement amplitude of the line and environmental changes, achieving the goal of better capturing the dynamic changes of the line and improving the reliability of line wind deviation galloping monitoring.

[0089] Preferably, analyze the N historical wind-induced galloping parameter sets and the first wind-induced galloping parameter set, and calculate the change trends of each wind-induced galloping parameter, including the fluctuation frequencies and amplitude change trends of the wind deviation angle, galloping amplitude, vertical and horizontal galloping amplitudes, etc. By comparing the historical data with the current data, identify whether there are obvious abnormal fluctuations. For example, if the fluctuation amplitude of certain parameters significantly increases within the current monitoring window, it may indicate abnormal wind force.

[0090] 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 intense wind-induced galloping or obvious abnormal fluctuations, the duration of the next monitoring window may be shortened and the data acquisition frequency may be increased to ensure that subtle galloping changes are captured. Determine the specific time length (such as 10 minutes, 30 minutes, etc.) and data acquisition interval (such as 1 second, 5 seconds, etc.) of the next monitoring window according to the fluctuation situation, and ensure monitoring during the most appropriate time period. It achieves the technical effect of dynamically adjusting the next monitoring window based on the fluctuation trend of historical data and the current monitoring results, and continuously monitoring the wind-induced galloping of the transmission line.

[0091] In summary, the embodiments of the present application at least have the following technical effects:

[0092] In this application, by obtaining the distribution position of the target transmission line to deploy the monitoring equipment, a laser emitter after deployment is obtained. Among them, a binocular camera is installed at the laser emitter, and the laser emitter corresponds to a deployment position. Then, based on the laser emitter and the binocular camera, the monitoring field of view is analyzed to determine the monitoring field of view constraint conditions. Furthermore, the line overall image acquisition unit is called to perform real-time image acquisition of the transmission line, and the wind force monitoring device is called 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, multiple parallel laser beams are emitted by the laser emitter, and in combination with the corresponding binocular camera, the target transmission line is dynamically monitored and analyzed in the current monitoring window to obtain the dynamic three-dimensional position sequence of the target transmission line. Then, based on the dynamic three-dimensional position sequence, the dynamic centralized calculation of the wind-induced galloping parameters is performed to determine the first wind-induced galloping parameter set, and the first wind-induced galloping parameter set is used as the monitoring result of the wind-induced galloping of the line in the current monitoring window. By retrieving the N historical wind-induced galloping parameter sets of the previous N historical monitoring windows, and performing fluctuation analysis in combination with the first wind-induced galloping parameter set, the next monitoring window is determined, and the wind-induced galloping of the target transmission line is monitored in the next monitoring window. It achieves the technical effects of improving the reliability of line wind-induced galloping monitoring, dynamically determining the next monitoring window, and improving the flexibility of line wind-induced galloping monitoring.

[0093] It should be noted that the above order of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. In addition, the above specific embodiments of this specification have been described. Moreover, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0094] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

[0095] This specification and the drawings are only exemplary descriptions of the present application and are considered to have covered any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications 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 equivalent technologies, the present application is intended to include these changes and modifications.

Claims

1. A method for monitoring line wind deviation and galloping based on multi-parallel line lasers and binocular vision, characterized in that, The method includes: Obtaining the distribution position of the target transmission line to deploy monitoring devices, and obtaining the deployed laser emitter. A binocular camera is installed at the laser emitter, and the laser emitter corresponds to one deployment position; Performing monitoring field of view analysis based on the laser emitter and the binocular camera to determine the monitoring field of view constraint conditions; Invoking the overall line image acquisition unit to perform real-time image acquisition of the transmission line, and invoking the wind monitoring device, and performing monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain a certification result; When the certification result is certification passed, using the laser emitter to emit multiple parallel laser lines, and combining the corresponding binocular camera to perform line dynamic monitoring analysis on the target transmission line in the current monitoring window to obtain the dynamic three-dimensional position sequence of the target transmission line; Performing dynamic centralized calculation of wind deviation and galloping parameters based on the dynamic three-dimensional position sequence to determine the first set of wind deviation and galloping parameters, and using the first set of wind deviation and galloping parameters as the line wind deviation and galloping monitoring result of the current monitoring window; Retrieving the N historical sets of wind deviation and galloping parameters of the previous N historical monitoring windows, performing fluctuation analysis in combination with the first set of wind deviation and galloping parameters to determine the next monitoring window, and performing line wind deviation and galloping monitoring on the target transmission line in the next monitoring window; Performing monitoring field of view analysis based on the laser emitter and the binocular camera to determine the monitoring field of view constraint conditions, including: Obtaining the set of optical parameters of the binocular camera, and performing coverage range analysis in combination with the deployment position of the laser emitter to obtain the coverage tolerance area; Performing matching of image acquisition environment indicators based on the set of optical parameters to obtain the set of environment indicator tolerance intervals; Using the coverage tolerance area and the set of environment indicator tolerance intervals as the monitoring field of view constraint conditions, and the monitoring field of view constraint conditions constrain the wind deviation and galloping monitoring of the target transmission line in two dimensions of the monitoring range and the monitoring environment.

2. The method for monitoring line wind deviation and galloping based on multi-parallel line lasers and binocular vision according to claim 1, wherein Invoking the overall line image acquisition unit to perform real-time image acquisition of the transmission line, and invoking the wind monitoring device, and performing monitoring feasibility certification in combination with the monitoring field of view constraint conditions to obtain a certification result, including: Using the overall line image acquisition unit to perform real-time image acquisition of the target transmission line to obtain a real-time transmission line image; Using a feature analyzer to analyze the real-time transmission line image to obtain the set of real-time transmission line environment features and the transmission line edge distribution features; Invoking the wind monitoring device to perform state recognition on the target transmission line to obtain wind monitoring features; Certifying the transmission line edge distribution features according to the coverage tolerance area of the monitoring field of view constraint conditions and certifying the set of real-time transmission line environment features according to the set of environment indicator tolerance intervals to obtain the first monitoring feasibility certification result; Obtaining the wind monitoring threshold, and certifying the wind monitoring features to obtain the second monitoring feasibility certification result; When both the first monitoring feasibility certification result and the second monitoring feasibility certification result pass, the certification result is certification passed.

3. The method for monitoring line wind deflection and galloping based on multi-parallel line lasers and binocular vision according to claim 2, wherein Determine whether the wind monitoring feature meets the wind monitoring threshold. If so, the second monitoring feasibility certification result is passed.

4. The line wind deviation and galloping monitoring method based on multi-parallel line lasers and binocular vision according to claim 1, characterized in that, Based on the dynamic three-dimensional position sequence, perform dynamic centralized calculation of galloping parameters with wind deviation to determine the first set of galloping parameters with wind deviation, including: Based on the dynamic three-dimensional position sequence, perform differential calculation of adjacent dynamic three-dimensional positions to determine multiple initial sets of galloping parameters with wind deviation; Using the type of galloping parameter with wind deviation as an index, perform aggregation of the same type on the multiple initial sets of galloping parameters with wind deviation to obtain multiple aggregated sets of galloping parameters with wind deviation, where each aggregated set of galloping parameters with wind deviation corresponds to a type of galloping parameter with wind deviation; Traverse the multiple aggregated sets of galloping parameters with wind deviation for centralized calculation to determine multiple centralized galloping parameters with wind deviation; Summarize the multiple centralized galloping parameters with wind deviation to obtain the first set of galloping parameters with wind deviation.

5. The line wind deviation and galloping monitoring method based on multi-parallel line lasers and binocular vision according to claim 4, characterized in that, Including: Calculate the mean values of the multiple aggregated sets of galloping parameters with wind deviation respectively to obtain multiple initial centralized centers; With the multiple initial centralized centers as the centers and a preset centralized step length as the radius, construct multiple initial centralized regions, and divide each of the multiple initial centralized regions into two left and right sub-regions to obtain multiple initial divided centralized left regions and multiple initial divided centralized right regions; Diffuse the multiple initial divided centralized left regions to the left and the multiple initial divided centralized right regions to the right respectively according to the preset centralized step length to obtain multiple diffused divided centralized left regions and multiple diffused divided centralized right regions; Judge whether the regional density of the multiple diffused divided centralized left regions is greater than or equal to the regional density of the multiple initial divided centralized left regions. If so, continue to diffuse to the left according to the preset centralized step length; Judge whether the regional density of the multiple diffused divided centralized right regions is greater than or equal to the regional density of the multiple initial divided centralized right regions. If so, continue to diffuse to the right according to the preset centralized step length; Continue until the diffusion on both the left and right sides stops simultaneously to obtain multiple target diffused divided centralized left regions and multiple target diffused divided centralized right regions; Fuse the multiple target diffused divided centralized left regions and the multiple target diffused divided centralized right regions respectively to obtain multiple target diffused centralized regions, traverse and calculate the mean values of the multiple aggregated galloping parameters with wind deviation in the multiple target diffused centralized regions to obtain multiple centralized galloping parameters with wind deviation.

6. The line wind deviation and galloping monitoring method based on multi-parallel line lasers and binocular vision according to claim 5, characterized in that The first set of galloping parameters with wind deviation includes wind deviation angle, galloping amplitude, vertical galloping amplitude, horizontal galloping amplitude, and elliptical tilt angle.

7. The line wind deviation and galloping monitoring method based on multi-parallel line lasers and binocular vision according to claim 1, characterized in that Obtain the distribution position of the target transmission line to deploy monitoring equipment, and obtain the deployed laser emitter. A binocular camera is installed at the laser emitter, and each laser emitter corresponds to a deployment position, including: Determine the basic information of the line based on the distribution position of the target transmission line, where the basic information of the line includes line length, line height, and line bending data; Obtain the basic parameters of the laser emitter, and combine the line length, line height, and line bending data to deploy the laser emitter to obtain a laser emitter deployment plan, where the laser emitter deployment plan includes installation height and emission intensity; Deploy the laser emitter based on the laser emitter deployment plan, and deploy a binocular camera at a preset distance from the laser emitter to obtain the deployed laser emitter.

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