Power tower partial discharge positioning method and system

Abstract

The invention relates to the technical field of electric power, in particular to an electric power tower partial discharge positioning method and system. The power tower partial discharge positioning method comprises the following steps: acquiring a first database; obtaining a visible light image and an energy response image of the target power tower; based on the structure and the terminal of the target electric power tower in the visible light image, matching a target three-dimensional structure model of the target electric power tower from a first database, and positioning the position of the positioning terminal on the target three-dimensional structure model; based on an energy response image corresponding to the visible light image, obtaining the discharge probability of a terminal in the visible light image; and according to the position of each terminal in the target three-dimensional structure model and the discharge probability, positioning an abnormal discharge terminal in the target power tower. Based on model database matching and multi-view data fusion, the abnormal discharge terminal on the electric power tower can be accurately positioned, and the overall power supply stability and reliability of an electric power system can be improved.

Description

Technical Field

[0001] The present invention relates to the field of electric power technology, and in particular to a method and system for locating partial discharge of an electric power tower. Background Art

[0002] Power towers are key facilities in the power transmission network. Due to electrical overload, aging or external environmental factors (such as lightning strikes, moisture, etc.), partial discharge may occur. Failure to detect and deal with it in time may lead to equipment damage, shutdown or even fire. Therefore, timely and accurate detection of discharge points on power towers is crucial to ensure the safe and stable operation of the power system.

[0003] Currently, technicians mainly use handheld ultraviolet imagers and ultrasonic imagers to detect discharges on power poles and towers. Workers usually stand on the ground and use these instruments to photograph the discharge points on the towers and use ultraviolet or thermal images to identify the discharge source.

[0004] However, due to the long distance between the staff and the tower, the images overlap when shooting from an upward angle, making it difficult to accurately locate the discharge point, especially in complex structures and high-altitude discharge points. In addition, the existing multi-lens design has image alignment errors, which makes it difficult to match the thermal map and ultraviolet imaging images, affecting the positioning accuracy. At the same time, the thermal map accuracy of existing instruments is low at long distances and in complex environments (such as high temperature, strong light or bad weather), and the contrast between the discharge point and the background is low, which increases the difficulty of identification. Summary of the invention

[0005] In view of the defects of the prior art and the needs of practical applications, the present invention provides a method and system for locating partial discharge of a power tower, which aims to accurately locate the discharge area of ​​the power tower terminal and improve the accuracy of discharge detection, thereby effectively reducing the risk of power system failure caused by discharge.

[0006] In one embodiment provided by the present invention, the method for locating partial discharge of a power tower comprises the following steps: Acquire a first database, wherein a plurality of power pole tower structure model samples are stored in the first database, and any of the power pole tower structure model samples is a three-dimensional structure model; Acquire a visible light image and an energy response image of a target power pole tower, wherein the visible light image includes a local structure image or an overall structure image of the target power pole tower and includes at least one terminal image, and the energy response map is aligned with the visible light image; Based on the target power pole tower structure and the terminal in the visible light image, matching the target three-dimensional structure model of the target power pole tower from the first database, and locating the position of the terminal on the target three-dimensional structure model; Based on the energy response image corresponding to the visible light image, obtaining the discharge probability of the terminal in the visible light image; According to the position of each terminal in the target three-dimensional structure model and the discharge probability, the abnormal discharge terminal in the target power pole tower is located.

[0007] In this embodiment or other embodiments, the step of obtaining the first database includes the following steps: Acquire the structural characteristic data of power poles and towers in the current power industry, wherein the structural characteristic data of power poles and towers include the structural characteristics of power poles and towers, and the terminal configuration parameters of power poles and towers with the same structural characteristics, wherein the terminal configuration parameters include the number of terminals and the spatial coordinates of the terminals; Based on the power tower structure characteristic data, construct three-dimensional structural models of different types of power towers, and mark the spatial coordinates and spatial coordinate numbers of each terminal in each three-dimensional structural model; The three-dimensional structural models of different types of power towers are collected to obtain the first database.

[0008] In this embodiment or other embodiments, matching a target three-dimensional structure model of the target power pole tower from the first database based on the target power pole tower structure in the visible light image includes the following steps: Based on the target power pole tower structure, obtaining the structural characteristics of the target power pole tower; The target three-dimensional structure model is matched in the first database by using the structural features through image recognition technology.

[0009] In this embodiment or other embodiments, locating the position of the terminal on the target three-dimensional structure model based on the terminal in the visible light image includes the following steps: Acquire the image coordinates of each terminal in the visible light image to generate a to-be-matched data group, wherein one to-be-matched data in the to-be-matched data group is the image coordinates of one terminal; Acquire all terminal configuration parameters of the power tower under the target three-dimensional structure model, and generate one or more matching data groups based on all the terminal configuration parameters, wherein one matching data in the matching data group is the spatial coordinate of a terminal of the target three-dimensional structure model under one terminal configuration parameter; Based on the to-be-matched data group, a target matching data group is obtained from one or more matching data groups, wherein each image coordinate in the to-be-matched data group is mapped to a spatial coordinate in the target matching data group in a unique mapping manner, and each image coordinate in the to-be-matched data group is mapped to a different spatial coordinate in the target matching data group; The spatial coordinate number of each image coordinate in the data set to be matched is located by using the matching data in the target matching data set that corresponds to the data to be matched through the unique mapping method.

[0010] In this embodiment or other embodiments, the step of acquiring the visible light image and energy response image of the target power pole tower includes the following steps: Providing a first image acquisition device, the image acquisition device is used to acquire a visible light image of the target power pole tower; A second image acquisition device is provided, the second image acquisition device being used to acquire an energy response image aligned with the image of the visible light image.

[0011] In this embodiment or other embodiments, the step of acquiring the discharge probability of the terminal in the visible light image based on the energy response image corresponding to the visible light image includes the following steps: Based on the image resolution of the energy response image, construct a single pixel point discharge distribution model, wherein the single pixel point discharge distribution model is a Gaussian energy distribution response matrix based on a central matrix element, and the size of the energy distribution response matrix is ​​the same as the image resolution; The discharge probability of the terminal in the visible light image is obtained according to each matrix element in the energy distribution response matrix and the energy response value of each image pixel in the energy response image.

[0012] In this embodiment or other embodiments, the central matrix element of the energy distribution response matrix has the maximum ultraviolet energy response coefficient , the remaining elements of the energy distribution response matrix are ,in, represents the matrix element coordinates, represents the coordinates of the center matrix element, represents the UV energy diffusion coefficient; The discharge probability of the terminal in the visible light image satisfies the following calculation model: ,in, Represents the coordinates of matrix elements The UV energy response coefficient at Represents the image pixel coordinates in the energy response image The energy response value at Indicates the discharge response standard value.

[0013] In this embodiment or other embodiments, locating the abnormal discharge terminal in the target power tower according to the position of each terminal in the target three-dimensional structure model and the discharge probability includes the following steps: Based on the visible light images at different shooting angles and the corresponding energy response images, the discharge probability of each terminal at different shooting angles is obtained; According to the discharge probability of each terminal at different shooting angles, the final discharge probability of each terminal is obtained, and the terminal whose final discharge probability exceeds the prefabricated terminal is set as an abnormal discharge terminal, and according to the position of the abnormal discharge terminal, the abnormal discharge terminal is located on the target power pole tower.

[0014] In this embodiment or other embodiments, the final discharge probability of any terminal satisfies the following calculation model: , , ;

[0015] Where i represents the serial number, and the value of i is any integer between 1 and n. , represents the discharge probability of the terminal at the first shooting angle, represents the discharge probability of the terminal under the second shooting angle, represents the discharge probability of the terminal under the nth shooting angle, represents the discharge probability of the terminal under the i-th shooting angle, represents the final discharge probability, express expectations, represents the discharge probability of the terminal at the i-th shooting angle Based on the initial discharge probability The posterior probability of Indicates the discharge probability The marginal likelihood function value of is, represents the initial discharge probability of the terminal, represents the posterior discharge probability of the terminal, Indicates the discharge probability The value of the likelihood function.

[0016] In this embodiment or other embodiments, the present invention is based on the power pole tower partial discharge locating method, and also provides a power pole tower partial discharge locating system; the power pole tower partial discharge locating system includes an input device, a processor, a memory and an output device; wherein the input device, the processor, the memory and the output device are interconnected; the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the power pole tower partial discharge locating method provided in this embodiment.

[0017] The advantages of the method and system for locating partial discharge of power towers provided by the present invention are: The present invention uses an energy response image corresponding to a visible light image to evaluate the discharge probability of each terminal on the visible light image, thereby identifying the abnormal discharge terminal in the visible light image; at the same time, based on image recognition technology, the present invention identifies and matches a three-dimensional structural model with the same structural features of a power tower in the visible light image from a first database built based on current power industry data, thereby matching the terminals on the visible light image with the terminals on the target three-dimensional structural model, thereby achieving accurate positioning of the abnormal discharge terminals on the visible light image, avoiding the mismatching problem caused by inaccurate image alignment, viewing angle deviation or lens distortion in traditional detection and positioning methods; Furthermore, the present invention also makes the abnormal discharge detection with the terminal as the center of the image more accurate by setting a single pixel point discharge distribution model at the center of the matrix; and improves the micro discharge detection capability, that is, it can effectively capture smaller discharge signals, especially in the case of complex structures or long-distance shooting, and can still accurately identify abnormal discharge terminals; Furthermore, the present invention also effectively supplements the deficiencies of a single perspective by fusing multi-perspective data taken at different angles, thereby achieving higher-precision discharge source positioning, further reducing the error caused by single-perspective detection, and improving the robustness and accuracy of the overall positioning.

[0018] Furthermore, the present invention helps the power sector to implement preventive maintenance by accurately locating the discharge area, effectively avoiding the chain reaction caused by the failure to discover the discharge fault in time, thereby reducing the risk of large-scale power outages and equipment damage, reducing the high maintenance costs and safety hazards caused by sudden failures, and improving the overall power supply stability and reliability of the power system.

[0019] Furthermore, the power pole tower partial discharge positioning system architecture provided by the present invention realizes the automatic detection, analysis and positioning of power pole tower partial discharge by seamlessly integrating input devices, processors, memories and output devices, and can respond to and process complex image data in real time, greatly improving the efficiency and safety of power maintenance, and providing strong technical support for the long-term stable operation of the power system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A flow chart of a method for locating partial discharge of a power tower provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a dual-mode image acquisition device provided by an embodiment of the present invention; Figure 3 A schematic diagram of a power tower partial discharge locating system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are proposed to facilitate a thorough understanding of the embodiments of the present application.

[0022] It should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In the description of the present application, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details that hinder the description of the present application; in addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without any creative work.

[0024] In one embodiment, see Figure 1 , Figure 1 This is a flow chart of a method for locating partial discharge of a power tower provided in an embodiment of the present invention.

[0025] Precise positioning of partial discharge on power towers, such as Figure 1 As shown, the method for locating partial discharge of a power tower provided by the present invention comprises the following steps: S01. Acquire a first database.

[0026] The first database acquired in step S01 stores a number of power tower structure model samples, any of which is a three-dimensional structure model. The first database also stores one or more groups of terminal matching parameters corresponding to each power tower structure model sample.

[0027] Furthermore, the step of obtaining the first database in step S01 includes the following steps: S011. Acquire the structural characteristic data of power poles and towers in the current power industry, wherein the structural characteristic data of power poles and towers include the structural characteristics of power poles and towers, and the terminal configuration parameters of power poles and towers with the same structural characteristics, wherein the terminal configuration parameters include the number of terminals and the spatial coordinates of the terminals.

[0028] What can be achieved is that the structural characteristic data of power poles and towers in the current power industry can be obtained through existing public data such as power system design specifications, that is, all structural types of power poles and towers in the current power industry, as well as one or more terminal configuration parameters under each structural type, can be obtained.

[0029] Furthermore, the structural types include but are not limited to straight pole towers, corner towers, guyed pole towers, cathead poles, etc.; among which, based on the cathead pole, the terminal configuration parameters include but are not limited to the following: Cathead pole 1m, hanging cables 3*2 (3-phase cables, each equipped with 2 insulated terminals); cathead pole 1.1m, hanging cables 3*2 (3-phase cables, each equipped with 2 insulated terminals); cathead pole 1.2m, hanging cables 3*2 (3-phase cables, each equipped with 2 insulated terminals); Cathead pole 1m, hanging cables 6*2 (6-phase cables, each equipped with 2 insulated terminals); cathead pole 1.1m, hanging cables 6*2 (6-phase cables, each equipped with 2 insulated terminals); cathead pole 1.2m, hanging cables 6*2 (6-phase cables, each equipped with 2 insulated terminals); The cathead pole is 1 meter long, and the hanging cables are 6*4 (6-phase cables, each equipped with 4 insulating terminals); the cathead pole is 1.1 meters long, and the hanging cables are 6*4 (6-phase cables, each equipped with 4 insulating terminals); the cathead pole is 1.2 meters long, and the hanging cables are 6*4 (6-phase cables, each equipped with 4 insulating terminals).

[0030] It is understandable that, for any specific type and terminal configuration parameters of a power tower, step S011 also obtains other relevant data, such as arm length, angle, etc., so as to subsequently restore a three-dimensional structural model with accurate proportions in 3D modeling software.

[0031] S012. Based on the power tower structure characteristic data, construct three-dimensional structural models of different types of power towers, and mark the spatial coordinates and spatial coordinate numbers of each terminal in each three-dimensional structural model.

[0032] Specifically, based on the structural characteristic data of the power tower, step S012 can be implemented by using CAD tools, 3D modeling software (such as SolidWorks, AutoCAD, etc.).

[0033] It can be known that the above-mentioned or other 3D modeling software can accurately construct a three-dimensional model of a power pole tower according to the set dimensions and parameters; further, in each type of three-dimensional structure model of a power pole tower, the spatial coordinates of each terminal relative to the three-dimensional structure model of the power pole tower under different terminal configuration parameters can be obtained, and one or more terminals under the same terminal configuration parameters can be numbered based on different spatial coordinates of the same three-dimensional structure model of the power pole tower.

[0034] S013. Summarize the three-dimensional structural models of different types of power towers to obtain the first database.

[0035] Further, based on the three-dimensional structural models of different structural types constructed in step S012, and one or more sets of terminal matching parameters corresponding to each structural type, the first database is constructed, and the first database satisfies the following characterization model ,in, represents the first database, is the first three-dimensional structure model in the first database, is the second three-dimensional structure model in the first database, It is the third three-dimensional structure model in the first database.

[0036] Furthermore, based on any three-dimensional structure model in the first database , which corresponds to the following terminal configuration parameter set: ,in, represents the sequence number, r is a positive integer from 1 to R, R is the number of samples in the first database, Indicates The terminal configuration parameter set corresponding to the 3D structure model, Indicates The first set of configuration parameters for the 3D structural model, Indicates The second set of configuration parameters for the 3D structural model, Indicates The third set of configuration parameters for the 3D structural model.

[0037] Furthermore, based on the Any set of configuration parameters in a 3D structural model , which corresponds to the following specific configuration data: , where g represents the serial number, and the value of g is a positive integer from 1 to G. Indicates The gth group of configuration parameters of the three-dimensional structure model, Indicates The spatial coordinates of the first terminal in the g-th group of configuration parameters of the three-dimensional structure model, Indicates The spatial coordinates of the mth terminal in the gth group of configuration parameters of the three-dimensional structure model.

[0038] S02. Acquire a visible light image and an energy response image of a target power tower.

[0039] In this embodiment, the visible light image includes a local structure image or an overall structure image of the target power pole tower and includes at least one terminal image, and the energy response map is aligned with the visible light image.

[0040] It should be noted that in this embodiment, the alignment of the energy response image and the visible light image means that the images displayed by the two image pixels are consistent in space. Specifically, it can be understood that if the visible light image is a terminal surface, the energy response image is also the energy response corresponding to this terminal surface.

[0041] Furthermore, the step S02 of acquiring the visible light image and energy response image of the target power pole tower includes the following steps: S021. Provide a first image acquisition device, wherein the image acquisition device is used to acquire a visible light image of the target power pole tower.

[0042] It can be understood that the first image acquisition device provided in this embodiment can be a digital camera, an industrial camera or other imaging device with high resolution, which is used to acquire a local visible light image or an overall visible light image of the target power pole tower.

[0043] S022. Provide a second image acquisition device, wherein the second image acquisition device is used to acquire an energy response image aligned with the visible light image.

[0044] It can be understood that the second image acquisition device provided in this embodiment can be a photoelectric sensor such as an array ultraviolet light sensor, an array infrared light sensor, and a corresponding data processing device, which is used to obtain the energy response intensity of a specific wavelength of light corresponding to any position in the visible light image by adjusting the shooting angle or setting the optical path relationship related to the first image acquisition device.

[0045] Furthermore, in order to facilitate the alignment of the energy response image and the visible light image to improve the detection efficiency, the present embodiment provides a dual-mode image acquisition device integrating a first image acquisition device and a second image acquisition device, which split the light through a semi-reflective and semi-transparent lens to achieve different types of imaging for the same incident light.

[0046] See also Figure 2 , Figure 2 Schematic diagram of the structure of the dual-mode image acquisition device provided by an embodiment of the present invention. Figure 2 As shown, the dual-mode image acquisition device integrates the first image acquisition device 10 and the second image acquisition device 20 in a housing 00. The housing 00 is provided with a light inlet 30, and a light splitting device 40 is provided on the inner side of the light inlet 30 for splitting the incident light into the first light and the second light, so that the light is incident on the first image acquisition device 10 and the second image acquisition device 20 respectively, thereby generating a visible light image and an energy response image respectively.

[0047] In some other embodiments, the first image acquisition device, the second image acquisition device, the dual-mode image acquisition device, and other types of image acquisition devices can all achieve image acquisition through drones, inspection robots, or manual operations.

[0048] S03. Based on the target power pole tower structure and the terminal in the visible light image, match the target three-dimensional structure model of the target power pole tower from the first database, and locate the position of the terminal on the target three-dimensional structure model.

[0049] In this embodiment, the step S03 of matching the target three-dimensional structure model of the target power tower from the first database based on the target power tower structure in the visible light image includes the following steps: S0311. Based on the target power pole tower structure, obtain structural characteristics of the target power pole tower.

[0050] It can be understood that the structural features described in step S011 include but are not limited to the overall or local shape, overall or local construction method, overall or local support method, overall or local terminal position distribution, etc. that can be collected from the visible light image.

[0051] Furthermore, the structural features of any target power pole tower can be identified and extracted manually, through image recognition technology (such as convolutional neural network (CNN, etc.), target detection technology (YOLO series, Faster R-CNN, etc.), etc.).

[0052] S0312. Utilize the structural features to match the target three-dimensional structural model in the first database through image recognition technology.

[0053] Furthermore, based on the one or more structural features collected in step S0311, step S0312 can be implemented by existing image matching technologies such as target detection technology (YOLO series, etc.), feature matching algorithms (such as SURF, SIFT), etc.

[0054] In this embodiment, the step S03 of locating the position of the terminal on the target three-dimensional structure model based on the terminal in the visible light image includes the following steps: S0321. Obtain image coordinates of each terminal in the visible light image, and generate a to-be-matched data group, wherein one to-be-matched data in the to-be-matched data group is the image coordinates of one terminal.

[0055] Similarly, image recognition technology can be used to identify each terminal from the visible light image based on the shape or structural features of the terminal, and detect the two-dimensional image coordinates of each terminal in the visible light image, which can be specifically characterized as: ,in, represents the image coordinates of the first terminal in the visible light image, represents the image coordinates of the second terminal in the visible light image, Represents the image coordinates of the third terminal in the visible light image.

[0056] S0322. Obtain all terminal configuration parameters of the power tower under the target three-dimensional structure model, and generate one or more matching data groups based on all the terminal configuration parameters, wherein one matching data in the matching data group is the spatial coordinate of a terminal of the target three-dimensional structure model under one terminal configuration parameter.

[0057] Please refer to the terminal configuration parameter set of any three-dimensional structure model mentioned above in this embodiment: , and the 3D structural model Any set of configuration parameters .

[0058] It can be understood that the matching data set generated in step S0322 is the spatial coordinate part of the set of configuration parameters of the three-dimensional structure model. .

[0059] S0323. Based on the data group to be matched, a target matching data group is obtained from one or more matching data groups, each image coordinate in the data group to be matched is mapped to a spatial coordinate in the target matching data group by a unique mapping method, and the spatial coordinates mapped to each image coordinate in the data group to be matched in the target matching data group are different.

[0060] It should be noted that the mapping method described in this embodiment specifically refers to a coordinate conversion method, that is, converting two-dimensional image coordinates into three-dimensional space coordinates, where the specific parameters include but are not limited to internal or external parameters of the image acquisition device, projection matrix, perspective transformation matrix, etc.

[0061] Furthermore, the unique mapping method can be solved by setting the objective function and solving the objective function. It should be noted that since the terminal configuration parameter group under any structural type is limited, for each image coordinate in the data group to be matched, there is always a set of matching data groups, in which some or all of the spatial coordinates correspond one-to-one with those in the data group to be matched, and the mapping method between any corresponding relationships is the same.

[0062] In some other embodiments, based on the local structural features of the power pole tower in the visible light image, a three-dimensional structural model matching therewith is identified, and therefore, the two-dimensional image coordinates of the terminal in the visible light image are directly used to perform one-to-one matching with the data in the first database; similarly, since the structural types of power pole towers are limited, and the terminal configuration parameter groups under any structural type are limited, therefore, for each image coordinate in the data group to be matched, there is always a group of matching data groups, in which some of the spatial coordinates or all of the spatial coordinates correspond one-to-one to the data group to be matched, and the mapping method between any corresponding relationships is the same, or the difference in all mapping methods is minimal.

[0063] S0324. Locate the spatial coordinate number of each image coordinate in the data set to be matched by using the matching data in the target matching data set that corresponds to the data to be matched by the unique mapping method.

[0064] It can be understood that, for any three-dimensional structural model, under its corresponding set of terminal configuration parameters, any terminal has a unique spatial coordinate number based on its different spatial coordinates from the other terminals; therefore, step S0324 can further locate the corresponding image coordinates according to the spatial coordinate number that matches each image coordinate in the target matching data group.

[0065] S04. Acquire the discharge probability of the terminal in the visible light image based on the energy response image corresponding to the visible light image.

[0066] In actual situations, abnormal discharge may occur not only at the terminals of a power pole, but also at other steps of the power pole.

[0067] Therefore, it should be noted that the abnormal discharge point identified by the embodiment of the present invention is the terminal of the power tower. In order to reduce the impact of other abnormal discharges on the implementation of this embodiment, the image center of the visible light image and its corresponding energy response image obtained by this embodiment is a terminal of the power tower.

[0068] Further, in order to obtain the discharge probability of each terminal on the power tower, the step S04 of obtaining the discharge probability of the terminal in the visible light image based on the energy response image corresponding to the visible light image includes the following steps: S041. Based on the image resolution of the energy response image, construct a single-pixel point discharge distribution model, wherein the single-pixel point discharge distribution model is a Gaussian energy distribution response matrix based on a central matrix element, and the size of the energy distribution response matrix is ​​the same as the image resolution.

[0069] Furthermore, the central matrix element of the energy distribution response matrix has a maximum ultraviolet energy response coefficient , the remaining elements of the energy distribution response matrix are ,in, represents the matrix element coordinates, represents the coordinates of the center matrix element, Represents the diffusion coefficient of ultraviolet energy.

[0070] Among them, the UV energy diffusion coefficient A parameter used to describe how ultraviolet light diffuses in space. In the Gaussian distribution model, it is used to control the rate at which energy intensity changes with distance. It can be set using historical detection data and actual test experience.

[0071] S042. Obtain the discharge probability of the terminal in the visible light image according to each matrix element in the energy distribution response matrix and the energy response value of each image pixel in the energy response image.

[0072] In this embodiment, any visible light image includes at least one terminal, and image acquisition is performed with one terminal as the image center; further, the discharge probability of the terminal corresponding to the image center in the visible light image satisfies the following calculation model: ,in, Represents the coordinates of matrix elements The UV energy response coefficient at Represents the image pixel coordinates in the energy response image The energy response value at Indicates the discharge response standard value.

[0073] Among them, the discharge response standard value The standard value of ultraviolet light response intensity, which is a standard value set for judging whether there is abnormal discharge at this position, can be set according to historical detection data and actual test experience.

[0074] S05. Locate abnormal discharge terminals in the target power tower according to the position of each terminal in the target three-dimensional structure model and the discharge probability.

[0075] Further, in order to reduce the error caused by single-view detection, the step S05 of locating the abnormal discharge terminal in the target power tower according to the position of each terminal in the target three-dimensional structure model and the discharge probability includes the following steps: S051. Based on the visible light images at different shooting angles and the corresponding energy response images, obtain the discharge probability of each terminal at different shooting angles.

[0076] S052. Obtain a final discharge probability of each terminal according to the discharge probability of each terminal at different shooting angles.

[0077] Furthermore, based on the discharge probability of the terminal at different shooting angles, its final discharge probability satisfies the following calculation model: , , ; Where i represents the serial number, and the value of i is any integer between 1 and n. , represents the discharge probability of the terminal at the first shooting angle, represents the discharge probability of the terminal under the second shooting angle, represents the discharge probability of the terminal under the nth shooting angle, represents the discharge probability of the terminal under the i-th shooting angle, represents the final discharge probability, express expectations, represents the discharge probability of the terminal at the i-th shooting angle Based on the initial discharge probability The posterior probability of Indicates the discharge probability The marginal likelihood function value of is, represents the initial discharge probability of the terminal, represents the posterior discharge probability of the terminal, Indicates the discharge probability The value of the likelihood function .

[0078] In this embodiment, the initial discharge probability of each terminal is is 50%, that is, each terminal may discharge. In other embodiments, the initial discharge probability of any terminal is It can also be set according to actual conditions or experience.

[0079] S053: setting a terminal whose final discharge probability exceeds a threshold as an abnormal discharge terminal, and locating the abnormal discharge terminal on the target power pole tower according to the position of the abnormal discharge terminal.

[0080] Furthermore, by combining with the target three-dimensional structural model, the location of the abnormal discharge terminal can be directly displayed in the virtual three-dimensional model, so that maintenance personnel can understand the location of the terminal more intuitively and reduce the time and energy consumption during on-site maintenance.

[0081] In this embodiment, based on the above-mentioned power pole tower partial discharge locating method, the present invention also provides a power pole tower partial discharge locating system.

[0082] See also Figure 3 , Figure 3 Schematic diagram of a partial discharge positioning system for a power tower provided by an embodiment of the present invention. Figure 3As shown, the power tower partial discharge positioning system provided by the embodiment of the present invention includes an input device, a processor, a memory and an output device.

[0083] Furthermore, the input device, the processor, the memory and the output device are interconnected; the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the above-mentioned power pole tower partial discharge locating method.

[0084] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0085] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present invention; it should be noted that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for locating partial discharge of a power tower, characterized in that: The steps include: Acquire a first database, wherein a plurality of power pole tower structure model samples are stored in the first database, and any of the power pole tower structure model samples is a three-dimensional structure model; Acquire a visible light image and an energy response image of a target power pole tower, wherein the visible light image includes a local structure image or an overall structure image of the target power pole tower and includes at least one terminal image, and the energy response map is aligned with the visible light image; Based on the target power pole tower structure and the terminal in the visible light image, matching the target three-dimensional structure model of the target power pole tower from the first database, and locating the position of the terminal on the target three-dimensional structure model; Based on the energy response image corresponding to the visible light image, obtaining the discharge probability of the terminal in the visible light image; According to the position of each terminal in the target three-dimensional structure model and the discharge probability, the abnormal discharge terminal in the target power pole tower is located.

2. The method for locating partial discharge of a power tower according to claim 1, characterized in that: The step of obtaining the first database comprises the following steps: Acquire the structural characteristic data of power poles and towers in the current power industry, wherein the structural characteristic data of power poles and towers include the structural characteristics of power poles and towers, and the terminal configuration parameters of power poles and towers with the same structural characteristics, wherein the terminal configuration parameters include the number of terminals and the spatial coordinates of the terminals; Based on the power tower structure characteristic data, construct three-dimensional structural models of different types of power towers, and mark the spatial coordinates and spatial coordinate numbers of each terminal in each three-dimensional structural model; The three-dimensional structural models of different types of power towers are collected to obtain the first database.

3. The method for locating partial discharge of a power tower according to claim 2, characterized in that: Based on the target power pole tower structure in the visible light image, matching the target three-dimensional structure model of the target power pole tower from the first database comprises the following steps: Based on the target power pole tower structure, obtaining structural characteristics of the target power pole tower; The target three-dimensional structure model is matched in the first database by using the structural features through image recognition technology.

4. The method for locating partial discharge of a power tower according to claim 3, characterized in that: Based on the terminal in the visible light image, locating the position of the terminal on the target three-dimensional structure model comprises the following steps: Acquire the image coordinates of each terminal in the visible light image to generate a to-be-matched data group, wherein one to-be-matched data in the to-be-matched data group is the image coordinates of one terminal; Acquire all terminal configuration parameters of the power tower under the target three-dimensional structure model, and generate one or more matching data groups based on all the terminal configuration parameters, wherein one matching data in the matching data group is the spatial coordinate of a terminal of the target three-dimensional structure model under one terminal configuration parameter; Based on the to-be-matched data group, a target matching data group is obtained from one or more matching data groups, wherein each image coordinate in the to-be-matched data group is mapped to a spatial coordinate in the target matching data group in a unique mapping manner, and each image coordinate in the to-be-matched data group is mapped to a different spatial coordinate in the target matching data group; The spatial coordinate number of each image coordinate in the data set to be matched is located by using the matching data in the target matching data set that corresponds to the data to be matched through the unique mapping method.

5. The method for locating partial discharge of a power tower according to claim 1, characterized in that: The step of acquiring the visible light image and energy response image of the target power pole tower comprises the following steps: Providing a first image acquisition device, the image acquisition device is used to acquire a visible light image of the target power pole tower; A second image acquisition device is provided, the second image acquisition device being used to acquire an energy response image aligned with the image of the visible light image.

6. The method for locating partial discharge of a power tower according to claim 5, characterized in that: The step of obtaining the discharge probability of the terminal in the visible light image based on the energy response image corresponding to the visible light image comprises the following steps: Based on the image resolution of the energy response image, construct a single pixel point discharge distribution model, wherein the single pixel point discharge distribution model is a Gaussian energy distribution response matrix based on a central matrix element, and the size of the energy distribution response matrix is ​​the same as the image resolution; The discharge probability of the terminal in the visible light image is obtained according to each matrix element in the energy distribution response matrix and the energy response value of each image pixel in the energy response image.

7. The method for locating partial discharge of a power tower according to claim 6, characterized in that: The central matrix element of the energy distribution response matrix has the maximum ultraviolet energy response coefficient , the remaining elements of the energy distribution response matrix are ,in, represents the coordinates of matrix elements, represents the coordinates of the center matrix element, represents the diffusion coefficient of ultraviolet energy; The discharge probability of the terminal in the visible light image satisfies the following calculation model: ,in, Represents the coordinates of matrix elements The UV energy response coefficient at Represents the image pixel coordinates in the energy response image The energy response value at Indicates the discharge response standard value.

8. The method for locating partial discharge of a power tower according to claim 1, characterized in that: The method of locating the abnormal discharge terminal in the target power tower according to the position of each terminal in the target three-dimensional structure model and the discharge probability comprises the following steps: Based on the visible light images at different shooting angles and the corresponding energy response images, the discharge probability of each terminal at different shooting angles is obtained; According to the discharge probability of each terminal at different shooting angles, the final discharge probability of each terminal is obtained, and the terminal whose final discharge probability exceeds the prefabricated terminal is set as an abnormal discharge terminal, and according to the position of the abnormal discharge terminal, the abnormal discharge terminal is located on the target power pole tower.

9. The method for locating partial discharge of a power tower according to claim 8, characterized in that: The final discharge probability of any terminal satisfies the following calculation model: , , ; Where i represents the serial number, and the value of i is any integer between 1 and n. , represents the discharge probability of the terminal at the first shooting angle, represents the discharge probability of the terminal under the second shooting angle, represents the discharge probability of the terminal under the nth shooting angle, represents the discharge probability of the terminal under the i-th shooting angle, represents the final discharge probability, express expectations, represents the discharge probability of the terminal at the i-th shooting angle Based on the initial discharge probability The posterior probability of Indicates the discharge probability The marginal likelihood function value of is, represents the initial discharge probability of the terminal, represents the posterior discharge probability of the terminal, Indicates the discharge probability The value of the likelihood function .

10. A partial discharge positioning system for power towers, characterized in that: The power pole tower partial discharge locating method comprises an input device, a processor, a memory and an output device; wherein the input device, the processor, the memory and the output device are connected to each other; the memory is used to store a computer program, the computer program comprises program instructions, and the processor is configured to call the program instructions to execute the power pole tower partial discharge locating method according to any one of claims 1 to 9.

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