Method and device for determining icing thickness of power transmission line and storage medium

Abstract

The embodiment of the invention provides a method and device for determining the icing thickness of a power transmission line and a storage medium. The method comprises the following steps: acquiring a current microwave transmitting signal and a current microwave receiving signal acquired by a microwave sensor; determining the current icing thickness of the power transmission line according to the first phase of the current microwave transmitting signal and the second phase of the current microwave receiving signal; acquiring the historical icing thickness of the power transmission line at the previous moment, and determining the current icing change rate of the power transmission line; when the current icing thickness is greater than a preset value and the current icing change rate is not stabilized in a preset range, acquiring meteorological data monitored by a meteorological sensor; when the icing state of the power transmission line is determined to be an ice-water mixed state according to the meteorological data, acquiring a to-be-detected image for the microwave sensor acquired by the image acquisition equipment; the final icing thickness of the power transmission line is determined according to the to-be-detected image, the influence of the environment and the icing forming process is reduced, and the icing thickness of the power transmission line can be accurately judged.

Description

Technical Field

[0001] The present application relates to the technical field of ice coating detection of power transmission lines, and in particular to a method, a device, a storage medium and a power transmission line for determining the ice coating thickness of a power transmission line. Background Art

[0002] At present, ice monitoring of transmission lines mainly relies on manual observation and online monitoring. Traditional manual observation is labor-intensive, costly, inefficient, and dangerous, and the observation effect is poor in foggy days. Even with the help of new monitoring tools such as drones and robots, the monitoring effect in bad weather may not be satisfactory. Image ice monitoring and microwave ice monitoring are currently the two more common online ice monitoring methods. Image monitoring can provide intuitive feedback on ice, but the shooting effect is not good in bad weather such as rain, snow, fog, and dust, making it difficult to accurately judge the ice situation. Microwave monitoring has good sensitivity and high accuracy, but the data is unstable during the ice formation process, making it difficult to accurately judge the ice situation.

[0003] Therefore, the ice detection for power transmission lines in the prior art is easily affected by factors such as the environment and the ice formation process, which is not conducive to accurately judging the ice thickness of the power transmission lines. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, storage medium and transmission line for determining the ice thickness of a transmission line, so as to solve the technical problem in the prior art that it is difficult to accurately determine the ice thickness of a transmission line.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining the ice thickness of a transmission line, wherein the transmission line includes an ice monitoring device, the ice monitoring device includes a microwave sensor, a meteorological sensor, and an image acquisition device, and the microwave sensor is installed on a tower pole having the same height as the transmission line and parallel to the direction, including:

[0006] Obtaining a current microwave transmission signal and a current microwave reception signal collected by a microwave sensor;

[0007] Determine the current ice thickness of the transmission line according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal;

[0008] Obtain the historical ice thickness of the transmission line at the previous moment, and determine the current ice change rate of the transmission line according to the historical ice thickness and the current ice thickness;

[0009] When the current ice thickness is greater than a preset value and the current ice change rate is not stable within a preset range, obtaining meteorological data monitored by a meteorological sensor;

[0010] When it is determined according to meteorological data that the icing state of the power transmission line is a mixed state of ice and water, an image to be detected for the microwave sensor acquired by an image acquisition device is acquired;

[0011] The final ice thickness of the transmission line is determined based on the image to be detected.

[0012] In an embodiment of the present application, determining the current ice thickness of the transmission line based on the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal includes: determining the phase difference between the first phase and the second phase; determining the current ice thickness based on the phase difference and a preset compensation coefficient, wherein the preset compensation coefficient is determined based on the historical phase difference under different ice thicknesses.

[0013] In the embodiment of the present application, the current ice thickness is determined by formula (1):

[0014]

[0015] Among them, c refers to the current ice thickness, k refers to the preset compensation coefficient, α1 refers to the first phase, and α2 refers to the second phase.

[0016] In an embodiment of the present application, the method also includes: when the current ice coating thickness is greater than a preset value and the current ice coating change rate is stable within a preset range, determining that the ice coating state of the transmission line is an iced state, and the final ice coating thickness of the transmission line is the current ice coating thickness.

[0017] In an embodiment of the present application, the method further includes: when the current ice coating thickness is a preset value, determining that the ice coating state of the transmission line is an ice-free state, and the final ice coating thickness of the transmission line is a preset value.

[0018] In an embodiment of the present application, determining the final ice thickness of the transmission line based on the image to be detected for the microwave sensor acquired by the image acquisition device includes: performing Gaussian filtering on the image to be detected to obtain a filtered image; determining the pixel gradient and gradient amplitude of each pixel in the filtered image; determining the edge information of each pixel in the filtered image based on the pixel gradient and gradient amplitude; extracting the ice edge contour of the microwave sensor based on the edge information of each pixel in the filtered image; and determining the final ice thickness of the transmission line based on the ice edge contour and the cross-sectional diameter of the microwave sensor when not covered with ice.

[0019] In an embodiment of the present application, the meteorological data includes temperature data and humidity data, and the method further includes: when the temperature data and the humidity data both meet the preset conditions, determining that the icing state of the transmission line is an ice-water mixed state; when the temperature data or the humidity data does not meet the preset conditions, determining that the icing state of the transmission line is an iced state.

[0020] A second aspect of the present application provides a device for determining ice thickness of a transmission line, comprising:

[0021] a memory configured to store instructions;

[0022] The processor is configured to call instructions from the memory and implement the above method for determining the ice thickness of the transmission line when executing the instructions.

[0023] A third aspect of the present application provides a power transmission line, comprising:

[0024] A microwave sensor for collecting a current microwave transmission signal and a current microwave reception signal penetrating the surface of the power transmission line;

[0025] An image acquisition device, used for acquiring an image to be inspected of the surface of the power transmission line;

[0026] Meteorological sensors, used to monitor meteorological data;

[0027] The above-mentioned device for determining the ice thickness of the transmission line.

[0028] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for determining the ice thickness of a transmission line.

[0029] Through the above technical scheme, the current microwave transmission signal and the current microwave reception signal collected by the microwave sensor are obtained; the current ice thickness of the transmission line is determined according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal; the historical ice thickness of the transmission line at the previous moment is obtained, and the current ice change rate of the transmission line is determined according to the historical ice thickness and the current ice thickness; when the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, the meteorological data monitored by the meteorological sensor is obtained; when it is determined according to the meteorological data that the ice state of the transmission line is an ice-water mixed state, the image to be detected for the microwave sensor collected by the image acquisition device is obtained; the final ice thickness of the transmission line is determined according to the image to be detected, the influence of factors such as the environment and the ice formation process is reduced, and the ice thickness of the transmission line can be accurately judged.

[0030] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0032] Figure 1 A schematic diagram of a process of determining ice thickness of a power transmission line according to an embodiment of the present application is schematically shown;

[0033] Figure 2 A schematic diagram of a process of determining ice thickness of a power transmission line according to an embodiment of the present application is schematically shown;

[0034] Figure 3 The structure block diagram of the device for determining the ice thickness of the transmission line according to the embodiment of the present application is schematically shown;

[0035] Figure 4 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0037] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0038] Figure 1 The flowchart of the method for determining the ice thickness of a power transmission line according to an embodiment of the present application is schematically shown. Figure 1As shown, in one embodiment of the present application, a method for determining the ice thickness of a transmission line is provided, wherein the transmission line includes an ice monitoring device, the ice monitoring device includes a microwave sensor and an image acquisition device, and the microwave sensor is installed on a tower pole at the same height and parallel to the transmission line, comprising the following steps:

[0039] Step 101: Acquire a current microwave transmission signal and a current microwave reception signal collected by a microwave sensor.

[0040] The microwave sensor is installed on a tower pole that is at the same height and parallel to the transmission line to simulate the ice condition at the same height and wind direction as the transmission line. The microwave sensor can send out a current microwave transmission signal that penetrates the ice on its surface, and can receive a returned current microwave reception signal. After collecting the current microwave reception signal of the current microwave transmission signal, the microwave sensor can send it to the processor. The processor can obtain the current microwave transmission signal and the current microwave reception signal.

[0041] Step 102: Determine the current ice thickness of the transmission line according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal.

[0042] The processor may determine a first phase of the current microwave transmission signal, that is, the first phase refers to the phase of the current microwave transmission signal, and may determine a second phase of the current microwave reception signal, that is, the second phase refers to the phase of the current microwave reception signal. The processor may determine the current ice thickness of the transmission line according to the first phase and the second phase. Specifically, the processor may determine the phase change degree according to the first phase and the second phase, and then determine the current ice thickness of the transmission line based on the phase change degree.

[0043] In an embodiment of the present application, determining the current ice thickness of the transmission line based on the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal includes: determining the phase difference between the first phase and the second phase; determining the current ice thickness based on the phase difference and a preset compensation coefficient, wherein the preset compensation coefficient is determined based on the historical phase difference under different ice thicknesses.

[0044] The processor may determine a phase difference between the first phase and the second phase, and may determine the current ice thickness according to the phase difference and a preset compensation coefficient, wherein the preset compensation coefficient may be calibrated and tested in advance, and may be specifically determined according to historical phase differences under different ice thicknesses.

[0045] In the embodiment of the present application, the current ice thickness is determined by formula (1):

[0046]

[0047] Among them, c refers to the current ice thickness, k refers to the preset compensation coefficient, α1 refers to the first phase, and α2 refers to the second phase.

[0048] Step 103: Obtain the historical ice thickness of the power transmission line at the previous moment, and determine the current ice change rate of the power transmission line according to the historical ice thickness and the current ice thickness.

[0049] Although microwave sensors have high sensitivity, they are easily disturbed by freezing rain, resulting in unstable measured data. In order to improve measurement accuracy, the processor can obtain the historical ice thickness of the transmission line at the previous moment, and determine the current ice change rate of the transmission line based on the historical ice thickness and the current ice thickness. Among them, the current ice change rate can be used to characterize the ice change between the current moment and the previous moment. The time interval between the current moment and the previous moment can be set according to actual conditions. For example, the time interval can be set to 1 minute. When determining the current ice change rate, the thickness difference between the current ice thickness and the historical ice thickness can be used, and the ratio between the thickness difference and the time interval can be determined as the current ice change rate.

[0050] Specifically, in an embodiment of the present application, the method also includes: when the current ice coating thickness is greater than a preset value and the current ice coating change rate is stable within a preset range, determining that the ice coating state of the transmission line is an iced state, and the final ice coating thickness of the transmission line is the current ice coating thickness.

[0051] The preset value can be set according to the actual situation, for example, the preset value can be set to zero. The preset range can be customized according to the actual situation, for example, the preset range can be ±1 mm. When the current ice thickness is greater than the preset value and the current ice change rate is stable within the preset range, it can be said that ice exists and the ice situation is relatively stable. At this time, the processor can determine that the ice state of the transmission line is an ice state, and can determine that the final ice thickness of the transmission line is the current ice thickness.

[0052] In an embodiment of the present application, the method further includes: when the current ice coating thickness is a preset value, determining that the ice coating state of the transmission line is an ice-free state, and the final ice coating thickness of the transmission line is a preset value.

[0053] When the current ice thickness is a preset value, it can be indicated that there may be no ice at this time. At this time, the processor can determine that the ice state of the transmission line is an ice-free state, and can determine that the final ice thickness of the transmission line is a preset value. The preset value can be set according to actual conditions, for example, the preset value can be set to zero.

[0054] Step 104: When the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, obtain meteorological data monitored by a meteorological sensor.

[0055] When the current ice thickness is greater than the preset value and the current ice change rate is not stable within the preset range, it may indicate the presence of long-term disturbance factors. At this time, the meteorological data monitored by the meteorological sensor is obtained to determine the current ice status.

[0056] Specifically, in an embodiment of the present application, the meteorological data includes temperature data and humidity data, and the method further includes: when the temperature data and the humidity data both meet preset conditions, determining that the icing state of the transmission line is an ice-water mixed state; when the temperature data or the humidity data does not meet the preset conditions, determining that the icing state of the transmission line is an iced state.

[0057] Among them, the meteorological data includes temperature data and humidity data. For example, the temperature data may include the current daily average temperature, the daily maximum temperature, and the daily minimum temperature. When the temperature data is within the preset temperature threshold range, it can be determined that the temperature data meets the preset conditions. Among them, the preset temperature threshold range can be set according to actual conditions. For example, between -5°C and 0°C, the transmission line is more prone to rime-type icing, which is the most harmful to the transmission line. At this time, the preset temperature threshold range can be set to -5°C to 0°C.

[0058] When the humidity data is within the preset humidity threshold range, it can be determined that the humidity data meets the preset conditions. The preset humidity threshold range can be set according to the actual situation. For example, when the humidity is greater than 80%, the transmission line is prone to rime-type icing, which is the most harmful to the transmission line. At this time, the preset humidity threshold range can be set to more than 80%. When both the temperature data and the humidity data meet the preset conditions, the processor can determine that the icing state of the transmission line is an ice-water mixed state. When the temperature data or the humidity data does not meet the preset conditions, the processor can determine that the icing state of the transmission line is an iced state. At this time, the final icing thickness of the transmission line can be determined to be the current icing thickness.

[0059] Step 105: When it is determined according to meteorological data that the icing state of the power transmission line is a mixed state of ice and water, an image to be detected for the microwave sensor acquired by an image acquisition device is obtained.

[0060] When it is determined according to meteorological data that the icing state of the transmission line is a mixed state of ice and water, the processor can obtain the image to be detected for the microwave sensor collected by the image acquisition device. The image acquisition device can be a device with image acquisition function such as a camera, a video camera, a camera, a recorder, etc. In order to obtain a large number of images to be detected in real time, an intelligent camera can be used. After capturing the image to be detected, the intelligent camera can promptly transmit the collected image to be detected to the processor by wireless transmission or wired transmission.

[0061] Step 106: Determine the final ice thickness of the transmission line according to the image to be detected.

[0062] The processor can determine the final ice thickness of the power transmission line according to the image to be detected. Specifically, the processor can identify the image to be detected, extract the edge contour, and thus determine the final ice thickness of the power transmission line.

[0063] In an embodiment of the present application, determining the final ice thickness of the transmission line based on the image to be detected for the microwave sensor acquired by the image acquisition device includes: performing Gaussian filtering on the image to be detected to obtain a filtered image; determining the pixel gradient and gradient amplitude of each pixel in the filtered image; determining the edge information of each pixel in the filtered image based on the pixel gradient and gradient amplitude; extracting the ice edge contour of the microwave sensor based on the edge information of each pixel in the filtered image; and determining the final ice thickness of the transmission line based on the ice edge contour and the cross-sectional diameter of the microwave sensor when not covered with ice.

[0064] Image edge detection is easily affected by noise, so the processor can first perform Gaussian filtering on the image to be detected to obtain a filtered image. A two-dimensional Gaussian function can be used when performing Gaussian filtering, and the two-dimensional Gaussian function can be expressed as:

[0065]

[0066] Among them, G(x,y) represents the value of the two-dimensional Gaussian function at the pixel point (x,y), and σ represents the standard deviation.

[0067] For each pixel in the filtered image, the processor can determine the pixel gradient and gradient amplitude of each pixel in the filtered image. Specifically, the Prewitt operator convolution kernel can be used to calculate the gradient Gx in the x direction and the gradient Gy in the y direction of each pixel. Among them, the gradient Gx and the gradient Gy are determined by the following formula:

[0068]

[0069] Here, I refers to the filtered image.

[0070] The processor may determine the gradient amplitude of each pixel point according to the pixel gradient of each pixel point. Specifically, the gradient amplitude may be determined by the following formula:

[0071]

[0072] Here, G refers to the gradient magnitude.

[0073] The processor can determine the edge information of each pixel in the filtered image based on the pixel gradient and gradient amplitude. Specifically, the maximum threshold T can be set according to the image quality and actual outer contour requirements. max and the minimum threshold T min , if the gradient amplitude G is greater than the maximum threshold T max , then the corresponding pixel point is a strong edge point. If the gradient amplitude G is greater than the minimum threshold T min And less than the maximum threshold T max , then the corresponding pixel point is a weak edge point. If the gradient amplitude G is less than the minimum threshold T min , then the corresponding pixel is not an edge point.

[0074] The processor can extract the ice-covered edge contour of the microwave sensor based on the edge information of each pixel in the filtered image. The ice-covered edge contour includes the upper contour and the lower contour of the ice-covered edge. Specifically, the strong edge point and the weak edge point adjacent thereto can be connected and extracted to obtain the upper contour and the lower contour of the ice-covered edge. The processor can obtain the average distance between the upper contour and the lower contour of the ice-covered edge, and determine the average value of the difference between the average distance and the cross-sectional diameter of the microwave sensor when not iced, that is, to obtain the final ice-covered thickness of the transmission line. The final ice-covered thickness of the transmission line in this case is determined by the following formula:

[0075]

[0076] Where c refers to the final ice thickness of the transmission line, d1 refers to the average distance between the upper and lower contours of the ice edge, and d2 refers to the cross-sectional diameter of the microwave sensor when it is not covered with ice.

[0077] like Figure 2 As shown, a flow chart of another method for determining ice thickness of a transmission line is provided.

[0078] A microwave sensor is installed on a tower that is at a height equivalent to and parallel to the monitored transmission line. When determining the ice thickness, the microwave sensor can emit a microwave signal that penetrates the surface ice with a phase of α1, and can receive a microwave signal with a phase of α2. The ice thickness is calculated based on the phase change of the signal. After that, the ice state can be determined. Specifically, after waiting for one minute, if the calculated ice thickness is greater than zero and the rate of change is stable within ±1mm, the output state is ice and the ice thickness at this time. If the calculated ice thickness is equal to zero, the output state is no ice. Otherwise, there may be long-term disturbance factors. If the temperature and humidity are within the set threshold range, the output state is "ice and water mixed". At this time, the camera can be started to obtain images, denoise the images, extract contours, and then calculate the ice thickness. If the calculated ice thickness is equal to zero, the output state is no ice. If the calculated ice thickness is greater than zero, the output state is ice.

[0079] Through the above technical scheme, the current microwave transmission signal and the current microwave reception signal collected by the microwave sensor are obtained; the current ice thickness of the transmission line is determined according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal; the historical ice thickness of the transmission line at the previous moment is obtained, and the current ice change rate of the transmission line is determined according to the historical ice thickness and the current ice thickness; when the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, the meteorological data monitored by the meteorological sensor is obtained; when it is determined according to the meteorological data that the ice state of the transmission line is an ice-water mixed state, the image to be detected for the microwave sensor collected by the image acquisition device is obtained; the final ice thickness of the transmission line is determined according to the image to be detected, the influence of factors such as the environment and the ice formation process is reduced, and the ice thickness of the transmission line can be accurately judged.

[0080] Figure 1 and 2 FIG. 1 is a flow chart of a method for determining ice thickness of a power transmission line in one embodiment. Figure 1 and 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 and 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0081] In one embodiment, Figure 3 As shown, a device 300 for determining the ice thickness of a transmission line is provided, comprising a signal acquisition module 301, a first calculation module 302, a change rate determination module 303, a state determination module 304, an image acquisition module 305 and a second calculation module 306, wherein:

[0082] The signal acquisition module 301 is used to acquire the current microwave transmission signal and the current microwave reception signal collected by the microwave sensor.

[0083] The first calculation module 302 is used to determine the current ice thickness of the transmission line according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal.

[0084] The change rate determination module 303 is used to obtain the historical ice thickness of the transmission line at the previous moment, and determine the current ice change rate of the transmission line according to the historical ice thickness and the current ice thickness.

[0085] The state determination module 304 is used to obtain meteorological data monitored by the meteorological sensor when the current ice thickness is greater than a preset value and the current ice change rate is not stable within a preset range.

[0086] The image acquisition module 305 is used to acquire the image to be detected for the microwave sensor acquired by the image acquisition device when it is determined according to the meteorological data that the icing state of the transmission line is a mixed state of ice and water;

[0087] The second calculation module 306 is used to determine the final ice thickness of the transmission line according to the image to be detected.

[0088] The microwave sensor is installed on a tower pole that is at the same height and parallel to the transmission line to simulate the ice condition at the same height and wind direction as the transmission line. The microwave sensor can send out a current microwave transmission signal that penetrates the ice on its surface, and can receive a returned current microwave reception signal. After collecting the current microwave reception signal of the current microwave transmission signal, the microwave sensor can send it to the signal acquisition module 301. The signal acquisition module 301 can acquire the current microwave reception signal of the current microwave transmission signal.

[0089] The first calculation module 302 can determine the first phase of the current microwave transmission signal, that is, the first phase refers to the phase of the current microwave transmission signal, and can determine the second phase of the current microwave reception signal, that is, the second phase refers to the phase of the current microwave reception signal. The first calculation module 302 can determine the current ice thickness of the transmission line according to the first phase and the second phase. Specifically, the first calculation module 302 can determine the phase change degree according to the first phase and the second phase, and then determine the current ice thickness of the transmission line based on the phase change degree.

[0090] In an embodiment of the present application, the first calculation module 302 determines the current ice thickness of the transmission line according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal, including: determining the phase difference between the first phase and the second phase; determining the current ice thickness according to the phase difference and a preset compensation coefficient, wherein the preset compensation coefficient is determined according to the historical phase difference under different ice thicknesses.

[0091] The first calculation module 302 can determine the phase difference between the first phase and the second phase, and can determine the current ice thickness according to the phase difference and a preset compensation coefficient. The preset compensation coefficient can be calibrated and tested in advance, and can be specifically determined according to the historical phase difference under different ice thicknesses.

[0092] In the embodiment of the present application, the current ice thickness is determined by formula (1):

[0093]

[0094] Among them, c refers to the current ice thickness, k refers to the preset compensation coefficient, α1 refers to the first phase, and α2 refers to the second phase.

[0095] Although microwave sensors have high sensitivity, they are easily disturbed by freezing rain, resulting in unstable measured data. In order to improve measurement accuracy, the change rate determination module 303 can obtain the historical ice thickness of the transmission line at the previous moment, and can determine the current ice change rate of the transmission line based on the historical ice thickness and the current ice thickness. Among them, the current ice change rate can be used to characterize the ice change between the current moment and the previous moment. The time interval between the current moment and the previous moment can be set according to actual conditions. For example, the time interval can be set to 1 minute. When determining the current ice change rate, the thickness difference between the current ice thickness and the historical ice thickness can be used, and the ratio between the thickness difference and the time interval can be determined as the current ice change rate.

[0096] In an embodiment of the present application, the state determination module 304 is also used to: when the current ice coating thickness is greater than a preset value and the current ice coating change rate is stable within a preset range, determine that the ice coating state of the transmission line is an iced state, and the final ice coating thickness of the transmission line is the current ice coating thickness.

[0097] The preset value can be set according to the actual situation, for example, the preset value can be set to zero. The preset range can be customized according to the actual situation, for example, the preset range can be ±1 mm. When the current ice thickness is greater than the preset value and the current ice change rate is stable within the preset range, it can be said that ice exists and the ice situation is relatively stable. At this time, the state determination module 304 can determine that the ice state of the transmission line is an ice state, and can determine that the final ice thickness of the transmission line is the current ice thickness.

[0098] In the embodiment of the present application, the state determination module 304 is also used to: when the current ice coating thickness is a preset value, determine that the ice coating state of the transmission line is an ice-free state, and the final ice coating thickness of the transmission line is a preset value.

[0099] When the current ice thickness is a preset value, it can be said that there may be no ice at this time. At this time, the state determination module 304 can determine that the ice state of the transmission line is an ice-free state, and can determine that the final ice thickness of the transmission line is a preset value. The preset value can be set according to actual conditions, for example, the preset value can be set to zero.

[0100] When the current ice thickness is greater than the preset value and the current ice change rate is not stable within the preset range, it may indicate the presence of long-term disturbance factors. At this time, the state determination module 304 can obtain meteorological data monitored by the meteorological sensor and determine the icing state of the transmission line based on the meteorological data.

[0101] Specifically, in an embodiment of the present application, the meteorological data includes temperature data and humidity data, and the state determination module 304 is also used to: when the temperature data and the humidity data both meet the preset conditions, determine that the icing state of the transmission line is an ice-water mixed state; when the temperature data or the humidity data does not meet the preset conditions, determine that the icing state of the transmission line is an iced state.

[0102] Among them, the meteorological data includes temperature data and humidity data. For example, the temperature data may include the current daily average temperature, the daily maximum temperature, and the daily minimum temperature. When the temperature data is within the preset temperature threshold range, it can be determined that the temperature data meets the preset conditions. Among them, the preset temperature threshold range can be set according to actual conditions. For example, between -5°C and 0°C, the transmission line is more prone to rime-type icing, which is the most harmful to the transmission line. At this time, the preset temperature threshold range can be set to -5°C to 0°C.

[0103] When the humidity data is within the preset humidity threshold range, it can be determined that the humidity data meets the preset conditions. The preset humidity threshold range can be set according to the actual situation. For example, when the humidity is greater than 80%, the transmission line is prone to icing due to sleet, which is the most harmful to the transmission line. In this case, the preset humidity threshold range can be set to be above 80%. When both the temperature data and the humidity data meet the preset conditions, the state determination module 304 can determine that the icing state of the transmission line is an ice-water mixed state. When the temperature data or the humidity data does not meet the preset conditions, the state determination module 304 can determine that the icing state of the transmission line is an iced state.

[0104] When it is determined according to meteorological data that the icing state of the transmission line is a mixed state of ice and water, the image acquisition module 305 can acquire the image to be detected for the microwave sensor acquired by the image acquisition device. The image acquisition device can be a device with image acquisition function such as a camera, a video camera, a camera, a recorder, etc. In order to acquire a large number of images to be detected in real time, an intelligent camera can be used. After capturing the image to be detected, the intelligent camera can transmit the acquired image to be detected to the image acquisition module 305 in a timely manner by wireless transmission or wired transmission.

[0105] The second calculation module 306 may determine the final ice thickness of the power transmission line according to the image to be detected. Specifically, the second calculation module 306 may identify the image to be detected, extract edge contours, and thus determine the final ice thickness of the power transmission line.

[0106] In an embodiment of the present application, determining the final ice thickness of the transmission line based on the image to be detected for the microwave sensor acquired by the image acquisition device includes: performing Gaussian filtering on the image to be detected to obtain a filtered image; determining the pixel gradient and gradient amplitude of each pixel in the filtered image; determining the edge information of each pixel in the filtered image based on the pixel gradient and gradient amplitude; extracting the ice edge contour of the microwave sensor based on the edge information of each pixel in the filtered image; and determining the final ice thickness of the transmission line based on the ice edge contour and the cross-sectional diameter of the microwave sensor when not covered with ice.

[0107] Image edge detection is easily affected by noise, so the second calculation module 306 can first perform Gaussian filtering on the image to be detected to obtain a filtered image. A two-dimensional Gaussian function can be used when performing Gaussian filtering, and the two-dimensional Gaussian function can be expressed as:

[0108]

[0109] Among them, G(x,y) represents the value of the two-dimensional Gaussian function at the pixel point (x,y), and σ represents the standard deviation.

[0110] For each pixel in the filtered image, the second calculation module 306 can determine the pixel gradient and gradient amplitude of each pixel in the filtered image. Specifically, the Prewitt operator convolution kernel can be used to calculate the gradient Gx in the x direction and the gradient Gy in the y direction of each pixel. The gradient Gx and the gradient Gy are determined by the following formula:

[0111]

[0112] Here, I refers to the filtered image.

[0113] The second calculation module 306 can determine the gradient amplitude of each pixel point according to the pixel gradient of each pixel point. Specifically, the gradient amplitude can be determined by the following formula:

[0114]

[0115] Here, G refers to the gradient magnitude.

[0116] The second calculation module 306 can determine the edge information of each pixel in the filtered image according to the pixel gradient and the gradient amplitude. Specifically, the maximum threshold T can be set according to the image quality and the actual outer contour requirements. maxand the minimum threshold T min , if the gradient amplitude G is greater than the maximum threshold T max , then the corresponding pixel point is a strong edge point. If the gradient amplitude G is greater than the minimum threshold T min And less than the maximum threshold T max , then the corresponding pixel point is a weak edge point. If the gradient amplitude G is less than the minimum threshold T min , then the corresponding pixel is not an edge point.

[0117] The second calculation module 306 can extract the ice edge contour of the microwave sensor based on the edge information of each pixel in the filtered image. The ice edge contour includes the upper contour and the lower contour of the ice edge. Specifically, the strong edge point and the weak edge point adjacent to it can be connected and extracted to obtain the upper contour and the lower contour of the ice edge. The second calculation module 306 can calculate the average distance between the upper contour and the lower contour of the ice edge, and determine the average value of the difference between the average distance and the cross-sectional diameter of the microwave sensor when it is not iced, that is, to obtain the final ice thickness of the transmission line. The final ice thickness of the transmission line in this case is determined by the following formula:

[0118]

[0119] Where c refers to the final ice thickness of the transmission line, d1 refers to the average distance between the upper and lower contours of the ice edge, and d2 refers to the cross-sectional diameter of the microwave sensor when it is not covered with ice.

[0120] Through the above technical scheme, the current microwave transmission signal and the current microwave reception signal collected by the microwave sensor are obtained; the current ice thickness of the transmission line is determined according to the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal; the historical ice thickness of the transmission line at the previous moment is obtained, and the current ice change rate of the transmission line is determined according to the historical ice thickness and the current ice thickness; when the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, the meteorological data monitored by the meteorological sensor is obtained; when it is determined according to the meteorological data that the ice state of the transmission line is an ice-water mixed state, the image to be detected for the microwave sensor collected by the image acquisition device is obtained; the final ice thickness of the transmission line is determined according to the image to be detected, the influence of factors such as the environment and the ice formation process is reduced, and the ice thickness of the transmission line can be accurately judged.

[0121] The device 300 for determining the ice thickness of a transmission line includes a processor and a memory. The signal acquisition module 301, the first calculation module 302, the change rate determination module 303, the state judgment module 304, the image acquisition module 305 and the second calculation module 306 are all stored in the memory as program units, and the processor executes the above program modules stored in the memory to implement corresponding functions.

[0122] The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the method for determining the ice thickness of the transmission line is implemented by adjusting kernel parameters.

[0123] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0124] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the method for determining the ice thickness of a transmission line is implemented.

[0125] In one embodiment, a processor is provided, and the processor is used to run a program, wherein when the program is run, the above method for determining ice thickness of a transmission line is executed.

[0126] In an embodiment of the present application, a power transmission line is provided, comprising:

[0127] A microwave sensor for collecting a current microwave transmission signal and a current microwave reception signal penetrating the surface of the power transmission line;

[0128] An image acquisition device, used for acquiring an image to be inspected of the surface of the power transmission line;

[0129] Meteorological sensors, used to monitor meteorological data;

[0130] The above-mentioned device for determining the ice thickness of the transmission line.

[0131] The microwave sensor is installed on a tower pole that is at the same height and parallel to the transmission line to simulate the ice condition at the same height and wind direction as the transmission line. The microwave sensor can emit a current microwave transmission signal that penetrates the ice on its surface, and can receive a returned current microwave reception signal. After collecting the current microwave reception signal of the current microwave transmission signal, the microwave sensor can send it to a device for determining the ice thickness of the transmission line. The image acquisition device can be a camera, a video camera, a camera, a recorder, or other device with an image acquisition function. In order to acquire a large number of images to be detected in real time, an intelligent camera can be used. After capturing the image to be detected, the intelligent camera can promptly transmit the collected image to be detected to the device for determining the ice thickness of the transmission line by wireless transmission or wired transmission.

[0132] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as ice thickness. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for determining the ice thickness of a transmission line is implemented.

[0133] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0134] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: obtaining a current microwave transmission signal and a current microwave reception signal collected by a microwave sensor; determining a current ice thickness of a transmission line according to a first phase of the current microwave transmission signal and a second phase of the current microwave reception signal; obtaining a historical ice thickness of the transmission line at a previous moment, and determining a current ice change rate of the transmission line according to the historical ice thickness and the current ice thickness; when the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, obtaining meteorological data monitored by a meteorological sensor; when it is determined that the ice state of the transmission line is a mixed state of ice and water according to the meteorological data, obtaining an image to be detected for the microwave sensor collected by an image acquisition device; and determining a final ice thickness of the transmission line according to the image to be detected.

[0135] In one embodiment, determining the current ice thickness of the transmission line based on the first phase of the current microwave transmission signal and the second phase of the current microwave reception signal includes: determining the phase difference between the first phase and the second phase; determining the current ice thickness based on the phase difference and a preset compensation coefficient, wherein the preset compensation coefficient is determined based on historical phase differences under different ice thicknesses.

[0136] In one embodiment, the current ice thickness is determined by formula (1):

[0137]

[0138] Among them, c refers to the current ice thickness, k refers to the preset compensation coefficient, α1 refers to the first phase, and α2 refers to the second phase.

[0139] In one embodiment, the method further includes: when the current ice coating thickness is greater than a preset value and the current ice coating change rate is stable within a preset range, determining that the ice coating state of the transmission line is an iced state, and the final ice coating thickness of the transmission line is the current ice coating thickness.

[0140] In one embodiment, the method further includes: when the current ice coating thickness is a preset value, determining that the ice coating state of the transmission line is an ice-free state, and the final ice coating thickness of the transmission line is a preset value.

[0141] In one embodiment, determining the final ice thickness of a transmission line based on an image to be detected for a microwave sensor acquired by an image acquisition device includes: performing Gaussian filtering on the image to be detected to obtain a filtered image; determining a pixel gradient and a gradient amplitude for each pixel in the filtered image; determining edge information of each pixel in the filtered image based on the pixel gradient and the gradient amplitude; extracting an ice edge contour of the microwave sensor based on the edge information of each pixel in the filtered image; and determining the final ice thickness of the transmission line based on the ice edge contour and a cross-sectional diameter of the microwave sensor when not covered with ice.

[0142] In one embodiment, the meteorological data includes temperature data and humidity data, and the method further includes: when the temperature data and the humidity data both meet preset conditions, determining that the icing state of the transmission line is an ice-water mixed state; when the temperature data or the humidity data does not meet the preset conditions, the processor may determine that the icing state of the transmission line is an iced state.

[0143] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initiating the method steps for determining the ice thickness of a power transmission line.

[0144] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0145] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0146] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0148] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0149] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0150] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0151] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0152] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining ice thickness of a power transmission line, characterized in that: The transmission line includes an ice monitoring device, the ice monitoring device includes a microwave sensor, a meteorological sensor and an image acquisition device, the microwave sensor is installed on a tower pole which is at the same height and parallel to the transmission line, and the method includes: Acquiring a current microwave transmission signal and a current microwave reception signal collected by the microwave sensor; Determining a current ice thickness of the transmission line according to a first phase of the current microwave transmitting signal and a second phase of the current microwave receiving signal; Acquire the historical ice thickness of the transmission line at the previous moment, and determine the current ice change rate of the transmission line according to the historical ice thickness and the current ice thickness; When the current ice thickness is greater than a preset value and the current ice change rate is not stabilized within a preset range, obtaining meteorological data monitored by the meteorological sensor; When it is determined according to the meteorological data that the icing state of the power transmission line is a mixed state of ice and water, acquiring an image to be detected for the microwave sensor acquired by the image acquisition device; The final ice coating thickness of the transmission line is determined according to the image to be detected.

2. The method for determining ice thickness of a power transmission line according to claim 1, characterized in that: The determining the current ice thickness of the transmission line according to the first phase of the current microwave transmitting signal and the second phase of the current microwave receiving signal comprises: determining a phase difference between the first phase and the second phase; The current ice coating thickness is determined according to the phase difference value and the preset compensation coefficient, wherein the preset compensation coefficient is determined according to historical phase differences under different ice coating thicknesses.

3. The method for determining ice thickness of a power transmission line according to claim 2, characterized in that: The current ice thickness is determined by formula (1): Among them, c refers to the current ice thickness, k refers to the preset compensation coefficient, α1 refers to the first phase, and α2 refers to the second phase.

4. The method for determining ice thickness of a power transmission line according to claim 1, characterized in that: The method further comprises: When the current ice coating thickness is greater than a preset value and the current ice coating change rate is stable within a preset range, it is determined that the ice coating state of the transmission line is an iced state, and the final ice coating thickness of the transmission line is the current ice coating thickness.

5. The method for determining ice thickness of a power transmission line according to claim 1, characterized in that: The method further comprises: When the current ice coating thickness is the preset value, it is determined that the ice coating state of the transmission line is an ice-free state, and the final ice coating thickness of the transmission line is the preset value.

6. The method for determining ice thickness of a power transmission line according to claim 1, characterized in that: The step of determining the final ice thickness of the transmission line according to the image to be detected by the microwave sensor acquired by the image acquisition device comprises: Performing Gaussian filtering on the image to be detected to obtain a filtered image; Determine the pixel gradient and gradient amplitude of each pixel in the filtered image; Determine edge information of each pixel in the filtered image according to the pixel gradient and the gradient amplitude; Extracting the ice edge contour of the microwave sensor according to the edge information of each pixel in the filtered image; The final ice thickness of the transmission line is determined according to the ice edge contour and the cross-sectional diameter of the microwave sensor when not covered with ice.

7. The method for determining ice thickness of a power transmission line according to claim 1, characterized in that: The meteorological data includes temperature data and humidity data, and the method further includes: When both the temperature data and the humidity data meet preset conditions, determining that the icing state of the power transmission line is an ice-water mixed state; When the temperature data or the humidity data does not satisfy the preset condition, it is determined that the icing state of the power transmission line is an icing state.

8. A device for determining the ice thickness of a power transmission line, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for determining ice thickness of a power transmission line according to any one of claims 1 to 7 when executing the instructions.

9. A power transmission line, characterized in that: include: A microwave sensor for collecting a current microwave transmission signal and a current microwave reception signal penetrating the surface of the power transmission line; An image acquisition device, used for acquiring an image to be inspected on the surface of the power transmission line; Meteorological sensors, used to monitor meteorological data; The device for determining ice thickness of a power transmission line according to claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to perform the method for determining ice thickness of a power transmission line according to any one of claims 1 to 7.

Images