A visual monitoring and early warning method and system for icing status of transmission lines

Abstract

This invention proposes a visual monitoring and early warning method and system for icing on power transmission lines, which belongs to the field of monitoring technology. First, a tension sensor is used to detect the tension at the end of the transmission line to be tested. The tension sensor's extreme value is used to capture the moment when the conductor passes through the equilibrium position. A synchronized image sensor then captures a photo of this moment. This photo is used to measure ice thickness, avoiding the problem of being unable to capture a precise comparison image of the position of the oscillating transmission line to be tested.

Description

Technical Field

[0001] The present application relates to the field of monitoring technology, and in particular to a method and system for visually monitoring and early warning of the icing status of power transmission lines. Background Art

[0002] Icing of transmission lines is a major disaster that threatens the safety of power grids. Since transmission lines may be located in dangerous geographical locations, manual observation cannot be used entirely in the process of large-scale monitoring of icing of transmission lines.

[0003] The widespread use of drone technology enables real-time image monitoring of power transmission lines using drone-mounted image sensors. However, visual observation alone requires significant manpower. Therefore, artificial intelligence (AI) can be used to identify ice cover on power transmission lines within images. However, during AI image recognition, power transmission lines may sway due to wind, resulting in inaccurate positioning of the lines within the image, which can affect the final recognition results. Summary of the Invention

[0004] The embodiments of the present application provide a method and system for visually monitoring and early warning of the icing status of power transmission lines to improve the above-mentioned problems.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a method for visually monitoring and early warning of the icing status of a transmission line, the method comprising:

[0007] The tension sensor is used to obtain the tension at the end of the transmission line to be tested, and a tension change curve per unit time is constructed by connecting multiple tension values ​​of the end tensions, with time as the horizontal axis and the end tension as the vertical axis.

[0008] Acquire multiple frames of images of the power transmission line to be inspected within a unit time based on an image sensing device, and synchronize the image sensing device with the tension sensor;

[0009] Determining a plurality of target tensions from the tension variation curve graph, and determining target detection images corresponding to the plurality of time nodes from a plurality of frames of images of the power transmission line to be inspected based on a plurality of time nodes corresponding to the target tensions, wherein the plurality of target tensions include an end tension when the swing position of the power transmission line to be inspected overlaps with an original position when the power transmission line to be inspected is swinging, and the original position is a position of the power transmission line to be inspected when it is only subjected to gravity;

[0010] The edge recognition of multiple target detection images is performed, and the maximum ice thickness is determined based on the results of edge recognition, and ice warning information is output based on the maximum ice thickness.

[0011] In conjunction with the first aspect, in some embodiments, multiple target tensions are determined from a tension change curve graph, and based on multiple time nodes corresponding to the target tensions, target detection images corresponding to the multiple time nodes are determined from multiple frames of images of the power transmission line to be detected. The multiple target tensions include the end tension of the power transmission line to be detected when the swing position overlaps with the original position when the power transmission line to be detected swings, and the original position is the position of the power transmission line to be detected when it is only subjected to gravity, including:

[0012] Obtaining slopes corresponding to multiple time points in a tension change curve, determining points with a slope of 0 from the multiple time points based on the slopes, and determining the tensions corresponding to the multiple points with a slope of 0 as the first tension;

[0013] Obtaining a baseline of the tension change curve graph, and determining that a first tension among the plurality of first tensions, whose corresponding tension value is above the baseline, is a second tension;

[0014] A target tension is determined from the plurality of second tensions.

[0015] In conjunction with the first aspect, in some embodiments, multiple target tensions are determined from a tension change curve graph, and based on multiple time nodes corresponding to the target tensions, target detection images corresponding to the multiple time nodes are determined from multiple frames of images of the power transmission line to be detected. The multiple target tensions include the end tension of the power transmission line to be detected when the swing position overlaps with the original position when the power transmission line to be detected swings, and the original position is the position of the power transmission line to be detected when it is only subjected to gravity, including:

[0016] Obtaining target time nodes corresponding to a plurality of second tensions in a tension variation curve graph, and determining a first image corresponding to the target time node from a plurality of frames of transmission line images to be inspected;

[0017] Position recognition is performed on the multiple frames of first images. Based on the position recognition results, multiple target detection images are determined from the multiple frames of transmission line images to be detected corresponding to the target time nodes, where the target detection image is an image of the transmission line to be detected when it is swung to its original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension.

[0018] In conjunction with the first aspect, in some embodiments, position recognition is performed on multiple frames of first images, and based on the position recognition results, multiple target detection images are determined from the multiple frames of transmission line images to be detected corresponding to target time nodes, wherein the target detection images are images of the transmission line to be detected when it is swung to its original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension, including:

[0019] Obtain a reference point from any first image frame, where the reference point is a point on the transmission line to be detected;

[0020] Acquire multiple target positions of reference points in multiple frames of first images;

[0021] Determining a reference position from a plurality of target positions, the reference position being a position of a reference point in the first image when the transmission line to be inspected is subjected only to gravity;

[0022] Based on the correspondence between the reference position and the first image, a plurality of target detection images are determined from the frame first image.

[0023] In conjunction with the first aspect, in some embodiments, determining a reference position from a plurality of target positions, where the reference position is a position of a reference point in the first image when the transmission line to be inspected is subjected only to gravity, includes:

[0024] superimposing a plurality of first images, and obtaining a distance relationship between a plurality of target positions after superimposition;

[0025] Determine the degree of dispersion of multiple target locations based on distance relationships;

[0026] If the discreteness reference value of the multiple target positions is less than a preset value, the target position closest to the center point of the set of multiple target positions is determined as the reference position.

[0027] In conjunction with the first aspect, in some embodiments, determining the degree of discreteness of multiple target locations based on the distance relationship includes:

[0028] Get the geometric center points of multiple target locations;

[0029] Get the Euclidean distances between multiple target locations, get the average of the multiple Euclidean distances, and use the average as a reference value for the degree of dispersion.

[0030] In conjunction with the first aspect, in some embodiments, edge recognition is performed on multiple frames of target detection images, and a maximum ice thickness is determined based on the edge recognition results, and ice warning information is output based on the maximum ice thickness, including:

[0031] The edge recognition technology is used to extract the contour boundary of the ice layer in the target detection image;

[0032] Acquire, based on historical data, a comparison image of the transmission line to be inspected when there is no ice layer and the transmission line to be inspected in the target detection image is at the same position;

[0033] Compare the target detection image with the comparison image to obtain the vertical distance between the outer edge of the ice layer and the baseline contour of the transmission line to be detected, and obtain multiple ice thicknesses based on the vertical distance;

[0034] A maximum ice cover thickness is determined based on the plurality of ice cover thicknesses.

[0035] In conjunction with the first aspect, in some embodiments, edge recognition is performed on multiple frames of target detection images, and a maximum ice thickness is determined based on the edge recognition results, and ice warning information is output based on the maximum ice thickness, including:

[0036] Compare the maximum ice thickness with the preset warning threshold and obtain the exceeding limit parameters;

[0037] According to the exceeded parameters, the corresponding level of icing warning is triggered.

[0038] In a second aspect, an embodiment of the present application provides a visual monitoring and early warning system for the icing status of a transmission line. The system is configured as follows:

[0039] The tension sensor is used to obtain the tension at the end of the transmission line to be tested, and a tension change curve per unit time is constructed by connecting multiple tension values ​​of the end tensions, with time as the horizontal axis and the end tension as the vertical axis.

[0040] Acquire multiple frames of images of the power transmission line to be inspected within a unit time based on an image sensing device, and synchronize the image sensing device with the tension sensor;

[0041] Determining a plurality of target tensions from the tension variation curve graph, and determining target detection images corresponding to the plurality of time nodes from a plurality of frames of images of the power transmission line to be inspected based on a plurality of time nodes corresponding to the target tensions, wherein the plurality of target tensions include an end tension when the swing position of the power transmission line to be inspected overlaps with an original position when the power transmission line to be inspected is swinging, and the original position is a position of the power transmission line to be inspected when it is only subjected to gravity;

[0042] The edge recognition of multiple target detection images is performed, and the maximum ice thickness is determined based on the results of edge recognition, and ice warning information is output based on the maximum ice thickness.

[0043] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0044] A plurality of target tensions are determined from the tension variation curve graph, and based on a plurality of time nodes corresponding to the target tensions, target detection images corresponding to the plurality of time nodes are determined from a plurality of frames of images of the power transmission line to be detected, wherein the plurality of target tensions include an end tension when the swing position of the power transmission line to be detected overlaps with an original position when the power transmission line to be detected swings, and the original position is a position of the power transmission line to be detected when only subjected to gravity, including:

[0045] Obtaining slopes corresponding to multiple time points in a tension change curve, determining points with a slope of 0 from the multiple time points based on the slopes, and determining the tensions corresponding to the multiple points with a slope of 0 as the first tension;

[0046] Obtaining a baseline of the tension change curve graph, and determining that a first tension among the plurality of first tensions, whose corresponding tension value is above the baseline, is a second tension;

[0047] A target tension is determined from the plurality of second tensions.

[0048] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0049] A plurality of target tensions are determined from the tension variation curve graph, and based on a plurality of time nodes corresponding to the target tensions, target detection images corresponding to the plurality of time nodes are determined from a plurality of frames of images of the power transmission line to be detected, wherein the plurality of target tensions include an end tension when the swing position of the power transmission line to be detected overlaps with an original position when the power transmission line to be detected swings, and the original position is a position of the power transmission line to be detected when only subjected to gravity, including:

[0050] Obtaining target time nodes corresponding to a plurality of second tensions in a tension variation curve graph, and determining a first image corresponding to the target time node from a plurality of frames of transmission line images to be inspected;

[0051] Position recognition is performed on the multiple frames of first images. Based on the position recognition results, multiple target detection images are determined from the multiple frames of transmission line images to be detected corresponding to the target time nodes, where the target detection image is an image of the transmission line to be detected when it is swung to its original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension.

[0052] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0053] Position recognition is performed on the multiple frames of the first image, and based on the position recognition results, multiple target detection images are determined from the multiple frames of the transmission line image to be detected corresponding to the target time node, wherein the target detection image is an image of the transmission line to be detected when it is swung to the original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension, including:

[0054] Obtain a reference point from any first image frame, where the reference point is a point on the transmission line to be detected;

[0055] Acquire multiple target positions of reference points in multiple frames of first images;

[0056] Determining a reference position from a plurality of target positions, the reference position being a position of a reference point in the first image when the transmission line to be inspected is subjected only to gravity;

[0057] Based on the correspondence between the reference position and the first image, a plurality of target detection images are determined from the frame first image.

[0058] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0059] A reference position is determined from the multiple target positions. The reference position is the position of the reference point in the first image when the transmission line to be inspected is subjected only to gravity, including:

[0060] superimposing a plurality of first images, and obtaining a distance relationship between a plurality of target positions after superimposition;

[0061] Determine the degree of dispersion of multiple target locations based on distance relationships;

[0062] If the discreteness reference value of the multiple target positions is less than a preset value, the target position closest to the center point of the set of multiple target positions is determined as the reference position.

[0063] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0064] Determine the degree of dispersion of multiple target locations based on distance relationships, including:

[0065] Get the geometric center points of multiple target locations;

[0066] Get the Euclidean distances between multiple target locations, get the average of the multiple Euclidean distances, and use the average as a reference value for the degree of dispersion.

[0067] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0068] Perform edge recognition on multiple target detection images, determine the maximum ice thickness based on the edge recognition results, and output ice warning information based on the maximum ice thickness, including:

[0069] The edge recognition technology is used to extract the contour boundary of the ice layer in the target detection image;

[0070] Acquire, based on historical data, a comparison image of the transmission line to be inspected when there is no ice layer and the transmission line to be inspected in the target detection image is at the same position;

[0071] Compare the target detection image with the comparison image to obtain the vertical distance between the outer edge of the ice layer and the baseline contour of the transmission line to be detected, and obtain multiple ice thicknesses based on the vertical distance;

[0072] A maximum ice cover thickness is determined based on the plurality of ice cover thicknesses.

[0073] In conjunction with the second aspect, in some embodiments, the system is configured to:

[0074] Perform edge recognition on multiple target detection images, determine the maximum ice thickness based on the edge recognition results, and output ice warning information based on the maximum ice thickness, including:

[0075] Compare the maximum ice thickness with the preset warning threshold and obtain the exceeding limit parameters;

[0076] According to the exceeded parameters, the corresponding level of icing warning is triggered.

[0077] According to a third aspect of an embodiment of the present invention, an electronic device is provided, including:

[0078] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method proposed in the first aspect of the embodiment of the present invention.

[0079] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect of the embodiment of the present invention.

[0080] In summary, the above method and system have the following technical effects:

[0081] The embodiment of the present application proposes a method for visual monitoring and early warning of the icing status of a transmission line. First, based on a tension sensor, the tension at the end of the transmission line to be detected is obtained. Time is used as the horizontal coordinate, and the tension at the end of the visual monitoring and early warning of the icing status of the transmission line is used as the vertical coordinate. The tension values ​​of the tension at the end of multiple transmission line visual monitoring and early warning of the icing status are connected to construct a tension change curve chart per unit time. Then, based on an image sensing device, multiple frames of images of the transmission line to be detected within a unit time for visual monitoring and early warning of the icing status of the transmission line are obtained, and the image sensing device for visual monitoring and early warning of the icing status of the transmission line and the tension sensor for visual monitoring and early warning of the icing status of the transmission line are synchronized in time. Step 1, then, multiple target tensions are determined from the tension change curve diagram of the visual monitoring and early warning of the icing state of the transmission line, and based on multiple time nodes corresponding to the target tensions of the visual monitoring and early warning of the icing state of the transmission line, target detection images corresponding to multiple time nodes of the visual monitoring and early warning of the icing state of the transmission line are determined from multiple frames of the transmission line image to be detected. Finally, the edges of the target detection images of the visual monitoring and early warning of the icing state of the transmission line are identified in multiple frames, and the maximum ice thickness is determined based on the results of the edge identification of the visual monitoring and early warning of the icing state of the transmission line, and ice warning information is output based on the maximum ice thickness of the visual monitoring and early warning of the icing state of the transmission line. The embodiment of the present application proposes a method for visual monitoring and early warning of the icing state of the transmission line, which captures the moment when the conductor passes through the equilibrium position through the extreme point of the tension sensor, and then uses a synchronized image sensor to take a photo of the moment. The ice thickness is measured by the photo, which avoids the problem that the swinging transmission line to be detected cannot capture a comparison image of the precise position. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 This is a flow chart of a method for visually monitoring and warning the icing status of a power transmission line proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0083] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0084] This application proposes a visual monitoring and early warning method for the icing status of power transmission lines. Figure 1 , the method comprises the following steps:

[0085] S101: Obtain the tension at the end of the transmission line to be detected based on the tension sensor, with time as the horizontal coordinate and the tension at the end of the transmission line as the vertical coordinate, and connect the tension values ​​of the tension at the end of multiple transmission lines to construct a tension change curve per unit time.

[0086] As you can understand, tension sensors can monitor the tension at the ends of transmission lines in real time. By plotting time as the horizontal axis and the tension at the end as the vertical axis, the specific values ​​of tension at the end at different points in time can be recorded and displayed. By connecting these measured values ​​of tension at the end, a curve chart showing the change in tension per unit time can be constructed. This curve chart can intuitively reflect the changing trend of tension at the end of the transmission line over time.

[0087] S102: obtaining multiple frames of images of the transmission line to be detected within a unit time for visual monitoring and early warning of the icing status of the transmission line based on the image sensing device, and synchronizing the time between the image sensing device for visual monitoring and early warning of the icing status of the transmission line and the tension sensor for visual monitoring and early warning of the icing status of the transmission line.

[0088] S103: Determine multiple target tensions from a tension change curve diagram for visual monitoring and early warning of the icing status of the transmission line, and based on multiple time nodes corresponding to the target tensions for visual monitoring and early warning of the icing status of the transmission line, determine target detection images corresponding to multiple time nodes for visual monitoring and early warning of the icing status of the transmission line from multiple frames of transmission line images to be detected, wherein the multiple target tensions for visual monitoring and early warning of the icing status of the transmission line include the tension at the end of the transmission line when the swing position of the transmission line to be detected for visual monitoring and early warning of the icing status of the transmission line overlaps with the original position when the transmission line swings, and the original position of the transmission line for visual monitoring and early warning of the icing status of the transmission line is the position of the transmission line to be detected for visual monitoring and early warning of the icing status of the transmission line when it is only subjected to gravity.

[0089] It is understandable that due to the influence of natural factors such as wind, the transmission line sways to a certain extent. Therefore, the tension at the end of the transmission line to be tested also changes in the form of a curve. Since the transmission line to be tested is itself affected by gravity, the tension at the end of the transmission line to be tested is the largest when it is in a state of gravitational equilibrium, that is, a natural hanging state. When the transmission line to be tested swings, when the transmission line to be tested passes through the equilibrium position during the swing process, the tension at the end is also the largest in most cases. Only when it is subjected to a continuous force will the force at the equilibrium position occasionally not be the largest. Therefore, in this embodiment, based on the force feedback, a photo of the transmission line at a specific time point can be obtained, and the icing state can be identified based on the photo.

[0090] As an implementation manner, in this embodiment, the force recognition process may include steps S1031-S1033:

[0091] S1031: Obtain the slopes corresponding to multiple time points in the change curve of the visual monitoring and early warning tension of the icing status of the transmission line, determine the points where the slope of the visual monitoring and early warning of the icing status of the transmission line is 0 from the multiple time points based on the slope of the visual monitoring and early warning of the icing status of the transmission line, and determine the tension corresponding to the multiple points where the slope of the visual monitoring and early warning of the icing status of the transmission line is 0 as the first tension.

[0092] It is understood that in this step, multiple extreme points on the curve can be identified by means of derivatives. The forces corresponding to these extreme points must include the tension of the transmission line to be tested when it passes through the equilibrium point. In this embodiment, the tension corresponding to these extreme points is used as the first tension.

[0093] S1032: Obtain the baseline of the tension change curve of the visual monitoring and early warning of the icing status of the transmission line, and determine that among multiple first tensions for visual monitoring and early warning of the icing status of the transmission line, the first tension for visual monitoring and early warning of the icing status of the transmission line whose corresponding tension value is above the baseline of the visual monitoring and early warning of the icing status of the transmission line is the second tension.

[0094] It can be understood that since the force at the extreme point includes the maximum tension and the minimum tension, the corresponding tension value of the visual monitoring and early warning of the icing status of the transmission line can be located above the visual monitoring and early warning baseline of the icing status of the transmission line by setting a baseline, and the first tension of the visual monitoring and early warning of the icing status of the transmission line above the visual monitoring and early warning baseline of the icing status of the transmission line can be the second tension.

[0095] S1033: Determine a target tension for visual monitoring and early warning of the icing status of a transmission line from a plurality of second tensions for visual monitoring and early warning of the icing status of the transmission line.

[0096] Since the wire is in a swinging state, the force at the extreme point may also be the force at the extreme swing position. Since this application requires image recognition technology to determine the thickness of the ice layer, in this embodiment, image recognition can be combined with multiple swing images and the forces corresponding to multiple extreme points to determine which forces are the forces when passing through the equilibrium point.

[0097] In this embodiment, the target time nodes corresponding to the second tension of the visual monitoring and early warning of the icing status of multiple transmission lines in the tension change curve diagram of the visual monitoring and early warning of the icing status of the transmission lines can be obtained, and the first image corresponding to the target time node of the visual monitoring and early warning of the icing status of the transmission lines can be determined from the multiple frames of the visual monitoring and early warning of the icing status of the transmission lines to be detected.

[0098] It can be understood that the second tension of the visual monitoring and early warning of the icing status of multiple transmission lines must include the force when swinging to the equilibrium position. Therefore, the corresponding images of all these moments can be obtained. Furthermore, the position recognition can be performed on the first image of the visual monitoring and early warning of the icing status of multiple frames of transmission lines. According to the result of the position recognition, multiple visual monitoring and early warning target detection images of the icing status of transmission lines can be determined from the visual monitoring and early warning target time nodes of the icing status of transmission lines corresponding to the visual monitoring and early warning target time nodes of the icing status of transmission lines. Among them, the visual monitoring and early warning target detection image of the icing status of transmission lines is the image of the icing status of transmission lines to be detected when the icing status of transmission lines is swung to the original position of the visual monitoring and early warning of the icing status of transmission lines. Conversely, the second tension of the icing status of transmission lines corresponding to the visual monitoring and early warning time node of the icing status of transmission lines corresponding to the visual monitoring and early warning target detection image of the icing status of transmission lines is the visual monitoring and early warning target tension of the icing status of transmission lines.

[0099] Specifically, in this embodiment, as an implementation method, a reference point can be obtained from any frame of the first image of the visual monitoring and early warning of the icing status of the transmission line. The reference point of the visual monitoring and early warning of the icing status of the transmission line is a point on the transmission line to be detected for the visual monitoring and early warning of the icing status of the transmission line.

[0100] Then, multiple target positions of the reference points for visual monitoring and early warning of the icing status of the transmission line are obtained in the first multi-frame visual monitoring and early warning image of the icing status of the transmission line. It can be understood that during the swinging process, the reference position in the image also changes.

[0101] A reference position is determined from multiple target positions of visual monitoring and early warning of the icing status of transmission lines. The reference position of the visual monitoring and early warning of the icing status of transmission lines is the position of the reference point of the visual monitoring and early warning of the icing status of transmission lines in the first image of the visual monitoring and early warning of the icing status of transmission lines when the transmission line to be detected is only subjected to gravity.

[0102] Specifically, in this embodiment, multiple first images of visual monitoring and early warning of the icing status of transmission lines can be superimposed, and the distance relationship between the multiple visual monitoring and early warning target locations of the icing status of transmission lines after superposition is obtained; based on the visual monitoring and early warning distance relationship of the icing status of transmission lines, the degree of dispersion of the multiple visual monitoring and early warning target locations of the icing status of transmission lines is determined, and the higher the degree of dispersion, the greater the irregularity of the swing. If the reference value of the degree of dispersion of the multiple visual monitoring and early warning target locations of the icing status of transmission lines is less than a preset value, the visual monitoring and early warning target location of the icing status of transmission lines closest to the center point of the set of visual monitoring and early warning target locations of the icing status of transmission lines is determined as the reference location of the visual monitoring and early warning of the icing status of transmission lines. It can be understood that when the degree of dispersion is small, the swing may be more uniform. Therefore, the visual monitoring and early warning target location of the icing status of transmission lines closest to the center point of the set of visual monitoring and early warning target locations of the icing status of transmission lines is most likely to be in a balanced position.

[0103] Regarding the reference value of the discrete degree reference value, generally speaking, the geometric center point of the visual monitoring and early warning of the icing status of the transmission line of the visual monitoring and early warning target position of the icing status of the transmission line can be obtained, and then the Euclidean distance between the two target positions of the visual monitoring and early warning of the icing status of the transmission line can be obtained, and the average value of the Euclidean distance of the visual monitoring and early warning of the icing status of the transmission line can be obtained, and the average value of the visual monitoring and early warning of the icing status of the transmission line can be used as the discrete degree reference value of the visual monitoring and early warning of the icing status of the transmission line. Of course, in other embodiments, other methods can be used to determine a discrete reference value, which is not limited in this embodiment.

[0104] Therefore, in this embodiment, after obtaining the reference position, based on the correspondence between the reference position of the visual monitoring and early warning of the transmission line icing status and the first visual monitoring and early warning image of the transmission line icing status, multiple target detection images of the visual monitoring and early warning of the transmission line icing status can be determined from multiple frames of the first visual monitoring and early warning image of the transmission line icing status. It can be understood that the target detection image is the image closest to the reference position at the reference point position in the multiple frames of the first visual monitoring and early warning image of the transmission line icing status.

[0105] S104: Perform edge recognition on the target detection images of the visual monitoring and early warning of the icing status of the transmission line in multiple frames, determine the maximum icing thickness based on the results of the edge recognition of the visual monitoring and early warning of the icing status of the transmission line, and output icing warning information based on the maximum icing thickness of the visual monitoring and early warning of the icing status of the transmission line.

[0106] Exemplarily, the contour boundary of the ice layer of the target detection image of the visual monitoring and early warning of the icing state of the transmission line can be extracted by edge recognition technology. How to identify the boundary has been disclosed in the relevant technology and is not limited in this application. Then, based on historical data, a comparison image of the transmission line to be detected for the visual monitoring and early warning of the icing state of the transmission line can be obtained when there is no ice layer for the visual monitoring and early warning of the icing state of the transmission line. The visual monitoring and early warning target detection image of the icing state of the transmission line is compared with the visual monitoring and early warning comparison image of the icing state of the transmission line to obtain the vertical distance between the outer edge of the ice layer for the visual monitoring and early warning of the icing state of the transmission line and the baseline contour of the transmission line to be detected for the visual monitoring and early warning of the icing state of the transmission line, and multiple ice thicknesses are obtained according to the vertical distance of the visual monitoring and early warning of the icing state of the transmission line. Finally, the maximum ice thickness is determined according to the multiple ice thicknesses of the visual monitoring and early warning of the icing state of the transmission line. Of course, other methods may be used to obtain ice thickness from images, which are not limited here.

[0107] As can be appreciated, after obtaining the maximum ice thickness, the maximum ice thickness for the visual monitoring and warning of the transmission line icing status can be compared with a preset warning threshold to obtain an over-limit parameter. Based on the over-limit parameter for the visual monitoring and warning of the transmission line icing status, an ice warning of the corresponding level is triggered.

[0108] The embodiment of the present application proposes a method for visual monitoring and early warning of the icing status of a transmission line. First, based on a tension sensor, the tension at the end of the transmission line to be detected is obtained. Time is used as the horizontal coordinate, and the tension at the end of the visual monitoring and early warning of the icing status of the transmission line is used as the vertical coordinate. The tension values ​​of the tension at the end of multiple transmission line visual monitoring and early warning of the icing status are connected to construct a tension change curve chart per unit time. Then, based on an image sensing device, multiple frames of images of the transmission line to be detected within a unit time for visual monitoring and early warning of the icing status of the transmission line are obtained, and the image sensing device for visual monitoring and early warning of the icing status of the transmission line and the tension sensor for visual monitoring and early warning of the icing status of the transmission line are synchronized in time. Step 1, then, multiple target tensions are determined from the tension change curve diagram of the visual monitoring and early warning of the icing state of the transmission line, and based on multiple time nodes corresponding to the target tensions of the visual monitoring and early warning of the icing state of the transmission line, target detection images corresponding to multiple time nodes of the visual monitoring and early warning of the icing state of the transmission line are determined from multiple frames of the transmission line image to be detected. Finally, the edges of the target detection images of the visual monitoring and early warning of the icing state of the transmission line are identified in multiple frames, and the maximum ice thickness is determined based on the results of the edge identification of the visual monitoring and early warning of the icing state of the transmission line, and ice warning information is output based on the maximum ice thickness of the visual monitoring and early warning of the icing state of the transmission line. The embodiment of the present application proposes a method for visual monitoring and early warning of the icing state of the transmission line, which captures the moment when the conductor passes through the equilibrium position through the extreme point of the tension sensor, and then uses a synchronized image sensor to take a photo of the moment. The ice thickness is measured by the photo, which avoids the problem that the swinging transmission line to be detected cannot capture a comparison image of the precise position.

[0109] Based on the same inventive concept, the present application provides a visual monitoring and early warning system for the icing status of power transmission lines. The system is configured as follows:

[0110] Acquire the tension at the end of the transmission line to be detected based on the tension sensor, use time as the horizontal coordinate and the tension at the end as the vertical coordinate, connect multiple tension values ​​of the tension at the end to construct a tension change curve per unit time;

[0111] Acquiring multiple frames of images of the power transmission line to be inspected within the unit time based on an image sensing device, and performing time synchronization between the image sensing device and the tension sensor;

[0112] Determining a plurality of target tensions from the tension variation curve graph, and based on a plurality of time nodes corresponding to the target tensions, determining target detection images corresponding to the plurality of time nodes from a plurality of frames of images of the power transmission line to be detected, wherein the plurality of target tensions include the end tension of the power transmission line to be detected when the swing position overlaps with the original position when the power transmission line to be detected swings, and the original position is the position of the power transmission line to be detected when it is only subjected to gravity;

[0113] Edge recognition is performed on multiple frames of the target detection image, and a maximum ice cover thickness is determined based on the result of the edge recognition, and ice cover warning information is output based on the maximum ice cover thickness.

[0114] In some embodiments, the system is configured to:

[0115] Determine a plurality of target tensions from the tension change curve graph, and determine target detection images corresponding to the plurality of time nodes from a plurality of frames of transmission line images to be detected based on a plurality of time nodes corresponding to the target tensions, wherein the plurality of target tensions include the end tension of the transmission line to be detected when the swing position overlaps with the original position when the transmission line to be detected swings, and the original position is the position of the transmission line to be detected when it is only subjected to gravity, including:

[0116] Obtaining slopes corresponding to a plurality of time points in the tension change curve, determining points where the slope is 0 from the plurality of time points based on the slopes, and determining the tension corresponding to the plurality of points where the slope is 0 as the first tension;

[0117] Obtaining a baseline of the tension change curve graph, and determining, among the plurality of first tensions, the first tension whose corresponding tension value is above the baseline as the second tension;

[0118] The target tension is determined from a plurality of the second tensions.

[0119] In some embodiments, the system is configured to:

[0120] Determine a plurality of target tensions from the tension change curve graph, and determine target detection images corresponding to the plurality of time nodes from a plurality of frames of transmission line images to be detected based on a plurality of time nodes corresponding to the target tensions, wherein the plurality of target tensions include the end tension of the transmission line to be detected when the swing position overlaps with the original position when the transmission line to be detected swings, and the original position is the position of the transmission line to be detected when it is only subjected to gravity, including:

[0121] Acquire a plurality of target time nodes corresponding to the second tension in the tension variation curve graph, and determine a first image corresponding to the target time node from a plurality of frames of the transmission line image to be inspected;

[0122] Position recognition is performed on multiple frames of the first image. Based on the position recognition results, multiple target detection images are determined from the multiple frames of the transmission line image to be detected corresponding to the target time nodes, wherein the target detection image is an image of the transmission line to be detected when it swings to the original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension.

[0123] In some embodiments, the system is configured to:

[0124] Position recognition is performed on multiple frames of the first image, and based on the position recognition results, multiple target detection images are determined from the multiple frames of the transmission line image to be detected corresponding to the target time node, wherein the target detection image is an image of the transmission line to be detected when it swings to the original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension, including:

[0125] Acquire a reference point from any frame of the first image, where the reference point is a point on the transmission line to be detected;

[0126] Acquire multiple target positions of the reference points in multiple frames of the first image;

[0127] Determine a reference position from the plurality of target positions, the reference position being the position of the reference point in the first image when the power transmission line to be inspected is only subjected to gravity;

[0128] Based on the correspondence between the reference position and the first image, a plurality of target detection images are determined from the first image frame.

[0129] In some embodiments, the system is configured to:

[0130] Determining a reference position from the plurality of target positions, where the reference position is a position of the reference point in the first image when the power transmission line to be inspected is subjected only to gravity, includes:

[0131] superimposing a plurality of the first images, and obtaining a distance relationship between the plurality of target positions after superimposition;

[0132] determining a degree of dispersion of the plurality of target positions based on the distance relationship;

[0133] If the discreteness reference value of the plurality of target positions is smaller than a preset value, the target position closest to the center point of the set of the plurality of target positions is determined as the reference position.

[0134] In some embodiments, the system is configured to:

[0135] Determining the discreteness of the plurality of target positions based on the distance relationship includes:

[0136] Obtaining the geometric center points of a plurality of target positions;

[0137] The Euclidean distances between two of the plurality of target position points are obtained, and an average value of the plurality of Euclidean distances is obtained, and the average value is used as the discreteness reference value.

[0138] In some embodiments, the system is configured to:

[0139] Performing edge recognition on multiple frames of target detection images, determining a maximum ice thickness based on the edge recognition results, and outputting ice warning information based on the maximum ice thickness, including:

[0140] Extracting the contour boundary of the ice layer in the target detection image by edge recognition technology;

[0141] acquiring, based on historical data, a comparative image of the transmission line to be inspected when the transmission line to be inspected is at the same position as the transmission line to be inspected in the target detection image when the transmission line to be inspected does not have the ice layer;

[0142] Comparing the target detection image with the comparison image, obtaining a vertical distance between the outer edge of the ice layer and the reference contour of the transmission line to be detected, and obtaining multiple ice thicknesses based on the vertical distance;

[0143] A maximum ice covering thickness is determined according to the plurality of ice covering thicknesses.

[0144] In some embodiments, the system is configured to:

[0145] Performing edge recognition on multiple frames of target detection images, determining a maximum ice thickness based on the edge recognition results, and outputting ice warning information based on the maximum ice thickness, including:

[0146] Comparing the maximum ice thickness with a preset warning threshold and obtaining an over-limit parameter;

[0147] According to the exceeded parameters, an icing warning of a corresponding level is triggered.

[0148] The embodiment of the present application proposes a visual monitoring and early warning system for the icing status of a transmission line. First, based on a tension sensor, the tension at the end of the transmission line to be detected is obtained. Time is used as the horizontal coordinate, and the tension at the end of the visual monitoring and early warning of the icing status of the transmission line is used as the vertical coordinate. The tension values ​​of the tension at the end of multiple transmission line visual monitoring and early warning of the icing status are connected to construct a tension change curve chart per unit time. Then, based on an image sensing device, multiple frames of images of the transmission line to be detected within a unit time for visual monitoring and early warning of the icing status of the transmission line are obtained, and the image sensing device for visual monitoring and early warning of the icing status of the transmission line and the tension sensor for visual monitoring and early warning of the icing status of the transmission line are synchronized in time. Step 1, then, multiple target tensions are determined from the visual monitoring and early warning tension change curve diagram of the transmission line icing state, and based on multiple time nodes corresponding to the visual monitoring and early warning target tensions of the transmission line icing state, target detection images corresponding to multiple visual monitoring and early warning time nodes of the transmission line icing state are determined from multiple frames of transmission line images to be detected. Finally, the edges of the multiple frames of visual monitoring and early warning target detection images of the transmission line icing state are identified, and based on the results of the visual monitoring and early warning edge identification of the transmission line icing state, the maximum ice thickness is determined, and ice warning information is output based on the maximum ice thickness of the visual monitoring and early warning of the transmission line icing state. The embodiment of the present application proposes a visual monitoring and early warning system for the icing state of a transmission line, which captures the moment when the conductor passes through the equilibrium position through the extreme point of the tension sensor, and then uses a synchronized image sensor to take a photo of the moment. The ice thickness is measured by the photo, which avoids the problem that the swinging transmission line to be detected cannot capture a comparison image of the precise position.

[0149] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, the electronic device comprising:

[0150] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the visual monitoring and early warning method for the icing status of the transmission line according to an embodiment of the present application.

[0151] In addition, to achieve the above-mentioned purpose, an embodiment of the present application also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the visual monitoring and early warning method of the icing status of the transmission line of the embodiment of the present application.

[0152] The following is a detailed introduction to the various components of electronic equipment:

[0153] The term "processor" refers to the control center of an electronic device and can be a single processor or a collective term for multiple processing elements. For example, the processor can be one or more central processing units (CPUs), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0154] Optionally, the processor can perform various functions of the electronic device by running or executing a software program stored in the memory, and calling data stored in the memory.

[0155] Among them, the visual monitoring and early warning memory of the icing status of the transmission line is used to store the software program for executing the solution of the present invention, and is controlled by the processor to execute. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0156] Alternatively, the memory may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory may be integrated with the processor or exist independently and be coupled to the processor via an interface circuit of the electronic device, and this is not specifically limited in the embodiments of the present invention.

[0157] A transceiver is used to communicate with network devices or terminal devices.

[0158] Optionally, the transceiver may include a receiver and a transmitter, wherein the receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0159] Optionally, the transceiver may be integrated with the processor, or may exist independently and be coupled to the processor via an interface circuit of the router, which is not specifically limited in the embodiment of the present invention.

[0160] In addition, the technical effects of the electronic device can refer to the technical effects of the data transmission method for visual monitoring and early warning of the icing status of the transmission line in the above-mentioned method embodiment, and will not be repeated here.

[0161] It should be understood that the processor in the embodiments of the present invention may be a central processing unit (CPU), but may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0162] It should also be understood that the memory in the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0163] The above embodiments can be implemented in whole or in part via software, hardware (e.g., circuits), firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part as a computer program product. The computer program product for visually monitoring and warning the icing status of transmission lines comprises one or more computer instructions or computer programs. When these computer instructions or computer programs for visually monitoring and warning the icing status of transmission lines are loaded or executed on a computer, the processes or functions for visually monitoring and warning the icing status of transmission lines according to the embodiments of the present invention are fully or partially generated. The computer for visually monitoring and warning the icing status of transmission lines can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions for visually monitoring and warning the icing status of transmission lines can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer instructions for visually monitoring and warning the icing status of transmission lines can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired communication (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media for visual monitoring and early warning of transmission line icing conditions can be any computer-accessible medium or a data storage device such as a server or data center that contains one or more available media. The computer-readable storage media for visual monitoring and early warning of transmission line icing conditions can be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be solid-state drives.

[0164] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0165] In this disclosure, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0166] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0167] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

Claims

1. A visual monitoring and early warning method for the icing status of a transmission line, characterized in that: The method comprises: Acquire the tension at the end of the transmission line to be detected based on the tension sensor, use time as the horizontal coordinate and the tension at the end as the vertical coordinate, connect multiple tension values ​​of the tension at the end to construct a tension change curve per unit time; Acquiring multiple frames of images of the power transmission line to be inspected within the unit time based on an image sensing device, and performing time synchronization between the image sensing device and the tension sensor; A plurality of target tensions are determined from the tension change curve graph, and based on a plurality of time nodes corresponding to the target tensions, target detection images corresponding to the plurality of time nodes are determined from a plurality of frames of images of the power transmission line to be detected, wherein the plurality of target tensions include the end tension of the power transmission line to be detected when the swing position overlaps with the original position when the power transmission line to be detected swings, and the original position is the position of the power transmission line to be detected when it is only subjected to gravity, wherein: Obtaining slopes corresponding to a plurality of time points in the tension change curve, determining points where the slope is 0 from the plurality of time points based on the slopes, and determining the tension corresponding to the plurality of points where the slope is 0 as the first tension; Obtaining a baseline of the tension change curve graph, and determining, among the plurality of first tensions, the first tension whose corresponding tension value is above the baseline as the second tension; Acquire a plurality of target time nodes corresponding to the second tension in the tension variation curve graph, and determine a first image corresponding to the target time node from a plurality of frames of the transmission line image to be inspected; Position recognition is performed on multiple frames of the first image. Based on the position recognition result, multiple target detection images are determined from the multiple frames of the transmission line image to be detected corresponding to the target time node, wherein the target detection image is an image of the transmission line to be detected when it swings to the original position, and the second tension corresponding to the time node corresponding to the target detection image is the target tension, wherein: Acquire a reference point from any frame of the first image, where the reference point is a point on the transmission line to be detected; Acquire multiple target positions of the reference points in multiple frames of the first image; A reference position is determined from the plurality of target positions, where the reference position is the position of the reference point in the first image when the power transmission line to be inspected is only subjected to gravity, wherein: superimposing a plurality of the first images, and obtaining a distance relationship between the plurality of target positions after superimposition; determining a degree of dispersion of the plurality of target positions based on the distance relationship; If the discreteness reference value of the plurality of target positions is less than a preset value, determining the target position closest to the center point of the set of the plurality of target positions as the reference position; Determining a plurality of target detection images from the first image frame based on a correspondence between the reference position and the first image; Edge recognition is performed on multiple frames of the target detection image, and a maximum ice cover thickness is determined based on the result of the edge recognition, and ice cover warning information is output based on the maximum ice cover thickness.

2. A visual monitoring and early warning method for the icing status of a power transmission line according to claim 1, characterized in that: Determining the discreteness of the plurality of target positions based on the distance relationship includes: Obtaining the geometric center points of multiple target positions; The Euclidean distances between two of the plurality of target position points are obtained, and an average value of the plurality of Euclidean distances is obtained, and the average value is used as the discreteness reference value.

3. The visual monitoring and early warning method for the icing status of a power transmission line according to claim 1 is characterized in that: Performing edge recognition on multiple frames of target detection images, determining a maximum ice thickness based on the edge recognition results, and outputting ice warning information based on the maximum ice thickness, including: Extracting the contour boundary of the ice layer in the target detection image by edge recognition technology; acquiring, based on historical data, a comparison image of the transmission line to be detected when the transmission line to be detected is at the same position as the transmission line to be detected in the target detection image when the transmission line to be detected is not covered with the ice layer; Comparing the target detection image with the comparison image, obtaining a vertical distance between the outer edge of the ice layer and the reference contour of the transmission line to be detected, and obtaining multiple ice thicknesses based on the vertical distance; A maximum ice covering thickness is determined according to the plurality of ice covering thicknesses.

4. The method for visual monitoring and early warning of ice coating status of power transmission lines according to claim 1, characterized in that: Performing edge recognition on multiple frames of target detection images, determining a maximum ice thickness based on the edge recognition results, and outputting ice warning information based on the maximum ice thickness, including: Comparing the maximum ice thickness with a preset warning threshold and obtaining an over-limit parameter; According to the exceeded parameters, an icing warning of a corresponding level is triggered.

5. A visual monitoring and early warning system for the icing status of a power transmission line, used to execute the visual monitoring and early warning method for the icing status of a power transmission line according to claim 1, characterized in that: The system is configured as follows: Acquire the tension at the end of the transmission line to be detected based on the tension sensor, use time as the horizontal coordinate and the tension at the end as the vertical coordinate, connect multiple tension values ​​of the tension at the end to construct a tension change curve per unit time; Acquiring multiple frames of images of the power transmission line to be inspected within the unit time based on an image sensing device, and performing time synchronization between the image sensing device and the tension sensor; Determining a plurality of target tensions from the tension variation curve graph, and based on a plurality of time nodes corresponding to the target tensions, determining target detection images corresponding to the plurality of time nodes from a plurality of frames of images of the power transmission line to be detected, wherein the plurality of target tensions include the end tension of the power transmission line to be detected when the swing position overlaps with the original position when the power transmission line to be detected swings, and the original position is the position of the power transmission line to be detected when it is only subjected to gravity; Edge recognition is performed on multiple frames of the target detection image, and a maximum ice cover thickness is determined based on the result of the edge recognition, and ice cover warning information is output based on the maximum ice cover thickness.

6. An electronic device, characterized in that: include: at least one processor; And, a memory communicatively connected to at least one of the processors; wherein the memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable at least one of the processors to execute the method proposed in any one of claims 1-4.

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