Visual monitoring methods and devices for power transmission line inspection

Abstract

This application provides a visual monitoring method and apparatus for power transmission line inspection, relating to the technical field of power transmission line detection. The method includes controlling a pre-set crawling visual device to inspect a pre-set power transmission line and acquiring environmental wind parameters of the transmission line. These environmental wind parameters include environmental wind direction and wind speed parameters. The environmental wind parameters are analyzed to determine the actual influencing wind parameters and the reference critical wind parameters. It is then determined whether the actual influencing wind parameters meet the requirements of the reference critical wind parameters. If they do, the crawling visual device continues to inspect the power transmission line, and the environmental wind parameters are continuously acquired for cyclical judgment. If they do not meet the requirements, the wind parameters of the crawling visual device are acquired. The wind parameters of the device are analyzed to determine the device adjustment parameters. The crawling visual device is then controlled to adjust its posture according to the device adjustment parameters. This application improves the accuracy of power transmission line inspection.

Description

Technical Field

[0001] This application relates to the technical field of power transmission line inspection, and in particular to a visual monitoring method and apparatus for power transmission line inspection. Background Technology

[0002] Transmission lines are exposed to the outdoors for long periods of time and are susceptible to defects such as internal conductor breakage, insulation aging, loose joints, and sheath cracks due to the effects of wind, rain, lightning, corrosion, and mechanical stress.

[0003] In related technologies, crawling robots are typically used to carry visualization devices, such as high-definition cameras, to inspect power transmission lines. The robot's wheeled and gripping mechanism is used to move and attach the visualization device to the power transmission line, placing the line within the field of view of the device. This allows the device to capture images of the power transmission line and transmit them to a processing terminal. Image recognition algorithms are then used to analyze the images to determine whether the power transmission line has been damaged.

[0004] Regarding the aforementioned technologies, when crawling robots carrying visualization devices inspect power transmission lines, the power transmission lines are usually at a high altitude, and strong winds may occur in the environment. When the crawling robot and the visualization device are affected by strong winds, they will sway, causing the visualization device to shift its position and resulting in blurred images. This leads to low accuracy in power transmission line inspection, and there is still room for improvement. Summary of the Invention

[0005] To improve the accuracy of transmission line inspection, this application provides a visual monitoring method and device for transmission line inspection.

[0006] Firstly, this application provides a visual monitoring method for transmission line inspection, employing the following technical solution:

[0007] Visual monitoring methods for power transmission line inspection include:

[0008] The system controls a preset crawling visualization device to detect a preset power transmission line and acquire the environmental wind parameters of the power transmission line; the environmental wind parameters include environmental wind direction parameters and environmental wind speed parameters.

[0009] Analyze environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters;

[0010] Determine whether the actual wind parameters affecting the wind meet the requirements of the baseline critical wind parameters;

[0011] If the conditions are met, the crawling visualization device will continue to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclical judgment.

[0012] If not, obtain the wind parameters of the crawling visualization device;

[0013] Analyze the wind parameters of the equipment to determine the equipment adjustment parameters;

[0014] The crawling visualization device adjusts its posture based on the equipment's adjustment parameters.

[0015] By adopting the above technical solution, the actual influencing wind parameters and the benchmark critical wind parameters are determined after analyzing the environmental wind parameters. When it is determined that the actual influencing wind parameters do not meet the requirements of the benchmark critical wind parameters, the wind parameters of the equipment are analyzed to determine the equipment adjustment parameters. Based on the equipment adjustment parameters, the crawling visualization device is controlled to adjust its posture to reduce the interference of environmental wind on the stability of the crawling visualization device, thereby improving the detection accuracy of transmission lines.

[0016] Optionally, the steps of analyzing environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters include:

[0017] Obtain the device detection orientation of the crawling visualization device;

[0018] Analyze environmental wind direction parameters and equipment detection orientation to determine the horizontal wind angle;

[0019] The horizontal angle of wind direction and environmental wind speed parameters are analyzed to determine the horizontal and vertical wind speeds, and the horizontal wind speed is defined as the actual wind speed.

[0020] The horizontal and vertical influences of wind direction on wind speed are analyzed to determine the baseline critical wind parameters.

[0021] By adopting the above technical solution, the horizontal influence wind speed is calculated based on the wind direction and horizontal angle and the environmental wind speed parameters. Then, combined with the condition that the crawling visualization device can only sway on both sides of the horizontal axis with the cable as the axis, the horizontal influence wind speed is defined as the actual influence wind parameter. The reference critical wind parameter is determined based on the influence of the vertical influence wind speed on the preset equipment gravity, thereby improving the convenience and accuracy of determining the actual influence wind parameter and the reference critical wind parameter.

[0022] Optionally, the steps for analyzing the horizontal angle of wind direction and the vertical influence of wind speed to determine the baseline critical wind parameters include:

[0023] The vertical impact wind speed, preset air density, preset bottom surface drag coefficient, and preset bottom surface area are analyzed to determine the vertical thrust.

[0024] The horizontal angle of the wind direction, the vertical thrust, and the preset equipment weight are analyzed to determine the adjustment of the equipment weight;

[0025] The windward area of ​​the equipment is determined by analyzing the equipment's detection orientation and preset equipment size parameters.

[0026] The baseline critical wind parameters are determined by analyzing the adjustment of equipment gravity, preset air density, equipment windward area, preset horizontal drag coefficient, and preset critical sway angle.

[0027] By adopting the above technical solution, the difference between the preset equipment weight and the vertical thrust is calculated based on the horizontal angle of the wind direction to obtain the adjusted equipment weight that affects the equipment. Then, the reference critical wind parameters are obtained by calculating the adjusted equipment weight, the preset air density, the equipment windward area, the horizontal drag coefficient, and the critical sway angle, thereby improving the accuracy of the reference critical wind parameters.

[0028] Optionally, the step of analyzing the equipment's detection orientation and preset equipment size parameters to determine the equipment's windward area includes:

[0029] Determine the equipment length, thickness, and height based on the equipment size parameters;

[0030] Analyze the orientation of the equipment to determine its horizontal angle;

[0031] The horizontal angle, length, and thickness of the equipment are analyzed to determine the projected length of the equipment.

[0032] The projected length and height of the equipment are analyzed to determine its windward area.

[0033] By adopting the above technical solution, the horizontal angle of the equipment is determined after the orientation analysis of the equipment detection. Then, the projected length of the equipment is calculated based on the horizontal angle of the equipment, the length of the equipment, and the thickness of the equipment. Finally, the product of the projected length of the equipment and the height of the equipment is calculated to obtain the windward area of ​​the equipment, thereby improving the accuracy of the windward area of ​​the equipment.

[0034] Optionally, the steps of analyzing the wind parameters of the equipment to determine the equipment adjustment parameters include:

[0035] Determine the minimum wind-receiving area and real-time equipment weight based on the equipment's wind parameters;

[0036] The minimum wind-receiving area of ​​the equipment, the real-time weight of the equipment, the actual wind parameters, the preset air density, and the preset horizontal drag coefficient are analyzed to determine the minimum adjustment sway angle.

[0037] Determine whether the minimum adjustment sway angle meets the preset critical sway angle requirement;

[0038] If it does not meet the requirements, the preset minimum area adjustment angle will be defined as the equipment adjustment parameter.

[0039] If the conditions are met, the equipment adjustment parameters will be determined according to the preset simulation adjustment method.

[0040] By adopting the above technical solution, the minimum adjustment sway angle is calculated based on the minimum wind-receiving area of ​​the equipment, the real-time weight of the equipment, the actual influencing wind parameters, the preset air density, and the horizontal wind resistance coefficient. If the minimum adjustment sway angle does not meet the requirements of the critical sway angle, it indicates that stability cannot be guaranteed by adjusting the attitude. Therefore, the minimum area adjustment angle is defined as the equipment adjustment parameter. If it meets the requirements, it indicates that stability can be guaranteed by adjusting the attitude. Therefore, the equipment adjustment parameter is determined according to the simulation adjustment method, thereby improving the accuracy of the equipment adjustment parameter.

[0041] Optionally, the steps for determining the equipment adjustment parameters according to a preset simulation adjustment method include:

[0042] The actual simulated horizontal angle is determined based on the preset simulated angle step size;

[0043] The simulated horizontal angle and preset equipment size parameters are analyzed to determine the simulated windward area;

[0044] The simulated windward area, real-time equipment weight, actual influencing wind parameters, preset air density, and preset horizontal drag coefficient are analyzed to determine the simulated sway angle.

[0045] Determine whether the simulated sway angle meets the preset critical sway angle requirement;

[0046] If it does not meet the requirements, continue to perform cyclic simulations based on the preset simulation angle step size to determine the actual simulated horizontal angle.

[0047] If the conditions are met, the actual simulated horizontal angle is defined as the equipment adjustment parameter.

[0048] By adopting the above technical solution, the actual simulated horizontal angle is determined according to the preset simulated angle step size, and the simulated windward area is calculated based on the actual simulated horizontal angle and equipment size parameters. Then, the simulated sway angle is calculated based on the simulated windward area, real-time equipment weight, actual influencing wind parameters, preset air density and horizontal drag coefficient. When the simulated sway angle is determined to be equal to the critical sway angle, the actual simulated horizontal angle is defined as the equipment adjustment parameter, thereby improving the accuracy of the equipment adjustment parameter.

[0049] Optionally, the steps for adjusting the posture of the crawling visualization device according to the device's adjustment parameters include:

[0050] The crawling visualization device is controlled to adjust the posture by adjusting the device parameters;

[0051] Determine whether the equipment adjustment parameters meet the requirements of the preset simulation adjustment parameters;

[0052] If the conditions are met, the crawling visualization device will continue to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclical judgment.

[0053] If the condition is not met, the preset auxiliary stabilization device will be controlled to pull the crawling visualization device to stabilize it.

[0054] By adopting the above technical solution, when it is determined that the equipment adjustment parameters meet the requirements of the simulation adjustment parameters, after controlling the crawling visualization device to adjust its posture according to the equipment adjustment parameters, the auxiliary stabilizing device is controlled to pull the crawling visualization device, thereby offsetting the influence of excess environmental wind and improving the stability of the crawling visualization device.

[0055] Optionally, the step of controlling a preset auxiliary stabilizing device to pull the crawling visualization device to stabilize the crawling visualization device includes:

[0056] Obtain the actual wind thrust and actual wind direction;

[0057] The actual wind thrust and the preset centroidal lever arm length are analyzed to determine the horizontal wind moment;

[0058] The horizontal wind moment and the preset maximum lever arm length are analyzed to determine the stable traction force;

[0059] The actual wind thrust and stable traction force are analyzed to determine the stable traction parameters;

[0060] The auxiliary stabilization device is controlled according to the stable traction parameters to stabilize the crawling visualization device.

[0061] By adopting the above technical solution, the horizontal wind moment is calculated based on the actual wind thrust and the centroidal lever arm length. Then, the stable traction force is calculated based on the horizontal wind moment and the maximum lever arm length. The stable traction parameters are obtained by correlating the actual wind thrust and the stable traction force. The auxiliary stabilizing device is then controlled to traction the crawling visualization device based on the stable traction force, thereby improving the stability of the crawling visualization device.

[0062] Secondly, this application provides a visual monitoring device for power transmission line inspection, which adopts the following technical solution:

[0063] A visual monitoring device for power transmission line inspection includes:

[0064] The acquisition module is used to acquire ambient wind parameters and equipment wind parameters;

[0065] A memory for storing programs for a visual monitoring method for transmission line inspection as described in any of the preceding claims;

[0066] The processor and the program in the memory can be loaded and executed by the processor to implement the visualization monitoring method for power transmission line inspection as described in any of the above.

[0067] By adopting the above technical solution, the processor loads and executes the program stored in the memory for the visualization monitoring method of transmission line inspection, controls the acquisition module to acquire a series of data related to transmission line detection, and then analyzes the environmental wind parameters to determine the actual influencing wind parameters and the reference critical wind parameters. When it is determined that the actual influencing wind parameters do not meet the requirements of the reference critical wind parameters, the wind parameters of the equipment are analyzed to determine the equipment adjustment parameters. Based on the equipment adjustment parameters, the crawling visualization device is controlled to adjust its posture to reduce the interference of environmental wind on the stability of the crawling visualization device, thereby improving the detection accuracy of transmission lines.

[0068] In summary, this application includes at least one of the following beneficial technical effects:

[0069] After analyzing the environmental wind parameters, the actual influencing wind parameters and the benchmark critical wind parameters are determined. When the actual influencing wind parameters do not meet the requirements of the benchmark critical wind parameters, the wind parameters of the equipment are analyzed to determine the equipment adjustment parameters. Based on the equipment adjustment parameters, the creeping visualization device is controlled to adjust its posture to reduce the interference of environmental wind on the stability of the creeping visualization device, thereby improving the detection accuracy of the transmission line.

[0070] The horizontal influence wind speed is calculated based on the wind direction and horizontal angle and the ambient wind speed parameters. Then, combined with the condition that the crawling visualization device can only sway on both sides of the horizontal axis with the cable as the axis, the horizontal influence wind speed is defined as the actual influence wind parameter. The reference critical wind parameter is determined based on the influence of the vertical influence wind speed on the preset equipment gravity, thereby improving the convenience and accuracy of determining the actual influence wind parameter and the reference critical wind parameter.

[0071] By ensuring that the equipment adjustment parameters meet the requirements of the simulation adjustment parameters, after controlling the crawling visualization device to adjust its posture according to the equipment adjustment parameters, the auxiliary stabilizing device is controlled to pull the crawling visualization device, thereby offsetting the influence of excess environmental wind and improving the stability of the crawling visualization device. Attached Figure Description

[0072] Figure 1 This is a flowchart of a visualization monitoring method for power transmission line inspection in an embodiment of this application.

[0073] Figure 2 This is a flowchart illustrating the steps in this application embodiment to analyze environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters.

[0074] Figure 3 This is a flowchart of the steps in this application embodiment to analyze the horizontal and vertical influences of wind direction on wind speed in order to determine the reference critical wind parameters.

[0075] Figure 4 This is a flowchart of the steps in this application embodiment to analyze the device's detection orientation and preset device size parameters to determine the device's windward area.

[0076] Figure 5 This is a flowchart of the steps in this application embodiment to analyze the wind parameters of the equipment in order to determine the equipment adjustment parameters.

[0077] Figure 6 This is a flowchart illustrating the steps of determining device adjustment parameters according to a preset simulation adjustment method in this embodiment of the application.

[0078] Figure 7 This is a flowchart of the steps in this application embodiment to control the crawling visualization device to adjust its posture according to the device adjustment parameters.

[0079] Figure 8 This is a flowchart of the steps in this application embodiment to control a preset auxiliary stabilizing device to pull the crawling visualization device to stabilize the crawling visualization device. Detailed Implementation

[0080] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0081] This application discloses a visual monitoring method for power transmission line inspection, specifically a processing terminal, a crawling visualization device, and an auxiliary stabilization device. The processing terminal is communicatively connected to both the crawling visualization device and the auxiliary stabilization device to achieve data interaction and control. When the processing terminal controls the crawling visualization device to inspect the power transmission line, wind speed and direction sensors installed on the crawling visualization device detect environmental wind parameters and send them to the processing terminal. After analyzing the environmental wind parameters, the processing terminal determines the actual influencing wind parameters and the benchmark critical wind parameters. By comparing the actual influencing wind parameters with the benchmark critical wind parameters, if it is determined that the actual influencing wind parameters do not meet the requirements of the benchmark critical wind parameters, the wind parameters of the crawling visualization device are detected. After analyzing the wind parameters, the device adjustment parameters are determined, thereby controlling the crawling visualization device and the auxiliary stabilization device to adjust their posture, ensuring that the crawling visualization device maintains a stable posture in the environmental wind, thereby improving the accuracy of power transmission line inspection.

[0082] Reference Figure 1 This application discloses a visual monitoring method for power transmission line inspection, comprising the following steps:

[0083] Step S100: Control the preset crawling visualization device to detect the preset transmission line and obtain the environmental wind parameters of the transmission line; the environmental wind parameters include environmental wind direction parameters and environmental wind speed parameters.

[0084] In this process, operators control drones to hoist the crawling visualization device to the power transmission line, allowing the device to clamp onto the line for non-destructive testing. The device also monitors the environmental wind parameters of the power transmission line, providing data support for determining whether the attitude of the crawling visualization device needs to be adjusted.

[0085] A crawling visualization device refers to equipment used for non-destructive testing of power transmission lines. It includes a crawling robot and a high-definition camera. The crawling robot is generally rectangular with wheels and a clamping mechanism at the top, suspending the entire device on the power transmission line and controlling its movement along the line. Due to its suspension structure, the device sways left and right around the power transmission line as its central axis. The high-definition camera is installed at the output end of a drive shaft; through the rotation of the drive shaft, the high-definition camera captures images of the power transmission line from all angles. The power transmission line refers to the suspended cable awaiting non-destructive testing.

[0086] Ambient wind parameters refer to the parameters of the ambient wind at the high end of the transmission line, including ambient wind direction parameters and ambient wind speed parameters, which are detected by wind direction sensors and wind speed sensors installed on the crawling visualization device, respectively.

[0087] Step S101: Analyze the environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters.

[0088] The actual wind impact parameter refers to the wind speed that actually causes the crawling visualization device to sway. It is actually the horizontal component of the total environmental wind speed, perpendicular to the transmission line length, and determined by the processing terminal after analyzing the environmental wind parameters. The specific method is described in [reference needed]. Figure 2 The steps.

[0089] The baseline critical wind parameter refers to the maximum wind speed that will not cause the crawling visualization device to sway. It is the wind speed perpendicular to the length of the transmission line and in the horizontal direction, and is determined by the processing terminal after analyzing the environmental wind parameters. Specific methods are detailed in [reference needed]. Figure 2 The steps.

[0090] Step S102: Determine whether the actual influencing wind parameters meet the requirements of the benchmark critical wind parameters.

[0091] The requirement for the baseline critical wind parameter is that it should not exceed the wind speed corresponding to the baseline critical wind parameter. By processing the terminal, it is determined whether the wind speed corresponding to the actual influencing wind parameter is not greater than the wind speed corresponding to the baseline critical wind parameter, thereby determining whether the ambient wind may cause the crawling visualization device to shake, thus affecting the accuracy of the crawling visualization device's detection.

[0092] Step S1021: If the conditions are met, continue to control the crawling visualization device to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclic judgment.

[0093] If the processing terminal determines that the wind speed corresponding to the actual influencing wind parameter is not greater than the wind speed corresponding to the benchmark critical wind parameter, it indicates that the ambient wind will not cause the crawling visualization device to shake violently. Therefore, the crawling visualization device continues to be controlled to detect the transmission line and to continue to detect the ambient wind parameter of the transmission line, thereby continuously monitoring the changes in the ambient wind.

[0094] Step S1022: If not, obtain the wind parameters of the crawling visualization device.

[0095] If the processing terminal determines that the wind speed corresponding to the actual influencing wind parameter is greater than the wind speed corresponding to the benchmark critical wind parameter, it indicates that the ambient wind will cause the crawling visualization device to shake violently. Therefore, the wind parameters of the crawling visualization device are detected to provide data support for determining how to adjust the crawling visualization device.

[0096] The wind-receiving parameters of the equipment refer to the area and gravity of the equipment exposed to wind. The wind-receiving area of ​​the equipment is the minimum projected area of ​​the equipment in the horizontal direction, which is determined by the operator based on the actual situation of the crawling visualization device and input into the processing terminal. The wind-receiving gravity of the equipment refers to the gravity of the equipment in the vertical direction under the influence of the vertical direction of the ambient wind. If the vertical direction of the ambient wind is downward, the sum of the vertical wind speed thrust and the original gravity is calculated. If the vertical direction of the ambient wind is upward, the difference between the original gravity and the vertical wind speed thrust is calculated.

[0097] Step S103: Analyze the wind parameters of the equipment to determine the equipment adjustment parameters.

[0098] Among them, the equipment adjustment parameters refer to the angle at which the crawling visualization device rotates relative to the vertical central axis of the equipment. These parameters are determined by the processing terminal after analyzing the wind parameters of the equipment. Specific methods are detailed in [reference needed]. Figure 5 The steps.

[0099] Step S104: Adjust the posture of the crawling visualization device according to the equipment adjustment parameters.

[0100] After determining the equipment adjustment parameters, the processing terminal controls the crawling visualization device to adjust the angle corresponding to the equipment adjustment parameters. The specific method is described in [reference needed]. Figure 7 This process reduces the impact of ambient wind on the crawling visualization device, thereby improving its stability and ensuring the stability of power transmission line detection.

[0101] Reference Figure 2 The steps for analyzing environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters include:

[0102] Step S200: Obtain the device detection orientation of the crawling visualization device.

[0103] Among them, the equipment detection orientation refers to the detection direction of the crawling visualization device, which is the length direction of the transmission line. In one embodiment, it can be obtained by the inertial measurement unit in the crawling visualization device and sent to the processing terminal. In another embodiment, it can be obtained by the operator inputting the direction corresponding to the length direction of the transmission line into the processing terminal.

[0104] Step S201: Analyze the environmental wind direction parameters and the equipment detection orientation to determine the horizontal angle of the wind direction.

[0105] The horizontal wind direction angle refers to the angle between the ambient wind along the vertical direction on the horizontal plane and the direction detected by the equipment. The processing terminal first establishes a three-dimensional coordinate system with the direction detected by the equipment as the positive X-axis and the vertical upward direction as the positive Z-axis. The wind direction corresponding to the ambient wind direction parameter is then mapped into the three-dimensional coordinate system, and the acute angle between the wind direction projection in the YZ coordinate and the Z-axis is calculated.

[0106] Step S202: Analyze the horizontal angle of wind direction and ambient wind speed parameters to determine the horizontal and vertical wind speeds, and define the horizontal wind speed as the actual wind parameter.

[0107] Among them, the horizontal impact wind speed refers to the wind speed that affects the equipment in a horizontal direction and perpendicular to the direction in which the equipment is detected. It is obtained by multiplying the environmental wind speed parameter calculated by the processing terminal by the sine value of the horizontal angle between the wind direction and the equipment.

[0108] Vertical impact wind speed refers to the wind speed that affects the equipment in the vertical direction. It is obtained by multiplying the environmental wind speed parameter calculated by the processing terminal by the cosine of the horizontal angle between the wind direction and the equipment.

[0109] The actual wind parameters in this step are the same as those in step S101. The horizontal wind speed is defined as the actual wind parameters by the processing terminal.

[0110] Step S203: Analyze the horizontal angle of wind direction and the vertical influence on wind speed to determine the baseline critical wind parameters.

[0111] The reference critical wind parameters in this step are consistent with those in step S101, and are determined by the processing terminal after analyzing the horizontal angle of wind direction and the vertical influence of wind speed. The specific method is described in [reference needed]. Figure 3 The steps.

[0112] Reference Figure 3 The steps for analyzing the horizontal angle and vertical influence of wind direction on wind speed to determine the baseline critical wind parameters include:

[0113] Step S300: Analyze the vertically affecting wind speed, preset air density, preset bottom surface drag coefficient, and preset bottom surface area to determine the vertical thrust.

[0114] The preset air density refers to the preset air density near the transmission line, which is 1.225 kg / m³ in this embodiment. 3 For example, the preset bottom surface drag coefficient refers to the drag coefficient of the bottom surface of the crawling visualization device, and the preset bottom surface area refers to the area of ​​the bottom surface of the crawling visualization device, which is determined by the operator based on the actual situation of the crawling visualization device.

[0115] Vertical thrust refers to the vertical thrust exerted by the ambient wind on the crawling visualization device. It is calculated by the processing terminal as half the product of the square of the vertical wind speed and the preset air density, preset bottom drag coefficient, and preset bottom area.

[0116] Step S301: Analyze the horizontal angle of the wind direction, the vertical thrust, and the preset equipment weight to determine the adjustment of the equipment weight.

[0117] The preset equipment gravity refers to the vertical gravity of the equipment, which is obtained by the processing terminal by calculating the product of the equipment weight and the gravitational acceleration.

[0118] Adjusting the equipment gravity refers to the vertical gravity of the crawling visualization device after being affected by wind. The processing terminal analyzes which quadrant of the YZ coordinate the wind direction and horizontal angle fall into. If it is in the first or second quadrant, it indicates that the wind thrust is vertically downward. Therefore, the vertical thrust and the preset equipment gravity are calculated to obtain the adjusted equipment gravity. If it is in the third or fourth quadrant, it indicates that the wind thrust is vertically upward. Therefore, the difference between the preset equipment gravity and the vertical thrust is calculated to obtain the adjusted equipment gravity.

[0119] Step S302: Analyze the equipment detection orientation and preset equipment size parameters to determine the equipment's windward area.

[0120] The preset device size parameters refer to the size values ​​of the crawling visualization device, including length, thickness, and height, which are stored by the operator in the processing terminal.

[0121] The windward area of ​​an equipment refers to its projected area in the direction it is being detected. It is calculated by the processing terminal based on the equipment's detection direction and size parameters. For specific methods, please refer to [link / reference needed]. Figure 4 The steps.

[0122] Step S303: Analyze the adjusted equipment gravity, preset air density, equipment windward area, preset horizontal drag coefficient, and preset critical sway angle to determine the baseline critical wind parameters.

[0123] The preset horizontal drag coefficient refers to the drag coefficient of the crawling visualization device in the horizontal direction, which is determined by the operator based on the actual situation of the crawling visualization device. The preset critical sway angle refers to the maximum sway angle that will not affect the detection of the crawling visualization device; the specific value is determined by the operator based on the actual situation.

[0124] The reference critical wind parameters in this step are the same as those in step S203. The processing terminal calculates the first product of twice the weight of the adjustment equipment and the tangent of the critical sway angle, then calculates the second product of air density, equipment windward area and horizontal drag coefficient, and finally calculates the square root of the quotient between the first product and the second product to obtain the reference critical wind parameters.

[0125] Reference Figure 4 The steps for determining the windward area of ​​the equipment by analyzing the equipment's detection orientation and preset equipment size parameters include:

[0126] Step S400: Determine the equipment length, equipment thickness, and equipment height based on the equipment size parameters.

[0127] Among them, the device length refers to the length of the crawling visualization device along the detection direction under normal conditions, the device thickness refers to the thickness of the crawling visualization device along the horizontal direction perpendicular to the detection direction under normal conditions, and the device height refers to the vertical height of the crawling visualization device under normal conditions, which is identified by the processing terminal in the device size parameters.

[0128] Step S401: Analyze the equipment's detection orientation to determine the equipment's horizontal angle.

[0129] The horizontal angle of the equipment refers to the angle between the direction the equipment is detecting and the direction of the cable length. It is obtained by the processing terminal identifying the angle corresponding to the direction the equipment is detecting and subtracting the angle of the cable length direction.

[0130] Step S402: Analyze the horizontal angle, length, and thickness of the equipment to determine the projected length of the equipment.

[0131] The projected length of the equipment refers to the length of the equipment on the vertical horizontal plane where the cable is located. It is calculated by the processing terminal by the first product of the equipment length and the cosine of the angle between the equipment and the horizontal plane, the second product of the equipment thickness and the sine of the angle between the equipment and the horizontal plane, and finally the sum of the first and second products.

[0132] Step S403: Analyze the projected length and height of the equipment to determine the windward area of ​​the equipment.

[0133] In this step, the windward area of ​​the equipment is the same as that in step S302, and is obtained by the processing terminal by calculating the product of the projected length and height of the equipment.

[0134] Reference Figure 5 The steps for analyzing the wind parameters of the equipment to determine the equipment adjustment parameters include:

[0135] Step S500: Determine the minimum wind-receiving area of ​​the equipment and the real-time weight of the equipment based on the equipment wind parameters.

[0136] Among them, the minimum wind-affected area of ​​the crawling visualization device refers to the area of ​​the crawling visualization device that is least affected by the wind, which is the area in the thickness direction. The real-time device gravity refers to the vertical gravity of the crawling visualization device after being affected by the wind, which is identified by the processing terminal from the device wind parameters.

[0137] Step S501: Analyze the minimum wind-receiving area of ​​the equipment, the real-time weight of the equipment, the actual wind parameters, the preset air density, and the preset horizontal drag coefficient to determine the minimum adjustment sway angle.

[0138] The preset air density and preset horizontal drag coefficient in this step are the same as those in step S303, and will not be repeated here.

[0139] The minimum adjustment sway angle refers to the sway angle of the crawling visualization device when it faces the horizontal wind with the smallest area. It is obtained by calculating the inverse function of the tangent function by dividing the product of the square of the actual wind parameters calculated by the processing terminal by the preset air density, horizontal drag coefficient and minimum wind-receiving area of ​​the device, and then dividing by the real-time device gravity.

[0140] Step S502: Determine whether the minimum adjustment sway angle meets the preset critical sway angle requirement.

[0141] The preset critical sway angle in this step is the same as the critical sway angle in step S303. The requirement for the critical sway angle is that it is not greater than the critical sway angle.

[0142] By processing the terminal to determine whether the minimum adjustment sway angle is not greater than the critical sway angle, it can be determined whether the stability of the equipment can be guaranteed simply by adjusting the posture of the crawling visualization device.

[0143] Step S5021: If it does not meet the requirements, the preset minimum area adjustment angle is defined as the equipment adjustment parameter.

[0144] If the processing terminal determines that the minimum adjustment sway angle is greater than the critical sway angle, it indicates that the stability of the device cannot be guaranteed by simply adjusting the posture of the crawling visualization device. Therefore, the minimum area adjustment angle is defined as the device adjustment parameter to ensure that the crawling visualization device is in a more stable state as much as possible.

[0145] The preset minimum area adjustment angle refers to the angle required to adjust to the minimum area, which is 90 degrees.

[0146] Step S5022: If the conditions are met, determine the equipment adjustment parameters according to the preset simulation adjustment method.

[0147] If the processing terminal determines that the minimum adjustment sway angle is not greater than the critical sway angle, it indicates that the stability of the equipment can be guaranteed simply by adjusting the posture of the crawling visualization device. Therefore, the equipment adjustment parameters are determined according to the simulation adjustment method, the specific method of which is described in [reference needed]. Figure 6 This process reduces the need for adjustments to the crawling visualization device and ensures the stability of the equipment.

[0148] Reference Figure 6 The steps for determining equipment adjustment parameters according to a preset simulation adjustment method include:

[0149] Step S600: Determine the actual simulated horizontal angle based on the preset simulated angle step size.

[0150] The preset simulation angle step size refers to the number of degrees the rotation angle increases with each simulation; in this embodiment, 1 degree is used as an example. The actual simulated horizontal angle refers to the adjustment angle during simulation, which is obtained by the processing terminal from 0 with the preset simulation angle step size.

[0151] Step S601: Analyze the actual simulated horizontal angle and the preset equipment size parameters to determine the simulated windward area.

[0152] The preset equipment size parameters in this step are consistent with those in step S302, and will not be repeated here. The simulated windward area refers to the projected area of ​​the crawling visualization device in the vertical and horizontal direction after adjustment to the actual simulated horizontal angle. It is calculated by the processing terminal based on the actual simulated horizontal angle and the equipment size parameters. The specific method is the same as... Figure 4 The logic of the intermediate steps is consistent and will not be elaborated here.

[0153] Step S602: Analyze the simulated windward area, real-time equipment weight, actual influencing wind parameters, preset air density, and preset horizontal drag coefficient to determine the simulated sway angle.

[0154] The simulated sway angle refers to the sway angle generated under the influence of wind after adjusting the posture with the actual simulated horizontal angle. It is obtained by calculating the inverse function of the tangent function by dividing half of the product of the square of the actual wind parameters calculated by the processing terminal, the preset air density, horizontal drag coefficient and simulated windward area, and the actual windward area by the real-time equipment gravity.

[0155] Step S603: Determine whether the simulated sway angle meets the preset critical sway angle requirement.

[0156] Specifically, by processing the terminal to determine whether the simulated swaying angle is not greater than the critical swaying angle, it can be determined whether adjusting the posture with the actual simulated horizontal angle can guarantee the stability of the crawling visualization device.

[0157] Step S6031: If it does not meet the requirements, continue to perform cyclic simulation by determining the actual simulated horizontal angle according to the preset simulation angle step size.

[0158] If the processing terminal determines that the simulated sway angle is greater than the critical sway angle, it indicates that adjusting the posture with the actual simulated horizontal angle cannot guarantee the stability of the crawling visualization device. Therefore, the actual simulated horizontal angle is determined according to the preset simulated angle step size, and the simulation is repeated.

[0159] Step S6032: If the condition is met, the actual simulated horizontal angle is defined as the equipment adjustment parameter.

[0160] If the processing terminal determines that the simulated sway angle is not greater than the critical sway angle, it indicates that adjusting the attitude with the actual simulated horizontal angle can ensure the stability of the crawling visualization device. Therefore, the actual simulated horizontal angle is defined as the device adjustment parameter to ensure that the crawling visualization device maintains stability with minimal adjustment.

[0161] Reference Figure 7 The steps for adjusting the posture of the crawling visualization device according to the equipment adjustment parameters include:

[0162] Step S700: Control the crawling visualization device to adjust the posture by adjusting the device parameters.

[0163] After determining the equipment adjustment parameters, the processing terminal controls the crawling visualization device to adjust its posture at the angle corresponding to the equipment adjustment parameters, thereby reducing the impact of environmental wind on the crawling visualization device.

[0164] Step S701: Determine whether the equipment adjustment parameters meet the requirements of the preset simulation adjustment parameters.

[0165] The preset simulation adjustment parameters refer to the adjustment parameters obtained through simulation, and the requirement for the simulation adjustment parameters is that they are obtained in the same way as the simulation adjustment parameters.

[0166] By processing the terminal to determine whether the method for obtaining the device's adjustment parameters is consistent with the method for obtaining the simulated adjustment parameters, it can be determined whether additional assistance is needed to stabilize the crawling visualization device.

[0167] Step S7011: If the conditions are met, continue to control the crawling visualization device to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclic judgment.

[0168] If the processing terminal determines that the method for obtaining the device adjustment parameters is consistent with the method for obtaining the simulated adjustment parameters, it indicates that the crawling visualization device can maintain stability by adjusting its posture without additional assistance. Therefore, the crawling visualization device is controlled to continue to detect the transmission line and to continue to detect the environmental wind parameters of the transmission line, thereby continuously monitoring the changes in the environmental wind.

[0169] Step S7012: If not, control the preset auxiliary stabilization device to pull the crawling visualization device to stabilize the crawling visualization device.

[0170] If the method used by the processing terminal to determine the device adjustment parameters is inconsistent with the method used to simulate the adjustment parameters, it indicates that the crawling visualization device cannot maintain stability simply by adjusting its posture. Therefore, an auxiliary stabilization device is used to pull the crawling visualization device to stabilize it. The specific method is described in [reference needed]. Figure 8 The steps.

[0171] An auxiliary stabilization device is a device used to pull a crawling visualization device, thereby ensuring the stability of the crawling visualization device. A drone can be used, which connects to the crawling visualization device through a lasso and steel cable to provide additional traction to counteract wind force.

[0172] Reference Figure 8 The steps of controlling the preset auxiliary stabilization device to pull the crawling visualization device to stabilize the crawling visualization device include:

[0173] Step S800: Obtain the actual wind thrust and the actual wind direction.

[0174] The actual wind thrust refers to the wind thrust that causes the equipment to sway, which is calculated by the processing terminal based on the current sway angle of the equipment, the real-time weight of the equipment, the preset air density, the windward area, and the drag coefficient.

[0175] Actual wind direction refers to the direction in which the wind pushes the equipment, including the right and left directions, and is determined by the left or right wind speed sensor that detects the ambient wind parameters.

[0176] Step S801: Analyze the actual wind thrust and the preset centroidal lever arm length to determine the horizontal wind moment.

[0177] The preset centroidal lever arm length refers to the length from the centroid of the equipment to its top, which is determined by the operator based on the actual condition of the equipment. The horizontal wind moment refers to the moment exerted by the wind on the equipment, which is obtained by calculating the product of the actual wind thrust and the centroidal lever arm length from the processing terminal.

[0178] Step S802: Analyze the horizontal wind moment and the preset maximum lever arm length to determine the stable traction force.

[0179] The preset maximum lever arm length refers to the length from the bottom to the top of the equipment, which is determined by the operator based on the actual condition of the equipment. The stabilizing traction force refers to the force with which the auxiliary stabilizing device pulls the equipment, which is obtained by calculating the quotient of the horizontal wind moment and the maximum lever arm length from the processing terminal.

[0180] Step S803: Analyze the actual wind thrust and stable traction force to determine the stable traction parameters.

[0181] Among them, the stable traction parameters refer to the force and direction of the traction equipment. The traction direction is determined by the processing terminal based on the opposite direction of the actual wind push, and the stable traction parameters are obtained by associating the traction direction and the stable traction force.

[0182] Step S804: Control the auxiliary stabilization device to pull the crawling visualization device according to the stable traction parameters to stabilize the crawling visualization device.

[0183] In this process, after determining the stable traction parameters, the processing terminal controls the auxiliary stabilization device to pull the crawling visualization device with the direction and force corresponding to the stable traction parameters, thereby offsetting the influence of wind on the equipment and ensuring the stability of the crawling visualization device.

[0184] Based on the same inventive concept, embodiments of this application provide a visual monitoring device for power transmission line inspection, comprising:

[0185] The acquisition module is used to acquire environmental wind parameters, equipment wind parameters, actual wind thrust, and actual wind direction.

[0186] A memory for storing programs for visual monitoring methods used in power transmission line inspection;

[0187] The processor and memory can load and execute programs to implement a visual monitoring method for power transmission line inspection.

[0188] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0189] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed for a visual monitoring method for power transmission line inspection.

[0190] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0191] Based on the same inventive concept, embodiments of this application provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for a visual monitoring method for power transmission line inspection.

[0192] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0193] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A visual monitoring method for power transmission line inspection, characterized in that, include: The system controls a preset crawling visualization device to detect a preset power transmission line and acquire the environmental wind parameters of the power transmission line; the environmental wind parameters include environmental wind direction parameters and environmental wind speed parameters. Analyze environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters; Determine whether the actual wind parameters affecting the wind meet the requirements of the baseline critical wind parameters; If the conditions are met, the crawling visualization device will continue to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclical judgment. If not, obtain the wind parameters of the crawling visualization device; Analyze the wind parameters of the equipment to determine the equipment adjustment parameters; The crawling visualization device adjusts its posture based on the equipment's adjustment parameters. The steps for analyzing the wind parameters of the equipment to determine the equipment adjustment parameters include: Determine the minimum wind-receiving area and real-time equipment weight based on the equipment's wind parameters; The minimum wind-receiving area of ​​the equipment, the real-time weight of the equipment, the actual wind parameters, the preset air density, and the preset horizontal drag coefficient are analyzed to determine the minimum adjustment sway angle. Determine whether the minimum adjustment sway angle meets the preset critical sway angle requirement; If it does not meet the requirements, the preset minimum area adjustment angle will be defined as the equipment adjustment parameter. If the conditions are met, the equipment adjustment parameters will be determined according to the preset simulation adjustment method. The steps for adjusting the posture of the crawling visualization device based on the equipment adjustment parameters include: The crawling visualization device is controlled to adjust the posture by adjusting the device parameters; Determine whether the equipment adjustment parameters meet the requirements of the preset simulation adjustment parameters; If the conditions are met, the crawling visualization device will continue to detect the transmission line and continue to acquire the environmental wind parameters of the transmission line for cyclical judgment. If the condition is not met, the preset auxiliary stabilization device will be controlled to pull the crawling visualization device to stabilize it.

2. The visual monitoring method for transmission line inspection according to claim 1, characterized in that, The steps for analyzing environmental wind parameters to determine the actual influencing wind parameters and the baseline critical wind parameters include: Obtain the device detection orientation of the crawling visualization device; Analyze environmental wind direction parameters and equipment detection orientation to determine the horizontal wind angle; The horizontal angle of wind direction and environmental wind speed parameters are analyzed to determine the horizontal and vertical wind speeds, and the horizontal wind speed is defined as the actual wind speed. The horizontal and vertical influences of wind direction on wind speed are analyzed to determine the baseline critical wind parameters.

3. The visual monitoring method for transmission line inspection according to claim 2, characterized in that, The steps for analyzing the horizontal angle and vertical influence of wind direction on wind speed to determine the baseline critical wind parameters include: The vertical impact wind speed, preset air density, preset bottom surface drag coefficient, and preset bottom surface area are analyzed to determine the vertical thrust. The horizontal angle of the wind direction, the vertical thrust, and the preset equipment weight are analyzed to determine the adjustment of the equipment weight; The windward area of ​​the equipment is determined by analyzing the equipment's detection orientation and preset equipment size parameters. The baseline critical wind parameters are determined by analyzing the adjustment of equipment weight, air density, equipment windward area, preset horizontal drag coefficient, and preset critical sway angle.

4. The visual monitoring method for transmission line inspection according to claim 3, characterized in that, The steps for determining the windward area of ​​the equipment by analyzing its detection orientation and preset equipment size parameters include: Determine the equipment length, thickness, and height based on the equipment size parameters; Analyze the orientation of the equipment to determine its horizontal angle; The horizontal angle, length, and thickness of the equipment are analyzed to determine the projected length of the equipment. The projected length and height of the equipment are analyzed to determine its windward area.

5. The visual monitoring method for transmission line inspection according to claim 1, characterized in that, The steps for determining equipment adjustment parameters according to the preset simulation adjustment method include: The actual simulated horizontal angle is determined based on the preset simulated angle step size; The simulated horizontal angle and preset equipment size parameters are analyzed to determine the simulated windward area; The simulated windward area, real-time equipment weight, actual influencing wind parameters, air density, and horizontal drag coefficient are analyzed to determine the simulated sway angle. Determine whether the simulated swaying angle meets the requirements of the critical swaying angle; If it does not meet the requirements, continue to perform cyclic simulations based on the actual simulated horizontal angle determined by the simulated angle step size; If the conditions are met, the actual simulated horizontal angle is defined as the equipment adjustment parameter.

6. The visual monitoring method for transmission line inspection according to claim 1, characterized in that, The steps for controlling a preset auxiliary stabilization device to pull and stabilize the crawling visualization device include: Obtain the actual wind thrust and actual wind direction; The actual wind thrust and the preset centroidal lever arm length are analyzed to determine the horizontal wind moment; The horizontal wind moment and the preset maximum lever arm length are analyzed to determine the stable traction force; The actual wind thrust and stable traction force are analyzed to determine the stable traction parameters; The auxiliary stabilization device is controlled according to the stable traction parameters to stabilize the crawling visualization device.

7. A visual monitoring device for power transmission line inspection, characterized in that, include: The acquisition module is used to acquire ambient wind parameters and equipment wind parameters; A memory for storing the program of the visualization monitoring method for power transmission line inspection as described in any one of claims 1 to 6; The processor and the program in the memory can be loaded and executed by the processor to implement the visualization monitoring method for power transmission line inspection as described in any one of claims 1 to 6.

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